CN107305391A - Automatic working system and its control method - Google Patents
Automatic working system and its control method Download PDFInfo
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- CN107305391A CN107305391A CN201710265563.7A CN201710265563A CN107305391A CN 107305391 A CN107305391 A CN 107305391A CN 201710265563 A CN201710265563 A CN 201710265563A CN 107305391 A CN107305391 A CN 107305391A
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- 238000000034 method Methods 0.000 title claims abstract description 71
- 239000000615 nonconductor Substances 0.000 claims abstract description 424
- 238000001514 detection method Methods 0.000 claims abstract description 61
- 230000005672 electromagnetic field Effects 0.000 claims description 99
- 230000005540 biological transmission Effects 0.000 claims description 23
- 239000004020 conductor Substances 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 16
- 238000013507 mapping Methods 0.000 claims description 16
- 230000008054 signal transmission Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000011664 signaling Effects 0.000 claims description 4
- 230000005236 sound signal Effects 0.000 claims description 4
- 230000002045 lasting effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 12
- 230000008569 process Effects 0.000 description 12
- 230000004044 response Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 6
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 6
- 238000012360 testing method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
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- 230000002452 interceptive effect Effects 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
- G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/20—Land use
- G05D2107/23—Gardens or lawns
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/30—Radio signals
- G05D2111/36—Radio signals generated or reflected by cables or wires carrying current, e.g. boundary wires or leaky feeder cables
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
Abstract
The present invention relates to a kind of automatic working system and its control method, automatic working system includes signal station, boundary line and automatic running device, and the signal station generates and transmits sideband signal in the boundary line；The automatic running device detects sideband signal, walks and works in the working region that the boundary line is limited；The automatic working system also includes non-conductor signal generator, sends non-conductor signal；The time interval of the signal station generation sideband signal and the time interval of automatic running device detection sideband signal are associated with non-conductor signal so that the time interval of the signal station generation sideband signal is within the time interval that the automatic running device detects sideband signal.The beneficial effects of the invention are as follows：Detection of the automatic running device to sideband signal can avoid being influenceed by the interference signal in working environment.
Description
Technical field
The present invention relates to a kind of automatic working system and its control method.
Background technology
With the development of science and technology, intelligent automatic running device is well known, because automatic running device can
The inter-related task pre-set is performed with the program pre-set automatically, without artificial operation and intervention, therefore should in industry
With and family product on application widely.On robot of the industrial application as performed various functions, family product
Using such as hay mover, dust catcher etc., these intelligent automatic running devices dramatically saves on the time of people, to industrial production
And life staying idle at home all brings great convenience.
To ensure that above-mentioned automatic running device works in default working range, generally using automatic working system to certainly
The working range of dynamic walking arrangement is controlled.Automatic working system includes being laid on the boundary line of earth's surface, is connected with boundary line
Signal generation apparatus, detecting signal unit on automatic running device and signal is handled and controls automatically walk to set
The control unit of standby walking path.The electric signal that control unit is transmitted according to boundary line confirms automatic running device from boundary line
Distance, so as to control automatic running device to change direction of travel when close to boundary line, prevents automatic running device from running to side
Outside boundary line, so that automatic running device works in boundary line all the time.
Automatic running device detects boundary line signal at work, while can also detect interference signal, interference signal can
The radiation signal that the other equipment near automatic working system is sent can be come from, it is also possible to which other near coming from are started building certainly
Make the boundary line signal of system transmitting, especially when nearby there is the automatic working system of same manufacturer production, due to boundary line
The form of signal is similar, is easy to the walking to automatic running device and causes interference, causes the erroneous judgement of automatic running device.
Signal generation apparatus, which is continuously generated electric signal, will consume substantial amounts of electric energy, when automatic running device working region compared with
When big, sideband signal is decayed in the center of working region, to ensure that automatic running device can be detected in working region
To sideband signal, signal generation apparatus one of the main divisions of the male role in traditional opera causes power consumption excessive into the electric signal of high intensity.
The content of the invention
Present invention solves the technical problem that being：A kind of influence that can be prevented effectively from interference signal to boundary line signal is provided
Automatic working system.
In order to solve the above technical problems, the technical scheme is that：
A kind of automatic working system, including signal station, boundary line and automatic running device；Signal station generation and
Sideband signal is transmitted in the boundary line；The automatic running device detects sideband signal, the work limited in the boundary line
Walk and work in region；The automatic working system also includes non-conductor signal generator, sends non-conductor signal；The letter
Number time interval of station generation sideband signal and time interval and the non-wire of automatic running device detection sideband signal are believed
It is number associated so that the time interval of the signal station generation sideband signal detects sideband signal in the automatic running device
Within time interval.
It is preferred that, the time using the non-conductor signal of non-conductor signal generator transmission, signal station judged life as time reference
Into the time interval of sideband signal.
It is preferred that, form very first time interval, institute between the time interval and time reference of signal station generation sideband signal
Very first time interval is stated not fix.
It is preferred that, the data of non-conductor signal include the first interval time data.
It is preferred that, according to the data of non-conductor signal, signal station judges the time interval of generation sideband signal.
It is preferred that, time of non-conductor signal is sent as time reference using non-conductor signal generator, automatic running device
Judge the time interval of detection sideband signal.
It is preferred that, according to the data of non-conductor signal, automatic running device judges the time interval of detection sideband signal.
It is preferred that, signal station generation sideband signal time interval relative to automatic running device detect sideband signal when
Between interval do not fix.
It is preferred that, non-conductor signal generator is formed between the second time between the adjacent time for sending non-conductor signal twice
Every the second time interval is not fixed.
It is preferred that, the non-conductor signal generator is arranged on the automatic running device, is set with the automatically walk
Standby communication, the signal station receives non-conductor signal.
It is preferred that, the non-conductor signal generator is arranged on the signal station, with the signal station communicate, it is described from
Dynamic walking arrangement receives non-conductor signal.
It is preferred that, the non-conductor signal generator is arranged at the outside of the automatic running device and the signal station,
The automatic running device and the signal station receive non-conductor signal.
It is preferred that, the non-conductor signal is radio signal, either audio signal or optical signalling.
The beneficial effects of the invention are as follows：Automatic running device sends request signal to signal station, and signal station is in response to automatic
The request signal generation sideband signal of walking arrangement, automatic running device detects sideband signal accordingly so that automatic job family
System can be effectively prevented from being influenceed by the interference signal in working environment.
Another technical problem that the present invention is solved is：Interference signal can be prevented effectively to boundary line signal by providing one kind
Influence control automatic working system method.
In order to solve the above technical problems, the technical scheme is that：
A kind of method for controlling automatic working system, the automatic working system includes signal station, boundary line, automatically walk
Equipment and non-conductor signal generator；The method of the control automatic working system comprises the following steps：The signal station life
Into and transmitting sideband signal in the boundary line；The automatic running device detects sideband signal, is limited in the boundary line
Working region in walk and work；The non-conductor signal generator sends non-conductor signal so that the signal station generation
The time interval of the time interval of sideband signal and automatic running device detection sideband signal is associated with non-conductor signal,
And the time interval of the signal station generation sideband signal detects the time interval of sideband signal in the automatic running device
Within.
It is preferred that, the time using the non-conductor signal of non-conductor signal generator transmission, signal station judged life as time reference
Into the time interval of sideband signal.
It is preferred that, according to the data of non-conductor signal, signal station judges the time interval of generation sideband signal.
It is preferred that, time of non-conductor signal is sent as time reference using non-conductor signal generator, automatic running device
Judge the time interval of detection sideband signal.
It is preferred that, according to the data of non-conductor signal, automatic running device judges the time interval of detection sideband signal.
It is preferred that, the non-conductor signal generator is arranged on the automatic running device, is set with the automatically walk
Standby communication, the signal station receives non-conductor signal.
It is preferred that, the non-conductor signal generator is arranged on the signal station, with the signal station communicate, it is described from
Dynamic walking arrangement receives non-conductor signal.
It is preferred that, the non-conductor signal generator is arranged at the outside of the automatic running device and the signal station,
The automatic running device and the signal station receive non-conductor signal.
The beneficial effects of the invention are as follows：Automatic mower sends request signal to signal station, and signal station in response to cutting automatically
The request signal generation sideband signal of careless machine, automatic mower detects sideband signal accordingly so that automatic working system can
It is effectively prevented from being influenceed by the interference signal in working environment.
Another technical problem that the present invention is solved is：There is provided one kind can further avoid interference signal from believing boundary line
Number influence automatic working system.
In order to solve the above technical problems, the technical scheme is that：
A kind of automatic working system, including signal station, boundary line and automatic running device；Signal station generation and
Sideband signal is transmitted in the boundary line；The automatic running device detects sideband signal, the work limited in the boundary line
Walk and work in region；The automatic working system also includes non-conductor signal generator, sends non-conductor signal；The letter
Number station generation sideband signal time and the automatic running device detection sideband signal time it is associated with non-conductor signal；
The automatic working system also includes non-conductor signal receiver, receives non-conductor signal；The non-conductor signal receiver with
The non-conductor signal generator pairing.
It is preferred that, one of the non-conductor signal generator and non-conductor signal receiver are arranged at automatically walk
In equipment, wherein another be arranged on signal station.
It is preferred that, the non-conductor signal generator is arranged on the outside of automatic running device and the signal station, described
Non- conductor signal receiver is arranged on automatic running device and signal station.
It is preferred that, the time interval that the signal station generates non-conductor signal is located at automatic running device detection border
Within the time interval of signal.
The beneficial effects of the invention are as follows：Non- conductor signal generator is matched with non-conductor signal receiver so that difference is certainly
Signal station and automatic mower in dynamic work system avoid interfering.
Another technical problem that the present invention is solved is：There is provided one kind can further avoid interference signal from believing boundary line
Number influence control automatic working system method.
In order to solve the above technical problems, the technical scheme is that：
A kind of method for controlling automatic working system, the automatic working system includes signal station, boundary line, automatically walk
Equipment, non-conductor signal generator and non-conductor signal receiver；The method of the control automatic working system includes as follows
Step：The signal station generates and transmits sideband signal in the boundary line；The automatic running device detects sideband signal,
Walk and work in the working region that the boundary line is limited；The non-conductor signal generator connects with the non-conductor signal
Receive and carry out exclusive non-conductor signal transmission between device so that the time interval of the signal station generation sideband signal and described
The time interval of automatic running device detection sideband signal is associated with non-conductor signal.
It is preferred that, one of the non-conductor signal generator and non-conductor signal receiver are arranged at automatically walk
In equipment, wherein another be arranged on signal station.
It is preferred that, the non-conductor signal generator is arranged on the outside of automatic running device and the signal station, described
Non- conductor signal receiver is arranged on automatic running device and signal station.
It is preferred that, the time interval that the signal station generates non-conductor signal is located at automatic running device detection border
Within the time interval of signal.
The beneficial effects of the invention are as follows：Non- conductor signal generator is matched with non-conductor signal receiver so that difference is certainly
Signal station and automatic mower in dynamic work system avoid interfering.
Another technical problem that the present invention is solved is：Interference signal can be prevented effectively to boundary line signal by providing one kind
Influence and ensure that the automatic working system of steady operation.
In order to solve the above technical problems, the technical scheme is that：
A kind of automatic working system, including signal station, boundary line and automatic running device；Signal station generation and
Sideband signal is transmitted in the boundary line；The automatic running device detects sideband signal, the work limited in the boundary line
Walk and work in region；The automatic working system also includes non-conductor signal generator, sends non-conductor signal；It is described from
Dynamic work system selectably operates in the first mode of operation or the second mode of operation；Under first mode of operation, signal station generation
The time of sideband signal and the time of automatic running device detection sideband signal are associated with non-conductor signal；Second mode of operation
Under, the time of signal station generation sideband signal and time and the non-conductor signal of automatic running device detection sideband signal not phase
Close.
It is preferred that, when automatic working system is operated in the first mode of operation, if the on-the-job satisfaction of automatic working system is preset
Condition, then make automatic working system switch to the second mode of operation from the first mode of operation.
It is preferred that, the preparatory condition is that the transmission or reception of non-conductor signal are unreliable.
It is preferred that, the preparatory condition is that automatic running device is not detected by sideband signal in preset time.
It is preferred that, the preparatory condition is that signal station does not generate sideband signal in preset time.
It is preferred that, the preparatory condition is, automatic running device or signal station judge in preset time conductor signal nothing but
Sent.
It is preferred that, under the first mode of operation, the time interval of signal station generation sideband signal is examined positioned at automatic running device
Within the time interval for surveying sideband signal.
It is preferred that, when automatic working system is operated in the first mode of operation, automatic running device is in detection sideband signal
Sideband signal is not detected by time interval, then automatic working system is switched to the second mode of operation from the first mode of operation.
It is preferred that, under the second mode of operation, signal station is continuously generated sideband signal, and automatic running device persistently detects border
Signal.
It is preferred that, non-conductor signal generator is arranged on one of automatic running device and signal station, the first work
Under operation mode, wherein another non-conductor signal of reception of automatic running device and signal station.
It is preferred that, non-conductor signal generator is arranged on the outside of automatic running device and signal station, the first mode of operation
Under, automatic running device and signal station receive non-conductor signal.
The beneficial effects of the invention are as follows：Automatic working system selectably operates in the first mode of operation or the second Working mould
Formula, in the first operation mode, signal station generation sideband signal time and automatic mower detection sideband signal time with
Non- conductor signal is associated so that detection of the automatic running device to sideband signal can be effectively prevented from by working environment
The influence of interference signal；When judging that non-conductor signal is unreliable, automatic working system switches to the second mode of operation, signal station life
Time into the time of sideband signal and automatic mower detection sideband signal is uncorrelated to non-conductor signal so that automatic work
System being capable of steady operation.
Another technical problem that the present invention is solved is：Interference signal can be prevented effectively to boundary line signal by providing one kind
Influence and ensure that steady operation control automatic working system method.
In order to solve the above technical problems, the technical scheme is that：
A kind of method for controlling automatic working system, the automatic working system includes：Signal station, generates sideband signal；
Boundary line, is electrically connected with signal station, transmits sideband signal；Automatic running device, detects sideband signal, is limited in boundary line
Walk and work in working region；Non- conductor signal generator, sends non-conductor signal；The side of the control automatic working system
Method comprises the following steps：The automatic working system is made to be operated in the first mode of operation so that signal station generation sideband signal
Time and the time of automatic running device detection sideband signal are associated with non-conductor signal；Judge that non-conductor signal is unreliable
When, make automatic working system switch to the second mode of operation from the first mode of operation so that signal station generation sideband signal when
Between and automatic running device detection sideband signal time it is uncorrelated to non-conductor signal.
It is preferred that, when judging the transmission of non-conductor signal or receiving unreliable, automatic working system is made from the first Working mould
Formula switches to the second mode of operation.
It is preferred that, automatic running device is not detected by sideband signal in preset time, then judges conductor signal
Lean on.
It is preferred that, signal station does not generate sideband signal in preset time, then judges that non-conductor signal is unreliable.
It is preferred that, automatic running device or signal station judge that conductor signal is sent nothing but in preset time, then judges non-
Conductor signal is unreliable.
It is preferred that, under the first mode of operation, automatic running device is configured as receiving non-conductor signal, if automatically walk is set
It is standby not receive non-conductor signal in preset time, then judge that non-conductor signal is unreliable.
It is preferred that, signal station is configured as receiving non-conductor signal, if signal station does not receive non-lead in preset time
Line signal, then judge that non-conductor signal is unreliable.
It is preferred that, under the first mode of operation, the time interval of signal station generation sideband signal is examined positioned at automatic running device
Within the time interval for surveying sideband signal.
It is preferred that, automatic running device is not detected by sideband signal in the time interval of detection sideband signal, then judges
Non- conductor signal is unreliable.
The beneficial effects of the invention are as follows：Automatic working system selectably operates in the first mode of operation or the second Working mould
Formula, in the first operation mode, signal station generation sideband signal time and automatic mower detection sideband signal time with
Non- conductor signal is associated so that detection of the automatic running device to sideband signal can be effectively prevented from by working environment
The influence of interference signal；When judging that non-conductor signal is unreliable, automatic working system switches to the second mode of operation, signal station life
Time into the time of sideband signal and automatic mower detection sideband signal is uncorrelated to non-conductor signal so that automatic work
System being capable of steady operation.
Another technical problem that the present invention is solved is：A kind of automatic work for the power consumption that can reduce sideband signal is provided
System.
In order to solve the above technical problems, the technical scheme is that：
A kind of automatic working system, including signal station, boundary line, and automatic running device；The signal station generates side
Sector signal；The sideband signal is transmitted in the boundary line, and produces electromagnetic field；The automatic running device detects the electromagnetism
, walk and work in the working region that the boundary line is limited；The automatic running device arrives boundary line according to itself
Distance, adjusts the levels of current of sideband signal.
It is preferred that, the automatic running device judge itself to boundary line distance reduce when, reduce sideband signal electricity
Flow horizontal；The automatic running device judge itself to boundary line distance increase when, increase sideband signal levels of current.
It is preferred that, automatic running device communicates with signal station, to adjust the levels of current of sideband signal.
It is preferred that, automatic running device sends itself to the distance signal of boundary line to signal station.
It is preferred that, automatic running device judges itself to the distance of boundary line according to the intensity of the electromagnetic field detected.
It is preferred that, automatic working system stores automatic running device to the distance of boundary line, the electric current water with sideband signal
Mapping relations between flat desired value.
It is preferred that, automatic running device sends itself to the distance signal of boundary line to signal station, and signal station is according to described
Distance signal and the mapping relations judge the desired value of the levels of current of sideband signal, and adjust side according to the desired value
The levels of current of sector signal.
It is preferred that, automatic running device judges sideband signal according to itself distance and the mapping relations to boundary line
Levels of current desired value, and send the desired value to signal station.
It is preferred that, automatic running device sends the strength signal of the electromagnetic field detected to signal station, and signal station is according to certainly
The strength signal for the electromagnetic field that dynamic walking arrangement is detected, judges automatic running device to the distance of boundary line.
The beneficial effects of the invention are as follows：According to automatic running device to boundary line apart from Regulate signal station generation border letter
Number intensity, realize the lower power consumption of sideband signal.
Another technical problem that the present invention is solved is：There is provided a kind of control for the power consumption that can reduce sideband signal automatic
The method of work system.
In order to solve the above technical problems, the technical scheme is that：
A kind of control method of automatic working system, the automatic working system includes signal station, boundary line, and automatically
Walking arrangement；The control method of the automatic working system comprises the following steps：The signal station generates sideband signal；The side
The sideband signal is transmitted in boundary line, and produces electromagnetic field；The automatic running device detects the electromagnetic field, in the boundary line
Walk and work in the working region of restriction；The automatic running device arrives the distance of boundary line, regulation border letter according to itself
Number levels of current.
It is preferred that, the automatic running device judge itself to boundary line distance reduce when, reduce sideband signal electricity
Flow horizontal；The automatic running device judge itself to boundary line distance increase when, increase sideband signal levels of current.
It is preferred that, automatic running device communicates with signal station, to adjust the levels of current of sideband signal.
It is preferred that, automatic running device sends itself to the distance signal of boundary line to signal station.
It is preferred that, automatic running device judges itself to the distance of boundary line according to the intensity of the electromagnetic field detected.
It is preferred that, automatic working system stores automatic running device to the distance of boundary line, the electric current water with sideband signal
Mapping relations between flat desired value.
It is preferred that, automatic running device sends itself to the distance signal of boundary line to signal station, and signal station is according to described
Distance signal and the mapping relations judge the desired value of the levels of current of sideband signal, and adjust side according to the desired value
The levels of current of sector signal.
It is preferred that, automatic running device judges sideband signal according to itself distance and the mapping relations to boundary line
Levels of current desired value, and send the desired value to signal station.
It is preferred that, automatic running device sends the strength signal of the electromagnetic field detected to signal station, and signal station is according to certainly
The strength signal for the electromagnetic field that dynamic walking arrangement is detected, judges automatic running device to the distance of boundary line.
The beneficial effects of the invention are as follows：According to automatic running device to boundary line apart from Regulate signal station generation border letter
Number intensity, realize the lower power consumption of sideband signal.
Another technical problem that the present invention is solved is：A kind of automatic work for the power consumption that can reduce sideband signal is provided
System.
In order to solve the above technical problems, the technical scheme is that：
A kind of automatic working system, including signal station, boundary line, and automatic running device；The signal station generates side
Sector signal；The sideband signal is transmitted in the boundary line, and produces electromagnetic field；
The automatic running device detects the electromagnetic field, walking and work in the working region that the boundary line is limited
Make；The signal station generates the time interval of sideband signal, the intensity phase of the electromagnetic field detected with the automatic running device
Association.
It is preferred that, the intensity for the electromagnetic field that automatic running device is detected reduces, and signal station generates the time of sideband signal
Interval increase；The intensity increase for the electromagnetic field that automatic running device is detected, the time interval of signal station generation sideband signal subtracts
It is small.
It is preferred that, automatic running device is communicated with signal station, carrys out the time interval that Regulate signal station generates sideband signal.
It is preferred that, automatic running device sends the strength signal of the electromagnetic field itself detected, signal station root to signal station
According to the strength signal of the electromagnetic field, the time interval of regulation generation sideband signal.
It is preferred that, signal station judges automatic running device to the distance of boundary line according to the strength signal of the electromagnetic field,
And according to the distance of automatic running device to boundary line, the time interval of regulation generation sideband signal.
It is preferred that, signal station is according to the distance of automatic running device to boundary line, when calculating the maximum of generation sideband signal
Between be spaced, and generate sideband signal so that the time interval of generation sideband signal is not more than the maximum time interval.
It is preferred that, automatic running device judges itself to the distance of boundary line according to the intensity of the electromagnetic field detected.
It is preferred that, automatic running device sends itself to the distance signal of boundary line to signal station, and signal station is according to described
Distance signal, the time interval of regulation generation sideband signal.
It is preferred that, the distance of automatic running device to boundary line reduces, and the time interval of signal station generation sideband signal subtracts
It is small；Automatic running device increases to the distance of boundary line, the time interval increase of signal station generation sideband signal.
It is preferred that, automatic running device includes non-conductor signal generator, sends non-conductor signal, and signal station receives non-lead
Line signal, generates sideband signal.
It is preferred that, automatic running device is according to the intensity of the electromagnetic field detected, the time of the non-conductor signal of regulation transmission
Interval.
It is preferred that, automatic running device judges itself to the distance of boundary line according to the intensity of the electromagnetic field detected, and
The distance of boundary line is arrived according to itself, regulation sends the time interval of non-conductor signal.
It is preferred that, automatic running device calculates the maximum for sending non-conductor signal according to the intensity of the electromagnetic field detected
Time interval, and send non-conductor signal so that the time interval for sending non-conductor signal is not more than the maximum time interval.
It is preferred that, automatic running device calculates signal station generation sideband signal according to the intensity of the electromagnetic field detected
Maximum time interval, and the maximum time interval signal is sent to signal station, signal station receives the maximum time interval letter
Number, generate sideband signal so that the time interval of generation sideband signal is not more than the maximum time interval.
The beneficial effects of the invention are as follows：The intensity of the electromagnetic field of the sideband signal detected according to automatic running device, or
Person is according to the distance of automatic running device to boundary line, and Regulate signal station generates the frequency of sideband signal, realizes sideband signal
Lower power consumption.
Another technical problem that the present invention is solved is：There is provided a kind of control for the power consumption that can reduce sideband signal automatic
The method of work system.
In order to solve the above technical problems, the technical scheme is that：
A kind of control method of automatic working system, the automatic working system includes signal station, boundary line, and automatically
Walking arrangement；The control method of the automatic working system comprises the following steps：The signal station generates sideband signal；The side
The sideband signal is transmitted in boundary line, and produces electromagnetic field；The automatic running device detects the electromagnetic field, in the boundary line
Walk and work in the working region of restriction；The signal station generates the time interval of sideband signal, is set with the automatically walk
The intensity of the standby electromagnetic field detected is associated.
It is preferred that, the intensity for the electromagnetic field that automatic running device is detected reduces, and signal station generates the time of sideband signal
Interval increase；The intensity increase for the electromagnetic field that automatic running device is detected, the time interval of signal station generation sideband signal subtracts
It is small.
It is preferred that, automatic running device is communicated with signal station, carrys out the time interval that Regulate signal station generates sideband signal.
It is preferred that, automatic running device sends the strength signal of the electromagnetic field itself detected, signal station root to signal station
According to the strength signal of the electromagnetic field, the time interval of regulation generation sideband signal.
It is preferred that, signal station judges automatic running device to the distance of boundary line according to the strength signal of the electromagnetic field,
And according to the distance of automatic running device to boundary line, the time interval of regulation generation sideband signal.
It is preferred that, signal station is according to the distance of automatic running device to boundary line, when calculating the maximum of generation sideband signal
Between be spaced, and generate sideband signal so that the time interval of generation sideband signal is not more than the maximum time interval.
It is preferred that, automatic running device judges itself to the distance of boundary line according to the intensity of the electromagnetic field detected.
It is preferred that, automatic running device sends itself to the distance signal of boundary line to signal station, and signal station is according to described
Distance signal, the time interval of regulation generation sideband signal.
It is preferred that, the distance of automatic running device to boundary line reduces, and the time interval of signal station generation sideband signal subtracts
It is small；Automatic running device increases to the distance of boundary line, the time interval increase of signal station generation sideband signal.
It is preferred that, automatic running device includes non-conductor signal generator, sends non-conductor signal, and signal station receives non-lead
Line signal, generates sideband signal.
It is preferred that, automatic running device is according to the intensity of the electromagnetic field detected, the time of the non-conductor signal of regulation transmission
Interval.
It is preferred that, automatic running device judges itself to the distance of boundary line according to the intensity of the electromagnetic field detected, and
The distance of boundary line is arrived according to itself, regulation sends the time interval of non-conductor signal.
It is preferred that, automatic running device calculates the maximum for sending non-conductor signal according to the intensity of the electromagnetic field detected
Time interval, and send non-conductor signal so that the time interval for sending non-conductor signal is not more than the maximum time interval.
It is preferred that, automatic running device calculates signal station generation sideband signal according to the intensity of the electromagnetic field detected
Maximum time interval, and the maximum time interval signal is sent to signal station, signal station receives the maximum time interval letter
Number, generate sideband signal so that the time interval of generation sideband signal is not more than the maximum time interval.
The beneficial effects of the invention are as follows：The intensity of the electromagnetic field of the sideband signal detected according to automatic running device, or
Person is according to the distance of automatic running device to boundary line, and Regulate signal station generates the frequency of sideband signal, realizes sideband signal
Lower power consumption.
Brief description of the drawings
Technical problem, technical scheme and the beneficial effect that invention described above is solved can by following
The detailed description of the preferably specific embodiment of the present invention is realized, describes and clearly obtains in combination with accompanying drawing.
Fig. 1 is the schematic diagram of the automatic working system of the first embodiment of the present invention；
Fig. 2 is generation and the detection process schematic diagram of the sideband signal of automatic working system shown in Fig. 1；
Fig. 3 is generation and the detection process block diagram of the sideband signal of automatic working system shown in Fig. 1；
Fig. 4 is the working region schematic diagram of the automatic working system of another embodiment of the present invention；
Fig. 5 is the sideband signal comparison diagram in the different operating region of the automatic working system shown in Fig. 4；
Fig. 6 is the regulation process steps figure of the sideband signal of the automatic working system shown in Fig. 4；
Fig. 7 is the working region schematic diagram of the automatic working system of another embodiment of the present invention.
1. the boundary line of 3. signal station of automatic working system 5.
7. the non-conductor signal generator of automatic mower 9.
Embodiment
Fig. 1 is the schematic diagram of the automatic working system of the first embodiment of the present invention.Automatic working system 1 includes signal station
3rd, boundary line 5 and automatic running device.Signal station 3 generates sideband signal, and boundary line 5 is electrically connected with signal station 3, transmits side
Sector signal, and produce electromagnetic field.The working face of automatic running device is divided into working region and working region by boundary line 5
Outside.Automatic running device is walked and worked in working region.Automatic running device detects sideband signal, specifically, detection ring
Electromagnetic field in border, judges that itself is located in working region or outside working region according to the electromagnetic field detected.
In the present embodiment, automatic running device is automatic mower 7, performs grass cutting action.In other embodiments, automatically
Walking arrangement can also be that automatic cleaner, automatic spraying equipment etc. are adapted to unattended equipment.When automatic running device is
During automatic mower 7, including walking module, cutting module, detection module, energy module and control module etc..Walking module
Automatic mower 7 is driven to walk and turn in working region, cutting module performs grass cutting action, energy module is automatic mowing
Machine 7 provides energy, and detection module detection sideband signal, control module is electrically connected with other each modules, controls automatic mower 7
Walk and work according to pre-set programs.Control module can include timer, start timing temporarily in trigger signal, timing reaches
Indication signal is generated during to preset time.
When signal station 3 includes the generation time of control module, the generation of control sideband signal, including sideband signal, continued
Between and sideband signal levels of current etc..In the present embodiment, the sideband signal that signal station 3 is generated is pulse form signal, automatically
Walking arrangement detects the rising edge and trailing edge of sideband signal, judges that itself is located in working region or outside working region.At it
In his embodiment, sideband signal can also be sinusoidal, sawtooth etc..The control module of signal station 3 can include timing
Device, starts timing, timing generates indication signal when reaching preset time temporarily in trigger signal.
In the present embodiment, automatic working system 1 also includes non-conductor signal generator 9, sends non-conductor signal.Non- wire
Signal generator 9 is arranged on automatic mower 7, is communicated with automatic mower 7.Specifically, non-conductor signal generator 9 with from
Motor mower 7 is electrically connected with, and automatic mower 7 can be read the transmission time of non-conductor signal, and non-conductor signal number
According to.The transmission time of non-conductor signal including time interval, and non-conductor signal data etc., non-wire can be pre-stored in
In signal generator 9, it can also be generated by non-conductor signal generator 9 is random at work, or, can be by automatic mower
7 prestore or generate, and are transferred to non-conductor signal generator 9.Signal station 3 receives non-conductor signal, according to receiving non-wire
Data of the time of signal or non-conductor signal etc. come judge generate sideband signal time, and sideband signal electric current water
Equality.
In the present embodiment, automatic running device is operated in the mode of operation based on non-conductor signal, signal station generation border
The time of signal is associated with non-conductor signal, and the time of automatic running device detection sideband signal is related to non-conductor signal
Connection, and signal station generates the time of sideband signal within the time that automatic running device detects sideband signal.
Generation and the detection process of the sideband signal of automatic working system are illustrated with reference to Fig. 2.
After automatic mower is started working, non-conductor signal generator will send non-conductor signal, and signal station receives non-
Conductor signal, and generate sideband signal in response to non-conductor signal.Automatic mower carries out inspection according to the transmission of non-conductor signal
Survey the preparation of sideband signal.When signal station generates sideband signal, automatic mower detects sideband signal, is sentenced according to sideband signal
Break and itself be located in working region or outside working region.Signal station stops after generation sideband signal, and automatic mower stops immediately
Sideband signal is detected, non-conductor signal is sent until next time.During signal station does not generate sideband signal, automatic mower
Do not detect sideband signal.Using the above method, influence of the interference signal to automatic working system can be prevented effectively from, for example, letter
Number station do not generate sideband signal during, the interference signal in environment will not be detected by automatic mower, thus do not result in from
The erroneous judgement of motor mower.
As shown in Fig. 2 (Ta, Tb) is the time interval that signal station generates sideband signal, (Tc, Td) examines for automatic mower
Survey the time interval of sideband signal.Signal station generation sideband signal time interval by signal station generate border at the beginning of between Ta
And the duration determines, for example, the sideband signal of signal station generation can include a pulse, 2 or many can also be included
Individual pulse.The time of the non-conductor signal of non-conductor signal generator transmission and signal station were received between the time of non-conductor signal
Time difference can be ignored.As shown in Fig. 2 non-conductor signal generator sends the time of non-conductor signal and signal station is given birth to
Into once-existing interval between the time of sideband signal, above-mentioned time interval is referred to as very first time interval T1, above-mentioned time
Interval is referred to as the stand-by period of signal station, that is to say, that signal station receives non-conductor signal, and between the very first time
Every rear, start to generate sideband signal.In the present embodiment, the very first time gives birth at intervals of the transmission time of non-conductor signal with signal station
Time interval between at the beginning of sideband signal between Ta.As shown in Fig. 2 non-conductor signal generator is adjacent to send non-twice
Existence time interval between the time of conductor signal, is referred to as the second time interval T2 by above-mentioned time interval.
In the present embodiment, the data for sending time and non-conductor signal of non-conductor signal by automatic mower control,
Specifically, automatic mower sends trigger signal to non-conductor signal generator, trigger non-conductor signal generator and send non-lead
Line signal.Automatic mower transmits data to non-conductor signal generator, to set the data of non-conductor signal.
Certainly, in other embodiments, the data for sending time and non-conductor signal of non-conductor signal can also be by
Non- conductor signal generator generation.When non-conductor signal generator sends non-conductor signal, triggering letter is sent to automatic mower
Number, automatic mower receives trigger signal and starts timing.Also, automatic mower can actively or passively read non-wire letter
Number data.
In first embodiment, the very first time interval determined by the data of non-conductor signal.The data of non-conductor signal include
Very first time interval data, while signal station receives non-conductor signal, reads very first time interval data, is led relative to non-
The transmission time of line signal, sideband signal is generated after the first time interval.In the present embodiment, very first time interval data is not
Fixed value, specifically, very first time interval data is the random data generated by automatic mower.
In the present embodiment, the time interval of signal station generation sideband signal detects sideband signal relative to automatic mower
Time interval is unfixed.Such as Fig. 2, interval (Ta, Tb) is moveable in interval (Tc, Td).Non- conductor signal occurs
The time that device sends non-conductor signal is that known to automatic mower, the data of non-conductor signal are also known to automatic mower
, therefore, automatic mower can interpolate that signal station generation sideband signal at the beginning of between, known boundaries signal it is lasting when
Between in the case of, additionally it is possible to judge signal station generate sideband signal end time.Certainly, automatic mower can also be according to inspection
The sideband signal measured is terminated, and determines that signal station generates the end time of sideband signal.Accordingly, automatic mower judges detection side
The time interval of sector signal so that the time interval of signal station generation sideband signal falls detects sideband signal in automatic mower
Within time interval.The time interval of signal station generation sideband signal detects the time zone of sideband signal relative to automatic mower
Between can be it is unfixed, for example, automatic mower can optionally set detection sideband signal at the beginning of between, make its morning
Between signal station is generated at the beginning of sideband signal.Nevertheless, automatic mower detect sideband signal time, be still with
What the transmission time of non-conductor signal was time reference to set.For example, automatic mower generates side according to known signal station
The stand-by period of sector signal, judge itself detection sideband signal time and non-conductor signal the transmission time between time between
Every, referred to as the 3rd time interval T3, automatic mower is judging that non-conductor signal is sent, and wait the 3rd time interval it
Afterwards, start to detect sideband signal.
In the present embodiment, the adjacent time interval for sending non-conductor signal twice of non-conductor signal generator is unfixed
, i.e., the second time interval is unfixed.By the transmission time of non-conductor signal and automatic mower last time detection border
Time interval between the time of signal is referred to as the 4th time interval T4, as shown in Figure 2.Second time interval is between the 4th time
Every change and change, when the 4th time interval not fix when, accordingly, the second time interval is not fixed.In the present embodiment, the
Four time intervals are adjusted by automatic mower according to the working condition of itself, specifically, automatic mower detects border
After signal, the data of the 4th time interval are calculated, and judge that triggering non-conductor signal occurs according to the data of the 4th time interval
Device sends the time of non-conductor signal.In the present embodiment, the control time interval of the second time interval/the 4th is not more than particular value,
To prevent automatic mower from can't detect sideband signal for a long time, run to outside working region.
Either very first time interval is not fixed, or signal station generation sideband signal time interval relative to cutting automatically
The time interval of careless machine testing sideband signal is not fixed, also or the second time interval is not fixed, and can more effectively be reduced
Influence of the interference signal to automatic working system, probability when interference signal appears in automatic mower detection sideband signal enters one
Step reduction.
As shown in figure 3, in the present embodiment, the generation of the sideband signal of automatic working system and detection process include following step
Suddenly：
S1：Automatic mower is started working, automatic mower generation very first time interval data, and the 3rd time interval
Data；
S2：Automatic mower transmits very first time interval data to non-conductor signal generator；
S3：Automatic mower sends trigger signal to non-conductor signal generator, and non-conductor signal generator sends non-lead
Line signal；
S4：Signal station receives non-conductor signal, reads the data of non-conductor signal, obtains very first time interval data, together
When start timing；
S5：Signal station judges that timing time reaches very first time interval, generates sideband signal；
S6 (previous step is S3)：Automatic mower starts timing；
S7：Automatic mower judges that timing time reaches the 3rd time interval, detects sideband signal；
S8：Automatic mower calculates the data of the 4th time interval, and starts timing；
S9：Automatic mower regenerates very first time interval data, and the 3rd time interval data；
S10：Automatic mower transmits very first time interval data to non-conductor signal generator；
S11：Automatic mower judges that timing time reaches the 4th time interval, returns to step S3.
Certainly, in other embodiments, automatic mower is detected after sideband signal, can also directly judge for the second time
Interval.Automatic mower since last non-conductor signal sent when timing, timing triggers when reaching the second time interval
Non- conductor signal generator sends non-conductor signal.Continue timing in above-mentioned steps S7, when calculating second in step s 8
Between the data that are spaced, judge that timing time reaches the second time interval in step s 11.
In first embodiment, non-conductor signal can be radio signal, either audio signal or optical signalling etc..
Specifically, in the present embodiment, non-conductor signal is radio-frequency signal, and non-conductor signal generator is radiofrequency signal
Device, non-conductor signal is transmitted/received by radio-frequency channel.
In the present embodiment, automatic working system also includes non-conductor signal receiver, is arranged on signal station, non-wire letter
Number generator is matched with non-conductor signal receiver, is carried out between non-conductor signal generator and non-conductor signal receiver exclusive
Property non-conductor signal transmission.Specifically, the non-conductor signal receiver on signal station recognizes non-conductor signal generator, according to
The non-conductor signal that identified non-conductor signal generator is sent, signal station generation sideband signal.Specifically, non-conductor signal
The non-conductor signal that generator is sent includes identifying code, and non-conductor signal receiver recognizes identifying code.In the present embodiment, non-wire
Signal receiver is prestored identifying code, and non-conductor signal receiver is received after non-conductor signal, by the identifying code of non-conductor signal
It is compared with the identifying code that prestores, if not the identifying code of conductor signal is matched with the identifying code prestored, then makes signal station respond
Sideband signal is generated in non-conductor signal, if not the identifying code of conductor signal and the identifying code prestored are mismatched, then judges to receive
The non-conductor signal arrived is invalid, and signal station does not generate sideband signal.Signal station can be prevented effectively from mistakenly using such scheme
The non-conductor signal outside automatic working system is responded, causes unnecessary energy expenditure.Exist near automatic working system another
During one same or analogous automatic working system, due to the non-conductor signal generator correspondence in different automatic working systems not
Same identifying code, the signal station that can be effectively prevented from adjacent automatic working system mistakenly responds non-conductor signal, generates
Interference signal, causes the erroneous judgement of automatic mower.
It is understood that automatic working system can include the non-conductor signal generator of more than one, each is non-to lead
Line signal generator one identifying code of correspondence, the non-conductor signal that different non-conductor signal generators is sent includes different test
Code is demonstrate,proved, the non-conductor signal that same non-conductor signal generator is sent includes identical identifying code.Signal station prestores starts building certainly
Make the corresponding identifying code of effective non-conductor signal generator in system so that signal station energy and be only capable of in response to automatic work
The non-conductor signal that effective non-conductor signal generator in system is sent.
In another embodiment of the present invention, automatic mower is sent after trigger signal to non-conductor signal, in preset time
Sideband signal is inside not detected by, or detects that border is not detected by the time interval of sideband signal believes in automatic running device
Number, then trigger signal is sent to non-conductor signal generator again, make non-conductor signal generator send non-conductor signal.
In another embodiment of the present invention, automatic working system can be switched to from the mode of operation based on non-conductor signal
The mode of operation of non-conductor signal is not based on, to prevent the failure of non-conductor signal from causing the operation troubles of automatic working system.
Specifically, if automatic mower can't detect sideband signal for a long time, then it is assumed that there occurs non-conductor signal failure, automatic work
System switches to the mode of operation for being not based on non-conductor signal.In the course of work of automatic working system, due in working environment
There are barrier, or other reasonses, the transmission or reception failure of non-conductor signal may be caused, given birth to from without sideband signal
Into, if automatic mower for a long time can't detect sideband signal, may run to outside working region, cause accident.In order to avoid
Due to the operation troubles for the automatic working system that the failure of non-conductor signal is caused, improve automatic working system stability and can
By property, automatic mower is made in the case where long-time can't detect sideband signal, and control automatic working system switches to not base
In the mode of operation of non-conductor signal.Specifically, control automatic working system switches to the Working mould for being not based on non-conductor signal
The condition of formula is that automatic mower is not detected by sideband signal in preset time.If specifically, one on automatic mower
The secondary time for detecting sideband signal was met or exceeded in the time of preset time, and automatic mower is not detected by sideband signal,
Then control automatic working system switches to the mode of operation for being not based on non-conductor signal.The preset time can be according to automatically walk
The intensity for the sideband signal that the equipment last time detects is adjusted in real time.Control automatic working system switch to be not based on it is non-
The condition of the mode of operation of conductor signal can also be that signal station does not generate sideband signal in preset time；Or, cut automatically
Careless machine judges that conductor signal is sent nothing but in preset time；Or, signal station judges not receive non-lead in preset time
Line signal, namely signal station judge that conductor signal is sent nothing but in preset time；Or, automatic mower judges non-wire
After signal is sent, sideband signal is not detected by preset time；Or, detect the time of sideband signal in automatic mower
In interval, automatic mower is not detected by sideband signal etc..Automatic working system switches to the work for being not based on non-conductor signal
During operation mode, the time of signal station generation sideband signal is no longer associated with non-conductor signal, specifically, signal station is continuously generated
Sideband signal；The time of automatic mower detection sideband signal is also no longer associated with non-conductor signal, specifically, automatic mow
Machine persistently detects sideband signal.
In another embodiment of the present invention, the very first time interval, the second/the 4th time interval and the 3rd time interval
It is worth the value for fixation, the value of above-mentioned fixation is pre-stored in automatic mower, either in non-conductor signal generator or signal station.
In another embodiment of the present invention, the very first time interval, the second/the 4th time interval and the 3rd time interval
It is worth for a default sequence, for example, the value at very first time interval can be followed successively by 3ms, 5ms, 7ms.Therefore, between the above-mentioned time
Although every not being fixed, but still being known, be pre-stored in automatic mower, either non-conductor signal generator or
In signal station.
In another embodiment of the present invention, signal station, which is received, is immediately generated sideband signal after non-conductor signal, cut automatically
Careless machine judges that non-conductor signal detects sideband signal immediately after being sent.
In the other embodiment of the present invention, the very first time interval, the second/the 4th time interval and the 3rd time interval
Value is selectively random value, either fixed value or sequential value.Wherein, very first time interval or the 3rd time interval also may be used
It is zero to select.
In another embodiment of the present invention, signal station generates the time of sideband signal, and automatic mower detection border
The time of signal determines that the data of non-conductor signal are to specify signal station generation sideband signal according to the data of non-conductor signal,
And data at the time of automatic mower detection sideband signal.Specifically, automatic mower and signal station all include clock list
Member, determines generation sideband signal, or detect the time of sideband signal according to the data of non-conductor signal.
In another embodiment of the present invention, non-conductor signal generator includes two or more domains, sends non-conductor signal,
One of them includes very first time interval data, wherein another number data that pulse is generated including signal station.
It is understood that in other embodiments, the very first time generation of data at interval can also be in signal station
Complete, for example, when the 3rd time interval is fixed value.The very first time interval, the second/the 4th time interval, between the 3rd time
Every and pulse number data selectively in non-conductor signal generator or automatic mower generate, automatic mower
It can be communicated with non-conductor signal generator.In addition, automatic mower can also be with signal station both-way communication so that above-mentioned data
Generation is more flexible.
In another embodiment of the present invention, signal station generation sideband signal is simultaneously transmitted in boundary line, and signal station does not pass through
Radio-frequency channel sends feedback signal.
In the second embodiment of the present invention, generation and detection and the first embodiment base of the sideband signal of automatic working system
This is identical, and difference is, non-conductor signal generator is arranged on signal station, is communicated with signal station, and automatic mower receives non-
Conductor signal.In the present embodiment, very first time interval data, the second time interval data and the 3rd time interval data are equal
Generated by non-conductor signal generator, wherein, the data of non-conductor signal include the 3rd time interval data.In the present embodiment,
Very first time interval data, the second time interval data and the 3rd time interval data are random data, and when the 3rd
Between the data that are spaced be not more than the data at very first time interval.Automatic mower receives non-conductor signal, reads non-conductor signal
Data, obtain the 3rd time interval data, start simultaneously at timing, judge that timing time is reached after the 3rd time interval, detection
Sideband signal.Signal station is communicated with non-conductor signal generator, is read very first time interval data, is judged non-conductor signal
Start timing after being sent, judge that timing time is reached behind very first time interval, generate sideband signal.Non- conductor signal generator
Start timing after sending non-conductor signal, judge that timing time reaches and send non-conductor signal after the second time interval again.
In the present embodiment, automatic working system also includes non-conductor signal receiver, is arranged on automatic mower, non-to lead
Line signal generator is matched with non-conductor signal receiver, is carried out between non-conductor signal generator and non-conductor signal receiver
Exclusive non-conductor signal transmission.The identifying code specifically, the non-conductor signal receiver on automatic running device prestores.It is non-to lead
Line signal receiver is received after non-conductor signal, and the identifying code of non-conductor signal and the identifying code that prestores are compared, if
The identifying code of non-conductor signal is matched with the identifying code prestored, then makes automatic mower in response to non-conductor signal detection border letter
Number, if not the identifying code of conductor signal and the identifying code prestored are mismatched, then judge that the non-conductor signal received is invalid, automatically
Hay mover does not detect sideband signal., can when there is another same or analogous automatic working system near automatic working system
To be effectively prevented from automatic mower mistakenly in response to the non-conductor signal in adjacent automatic working system, cause automatic mowing
The erroneous judgement of machine.
In another embodiment of the present invention, the structure of automatic working system is essentially identical with second embodiment, and difference is,
When judging that non-conductor signal breaks down, automatic working system can switch to not base from the mode of operation based on non-conductor signal
In the mode of operation of non-conductor signal, specifically, switching condition is automatic mower does not receive non-wire in preset time
Signal.
In another embodiment of the present invention, because signal station is always preferably located on the bus stop of automatic working system
, automatic mower is during bus stop charging is returned, according to the substantially square of the walking direction signal station of non-conductor signal
To adjust travel direction, along boundary line recurrence bus stop after boundary line is run into.
In the third embodiment of the present invention, generation and detection and the first embodiment base of the sideband signal of automatic working system
This is identical, and difference is, non-conductor signal generator is arranged on the outside of automatic mower and signal station, automatic mower and letter
Number station receives non-conductor signal.Specifically, non-conductor signal generator can be fixed in working region or outside working region.It is non-
Conductor signal generator generates very first time interval data, and very first time interval data can be random data.Wherein, it is non-to lead
The data of line signal include very first time interval data.Signal station receives non-conductor signal, reads the data of non-conductor signal, obtains
Take very first time interval data.Signal station starts timing after receiving non-conductor signal, judges that timing time reaches the very first time
Behind interval, sideband signal is generated.Automatic mower receives non-conductor signal, reads the data of non-conductor signal, when obtaining first
Between interval data, generate the 3rd time interval data.Automatic mower starts timing after receiving non-conductor signal, judges timing
Time is reached after the 3rd time interval, detects sideband signal.Non- conductor signal generator also generates the second time interval data, the
Two time interval datas can be random data.Non- conductor signal generator starts timing after sending non-conductor signal, judges
Timing time is reached after the second time interval, and non-conductor signal is sent again.
Certainly, in the present embodiment, non-conductor signal generator can also generate the 3rd time interval data, non-conductor signal
Including very first time interval data and the 3rd time interval data, wherein, by for very first time interval data and the 3rd time
Interval data sets different identification codes so that very first time interval data and the 3rd time interval data can be respectively by signals
Stand and automatic mower identification.
In the present embodiment, automatic working system also includes non-conductor signal receiver, is arranged on automatic mower and letter
On number station, non-conductor signal generator and non-conductor signal receiver are matched, and non-conductor signal generator connects with non-conductor signal
Exclusive non-conductor signal transmission is carried out between receipts device.Specifically, signal station connects with the non-conductor signal on automatic mower
Device is received to prestore identifying code.Signal station is received after non-conductor signal with the non-conductor signal receiver on automatic mower, will
The identifying code of non-conductor signal is compared with the identifying code prestored.If not non-on the identifying code and signal station of conductor signal is led
The identifying code matching prestored in line signal receiver, then signal station generates sideband signal in response to non-conductor signal, if mismatching,
Then judge that the non-conductor signal received is invalid.If not the non-conductor signal on the identifying code and automatic mower of conductor signal connects
The identifying code matching prestored in device is received, then automatic mower detects sideband signal in response to non-conductor signal, if mismatching, sentences
The non-conductor signal that disconnecting is received is invalid.
Using the method for being generated in embodiments of the invention and detecting sideband signal so that automatic working system can be effective
Avoid being influenceed by the interference signal in working environment, can not only avoid by neighbouring automatic working system signal it is dry
Disturb, be also applied for the situation of border line overlap.Large area lawn needs multiple automatic mower cooperatings, and automatic mower exists
Walk and work in respective boundary system, overlapping region is formed between boundary line, as shown in Figure 7.Believed using traditional border
Number detection method, work of the boundary line to automatic working system in overlapping region will produce serious interference, and use this
The method detection sideband signal of the embodiment of invention, then it is possible to prevente effectively from interference between adjacent boundary system, make from starting building
Making system can normally run.
The present invention also provides a kind of automatic working system for the power consumption that can reduce sideband signal.
In the fourth embodiment of the present invention, generation and the detection process of the sideband signal of automatic working system are implemented with first
Example is essentially identical, and difference is, the intensity of the sideband signal of signal station generation, and signal station generate the frequency of sideband signal,
It is associated with the intensity for the electromagnetic field that automatic mower is detected.The intensity and sideband signal of the sideband signal of signal station generation
Levels of current (or voltage level) is related, that is to say, that the levels of current and automatic mower of the sideband signal of signal station generation
The intensity of the electromagnetic field detected is associated.The frequency of signal station generation sideband signal generates the time of sideband signal with signal station
Interval is related, that is to say, that the electromagnetic field that the time interval of signal station generation sideband signal is detected with automatic mower it is strong
Degree is associated.In the case that the intensity of the sideband signal transmitted in boundary line is certain, the electromagnetic field that automatic mower is detected
Intensity it is related to the distance of automatic mower to boundary line, therefore, in the present embodiment, signal station generation sideband signal it is strong
Degree, and signal station generate the frequency of sideband signal, associated with the distance of automatic mower to boundary line.
The regulation process of the intensity of sideband signal and frequency in the present embodiment is illustrated with reference to Fig. 4.
As shown in figure 4, the working region of automatic mower include region A and region B, region A apart from boundary line farther out, area
Domain B is nearer apart from boundary line.The intensity for the electromagnetic field that sideband signal is produced weakens with the increase with the distance of boundary line, because
This, in the case that the levels of current of the sideband signal transmitted in boundary line is certain, what automatic mower was detected in the A of region
The intensity of electromagnetic field is weaker, and the intensity for the electromagnetic field that automatic mower is detected in the B of region is stronger.To limit automatic mower
The walking in working region is, it is necessary to ensure that automatic mower detects the electromagnetic field of some strength of sideband signal generation.Work as work
Make region it is larger when, automatic mower electromagnetic field intensity for detecting in the region A positioned at working region center, much smaller than by
The intensity of the electromagnetic field detected in the region B near side (ns) boundary line.The levels of current of the sideband signal transmitted in boundary line is certain
In the case of, in order to ensure any position of the automatic mower in working region, for example in region a, intensity symbol can be detected
The levels of current for closing the sideband signal transmitted in the electromagnetic field of the job requirement of automatic mower, boundary line must be sufficiently large.So
And, when automatic mower is located to boundary line working region closer to the distance, such as in the B of region, the electromagnetic field detected
Intensity be much larger than meet automatic mower job requirement intensity, this will cause generate sideband signal the energy waste.
In the present embodiment, when automatic mower operates in the region apart from boundary line farther out, such as when in region a, make
The levels of current of signal station generation sideband signal is higher, so that the intensity for the electromagnetic field that the sideband signal transmitted in boundary line is produced
It is stronger so that automatic mower be able to detect that in the region apart from boundary line farther out intensity meet automatic mower work will
The electromagnetic field asked.When automatic mower operates in the region nearer apart from boundary line, such as when in the B of region, give birth to signal station
Levels of current into sideband signal is relatively low, although the levels of current of sideband signal is relatively low, the intensity of the electromagnetic field of generation is weaker,
It is that in the region nearer apart from boundary line, the intensity for the electromagnetic field that sideband signal is produced meets the work of automatic mower enough
It is required that, at the same time, the power consumption of sideband signal has obtained greatly reducing.
In the present embodiment, the data of non-conductor signal include automatic mower to the range data of boundary line.It is automatic to mow
The electromagnetic field that machine testing sideband signal is produced, itself is judged to the distance of boundary line by the intensity of the electromagnetic field detected, will
The distance data transmission gives non-conductor signal generator, and non-conductor signal generator sends non-conductor signal so that non-wire letter
Number include the range data.Signal station receives non-conductor signal, reads the data of non-conductor signal, obtains automatic mower to side
The range data in boundary line.Signal station judges the sideband signal to be generated according to the range data of automatic mower to boundary line
Levels of current.If automatic mower reflects automatic mower to the relatively large distance of boundary line to the range data of boundary line,
Then signal station generates the higher sideband signal of levels of current；If automatic mower is reflected to the range data of boundary line and cut automatically
Careless machine is to the small distance of boundary line, the then relatively low sideband signal of signal station generation levels of current.In the present embodiment, automatic work
The information prestored in system includes：Automatic mower to boundary line distance, with the desired value of the levels of current of sideband signal it
Between mapping relations.The above-mentioned mapping relations specifically, automatic mower and signal station are stored with.Signal station is according to acquired
Automatic mower to boundary line range data, using above-mentioned mapping relations, it is determined that the mesh of the levels of current of generation sideband signal
Scale value.Signal station generates sideband signal so that the levels of current of sideband signal meets above-mentioned desired value.Meanwhile, automatic mower
The known distance for itself arriving boundary line, using above-mentioned mapping relations, can learn that signal station generates the electric current water of sideband signal
Flat desired value.When signal station generates sideband signal, when automatic mower detects sideband signal again, pass through known signal station
The intensity for the electromagnetic field that the desired value and this time for generating the levels of current of sideband signal are detected in detecting, draws this inspection
Itself arrives the range data of boundary line during survey.Using the above method, automatic mower need to only know that signal station generates border first
The levels of current of signal, just can repeat said process, in the course of work of automatic working system, Regulate signal station generation side
The levels of current of sector signal.The value that signal station generates the levels of current of sideband signal first can be default.In the present embodiment,
The levels of current of signal station generation sideband signal is adjusted in real time, using the above method, can utilize the border adjusted in real time
The levels of current of signal calculates the distance of automatic mower and boundary line.
In the present embodiment, automatic mower uses RSSI (radio signal strength instruction) and signal by non-conductor signal
Stand communication, signal station adjusts the intensity for generating sideband signal according to RSSI value.
When automatic mower is located at the working region apart from boundary line farther out, such as when in region a, automatic mower is examined
Measure after sideband signal, which kind of traveling strategy no matter taken, it is longer to travel time to boundary line apart from automatic mower, because
This, automatic mower need not continually detect sideband signal, to ensure itself to be located in working region.In the present embodiment, when
When automatic mower is located at apart from boundary line working region farther out, make signal station generate sideband signal frequency it is relatively low, to drop
The power consumption of low generation sideband signal.When automatic mower is located at the working region nearer apart from boundary line, such as in working region B
When middle, automatic mower faces the risk for rolling working region away from, therefore, and automatic mower needs relatively frequently to detect that border is believed
Number, to prevent from itself from rolling working region away from.In the present embodiment, when automatic mower is located at the workspace nearer apart from boundary line
Domain, such as when in the B of region so that the frequency of signal station generation sideband signal is higher, to limit automatic mower in workspace
Walk and work in domain.
In the present embodiment, automatic mower judges itself to the distance of boundary line according to the intensity of the electromagnetic field detected；
The distance of boundary line is arrived according to itself, judges that signal station generates the time interval of sideband signal, i.e. signal station generates side next time
Time interval between the time of sector signal and the time of this generation sideband signal.It is understood that signal station generates side
The time interval of sector signal is bigger, and the frequency that represent signal station generation sideband signal is lower；Signal station generation sideband signal
Time interval is smaller, and the frequency that represent signal station generation sideband signal is higher.In the present embodiment, automatic mower is according to itself
To the distance of boundary line, judge that signal station generates the maximum time interval of sideband signal.The maximum time interval can be according to certainly
The estimation such as driving parameters, route characteristic of motor mower is obtained.Because signal station always generates side in response to non-conductor signal
Time interval between sector signal, and the time of signal station generation sideband signal and the transmission time of non-conductor signal is to cut automatically
Known to careless machine, therefore, in the present embodiment, automatic mower is by controlling non-conductor signal generator to send non-conductor signal
Time interval, carrys out the time interval that control signal station generates sideband signal, and cause non-conductor signal generator to send non-wire
The time interval of signal is not more than above-mentioned maximum time interval.In the present embodiment, automatic mower judges that itself arrives boundary line
Distance is bigger, controls the time interval of the non-conductor signal of non-conductor signal generator transmission bigger；Automatic mower judges itself
Distance to boundary line is smaller, controls the time interval of the non-conductor signal of non-conductor signal generator transmission smaller.
Certainly, automatic mower can also by control non-conductor signal generator send next time non-conductor signal when
Between time interval between this detects sideband signal with automatic mower time, carry out control signal station generation sideband signal
Time interval.In the present embodiment, non-conductor signal generator sends time and the signal station generation border letter of non-conductor signal
Number time between time interval, i.e. very first time interval, the time for generating sideband signal twice adjacent much smaller than signal station
Interval.Likewise, the very first time, interval was also much smaller than the non-conductor signal generator adjacent time for sending non-conductor signal twice
Interval.In the present embodiment, the very first time interval can be 3ms, 5ms, 7ms etc..
In the present embodiment, existence time interval, signal station life between the time of the adjacent sideband signal of generation twice of signal station
Into sideband signal levels of current, with signal station last time generation sideband signal when automatic mower to boundary line distance phase
Close.In the present embodiment, the time interval of the adjacent sideband signal of generation twice of signal station is controlled in rational scope so that,
Although automatic mower is at the region away from boundary line, the time interval of signal station generation sideband signal is larger, cuts automatically
Displacement of the careless machine in above-mentioned time interval, is still less for the distance of automatic mower to boundary line.Cause
This, is although automatic mower is changed to the distance of boundary line in above-mentioned time interval, the border of signal station generation
The levels of current of signal is still suitable for the requirement that automatic mower detects sideband signal.
In the present embodiment, the range data of automatic mower to boundary line is obtained using RSSI (radio signal strength instruction)
.
In other examples, multiple automatic mowers can be set to the distance range of boundary line so that, cut automatically
Careless machine to boundary line distance in corresponding scope when, signal station generation sideband signal levels of current and time interval take
Corresponding particular value.
Fig. 5 for the present embodiment automatic mower be located at region A and region B when sideband signal comparison diagram.
Fig. 6 is the flow chart of generation and the detection of the sideband signal of the automatic working system of the present embodiment.In the present embodiment,
The regulation process of the sideband signal of automatic working system is as follows：
S0:Automatic mower sends trigger signal to non-conductor signal generator, starts simultaneously at timing；Non- conductor signal hair
Raw device sends non-conductor signal；Signal station receives non-conductor signal, judges the mesh of the levels of current for the sideband signal to be generated
Scale value；
S1：Signal station generation levels of current is IxSideband signal (IxIt is unfixed value)；
S2：The electromagnetic field that automatic mower detection sideband signal is produced, judges certainly according to the intensity of the electromagnetic field detected
Body is to the distance of boundary line, and non-conductor signal generator sends the time interval of non-conductor signal；
S3：Itself distance data transmission to boundary line is given non-conductor signal generator by automatic mower；
S4：Automatic mower judges that timing time reaches above-mentioned time interval, sends and triggers to non-conductor signal generator
Signal, restarts timing；
S5：Non- conductor signal generator sends non-conductor signal, and the data of non-conductor signal include above-mentioned range data；
S6：Signal station receives non-conductor signal, reads the data of non-conductor signal, above-mentioned range data is obtained, according to upper
The desired value that range data judges the levels of current of generation sideband signal is stated, S1 is returned to.
The levels of current and frequency of sideband signal are generated using above method Regulate signal station so that the work(of sideband signal
Consumption is substantially reduced.Such scheme solves the problem of sideband signal is decayed in the working region of large area so that automatic mower
Middle section in the working region of large area is able to detect that the electromagnetic field for meeting job requirement, meanwhile, automatic mower fortune
The levels of current gone to sideband signal during the region of close boundary line is minimized, so that the power consumption levels of sideband signal are obtained
Control.
It is understood that in other embodiments, the intensity of the electromagnetic field detected according to automatic mower judges
Automatic mower can be completed to the process of the distance of boundary line in automatic mower, can also be completed in signal station, very
It can extremely be completed in non-conductor signal generator.Likewise, judging signal according to the distance of automatic mower to boundary line
The process for the time interval for generating sideband signal of standing, judges that non-conductor signal generator sends the time of non-conductor signal in other words
The process at interval, and judge the process of the levels of current of signal station generation sideband signal, it can be completed in automatic mower,
It can also be completed in signal station, it might even be possible to completed in non-conductor signal generator.As long as automatic mower can be with letter
Number station communication, enable signal station to learn automatic running device to the approximate distance of boundary line, it becomes possible to realize to generate border
The levels of current and frequency of signal are adjusted.Automatic mower by non-conductor signal generator to signal station send it is non-
The data that conductor signal includes, can be the intensity data for the electromagnetic field that automatic mower is detected or automatic mowing
Target value data of the machine to the levels of current of range data or the signal station sideband signal to be generated of boundary line.
In other embodiments of the invention, the side of the levels of current of Regulate signal station generation sideband signal and frequency
Method, non-conductor signal generator is not necessary, as long as automatic mower can be communicated with signal station, automatic mower
Communication modes with signal station can be the mode of the non-conductor signal such as radio signal, audio signal, optical signalling, can also
It is the mode of wired connection.
In another embodiment of the present invention, the time of signal station generation sideband signal is unrelated with non-conductor signal, cuts automatically
The time of careless machine testing sideband signal is also unrelated with non-conductor signal, and automatic mower is detected after sideband signal, immediately or prolongs
By the distance signal of automatic mower to boundary line after the slow time, or the electromagnetic field detected strength signal, led with non-
The mode of line signal is sent to signal station, and signal station receives non-conductor signal, the data of non-conductor signal is read, according to non-wire
The data of signal judge the time interval of generation sideband signal, the generation border letter when the time that the time interval is limited arrives
Number.That is, the judgement of the time interval of signal station generation sideband signal can be completed in signal station.In the embodiment,
Automatic mower can be all the time in the state for detecting sideband signal.Certainly, in other embodiments, signal station generation border letter
Number the judgement of time interval can also be completed in non-conductor signal generator.
In another embodiment of the present invention, signal station is continuously generated sideband signal.Automatic mower in real time or interval
Ground by itself arrive boundary line distance signal, or the electromagnetic field detected strength signal, it is anti-in the way of non-conductor signal
Feed signal station, signal station adjusts the levels of current of sideband signal according to the data of the non-conductor signal received in real time.
In another embodiment of the present invention, the levels of current of signal station generation sideband signal is directly detected with automatic mower
The intensity of the electromagnetic field arrived is related, without calculating automatic mower to the distance of boundary line.Set detecting for automatic mower
Electromagnetic field intensity desired value, the intensity of the actual electromagnetic detected according to automatic mower adjusts the electricity of sideband signal
Flow horizontal.When the electromagnetic field intensity that automatic mower is detected is more than desired value, reduce the levels of current of sideband signal；When certainly
When the electromagnetic field intensity that motor mower is detected is less than desired value, increase the levels of current of sideband signal.
In another embodiment of the present invention, the time interval of signal station generation sideband signal is directly detected with automatic mower
The intensity of the electromagnetic field arrived is related, without calculating automatic mower to the distance of boundary line.The electromagnetism that automatic mower is detected
The intensity of field reflects automatic mower to the distance of boundary line, the electromagnetic field that directly can be detected by automatic mower
Intensity, carrys out the time interval that Regulate signal station generates sideband signal.Specifically, in the present embodiment, signal station does not adjust generation
The levels of current of sideband signal, when the intensity for the electromagnetic field that automatic mower is detected reduces, increase signal station generation border letter
Number time interval, the electromagnetic field that automatic mower is detected intensity increase when, reduce signal station generation sideband signal when
Between be spaced.Or, the intensity and signal station of the electromagnetic field that the automatic mower that can also be prestored in automatic working system is detected
The relation between the time interval of sideband signal is generated, carrys out the time interval that Regulate signal station generates sideband signal.
Above-mentioned technical proposal can in any combination, for example, the levels of current or generation border letter of sideband signal may be selected
Number time interval whether adjust, and regulation method.
The present invention is not limited to lifted specific embodiment, and the structures and methods based on present inventive concept belong to the present invention
Protection domain.
Claims (95)
1. a kind of automatic working system, including signal station, boundary line and automatic running device；
The signal station generates and transmits sideband signal in the boundary line；
The automatic running device detects sideband signal, walks and works in the working region that the boundary line is limited；It is special
Levy and be,
The automatic working system also includes non-conductor signal generator, sends non-conductor signal；
The time interval and the automatic running device of the signal station generation sideband signal detect the time interval of sideband signal
It is associated with non-conductor signal so that the time interval of the signal station generation sideband signal is detected in the automatic running device
Within the time interval of sideband signal.
2. automatic working system according to claim 1, it is characterised in that non-wire is sent with non-conductor signal generator
The time of signal is time reference, and signal station judges the time interval of generation sideband signal.
3. automatic working system according to claim 2, it is characterised in that signal station generates the time interval of sideband signal
Very first time interval is formed between time reference, the very first time interval is not fixed.
4. automatic working system according to claim 3, it is characterised in that the data of non-conductor signal include the first interval
Time data.
5. automatic working system according to claim 1, it is characterised in that according to the data of non-conductor signal, signal station
Judge the time interval of generation sideband signal.
6. automatic working system according to claim 1, it is characterised in that non-wire is sent with non-conductor signal generator
The time of signal is time reference, and automatic running device judges the time interval of detection sideband signal.
7. automatic working system according to claim 1, it is characterised in that according to the data of non-conductor signal, automatic row
Walk the time interval that equipment judges detection sideband signal.
8. automatic working system according to claim 1, it is characterised in that signal station generates the time interval of sideband signal
The time interval for detecting sideband signal relative to automatic running device is not fixed.
9. automatic working system according to claim 1, it is characterised in that non-conductor signal generator is adjacent to be sent twice
The second time interval is formed between the time of non-conductor signal, the second time interval is not fixed.
10. automatic working system according to claim 1, it is characterised in that the non-conductor signal generator is arranged at
On the automatic running device, communicated with the automatic running device, the signal station receives non-conductor signal.
11. automatic working system according to claim 1, it is characterised in that the non-conductor signal generator is arranged at
On the signal station, communicated with the signal station, the automatic running device receives non-conductor signal.
12. automatic working system according to claim 1, it is characterised in that the non-conductor signal generator is arranged at
The outside of the automatic running device and the signal station, the automatic running device and the signal station receive non-wire letter
Number.
13. automatic working system according to claim 1, it is characterised in that the non-conductor signal is radio signal,
Either audio signal or optical signalling.
14. a kind of method for controlling automatic working system, the automatic working system includes signal station, boundary line, automatically walk
Equipment and non-conductor signal generator；Characterized in that, the method for the control automatic working system comprises the following steps：
The signal station generates and transmits sideband signal in the boundary line；
The automatic running device detects sideband signal, walks and works in the working region that the boundary line is limited；
The non-conductor signal generator sends non-conductor signal so that
The time interval and the automatic running device of the signal station generation sideband signal detect the time interval of sideband signal
It is associated with non-conductor signal, and the signal station generation sideband signal time interval detected in the automatic running device
Within the time interval of sideband signal.
15. the method for control automatic working system according to claim 14, it is characterised in that occur with non-conductor signal
The time that device sends non-conductor signal is time reference, and signal station judges the time interval of generation sideband signal.
16. the method for control automatic working system according to claim 14, it is characterised in that according to non-conductor signal
Data, signal station judges the time interval of generation sideband signal.
17. the method for control automatic working system according to claim 14, it is characterised in that occur with non-conductor signal
The time that device sends non-conductor signal is time reference, and automatic running device judges the time interval of detection sideband signal.
18. the method for control automatic working system according to claim 14, it is characterised in that according to non-conductor signal
Data, automatic running device judges the time interval of detection sideband signal.
19. the method for control automatic working system according to claim 14, it is characterised in that the non-conductor signal hair
Raw device is arranged on the automatic running device, is communicated with the automatic running device, and the signal station receives non-conductor signal.
20. the method for control automatic working system according to claim 14, it is characterised in that the non-conductor signal hair
Raw device is arranged on the signal station, is communicated with the signal station, and the automatic running device receives non-conductor signal.
21. the method for control automatic working system according to claim 14, it is characterised in that the non-conductor signal hair
Raw device is arranged at the outside of the automatic running device and the signal station, and the automatic running device and the signal station are received
Non- conductor signal.
22. a kind of automatic working system, including signal station, boundary line and automatic running device；
The signal station generates and transmits sideband signal in the boundary line；
The automatic running device detects sideband signal, walks and works in the working region that the boundary line is limited；It is special
Levy and be,
The automatic working system also includes non-conductor signal generator, sends non-conductor signal；
The time of the signal station generation sideband signal and time and the non-wire of automatic running device detection sideband signal
Signal is associated；
The automatic working system also includes non-conductor signal receiver, receives non-conductor signal；
The non-conductor signal receiver is matched with the non-conductor signal generator.
23. automatic working system according to claim 22, it is characterised in that the non-conductor signal generator is led with non-
One of line signal receiver is arranged on automatic running device, wherein another be arranged on signal station.
24. automatic working system according to claim 22, it is characterised in that the non-conductor signal generator is arranged on
The outside of automatic running device and signal station, the non-conductor signal receiver is arranged on automatic running device and signal station
On.
25. automatic working system according to claim 22, it is characterised in that the signal station generates non-conductor signal
Time interval is located at the automatic running device and detected within the time interval of sideband signal.
26. a kind of method for controlling automatic working system, the automatic working system includes signal station, boundary line, automatically walk
Equipment, non-conductor signal generator and non-conductor signal receiver；Characterized in that, the side of the control automatic working system
Method comprises the following steps：
The signal station generates and transmits sideband signal in the boundary line；
The automatic running device detects sideband signal, walks and works in the working region that the boundary line is limited；It is described
Exclusive non-conductor signal transmission is carried out between non-conductor signal generator and the non-conductor signal receiver so that described
The time interval of signal station generation sideband signal and the time interval and non-wire of automatic running device detection sideband signal
Signal is associated.
27. the method for control automatic working system according to claim 26, it is characterised in that the non-conductor signal hair
One of raw device and non-conductor signal receiver are arranged on automatic running device, wherein another be arranged on signal station.
28. the method for control automatic working system according to claim 26, it is characterised in that the non-conductor signal hair
Raw device is arranged on the outside of automatic running device and signal station, the non-conductor signal receiver be arranged on automatic running device with
And on signal station.
29. the method for control automatic working system according to claim 26, it is characterised in that the signal station generation is non-
The time interval of conductor signal is located at the automatic running device and detected within the time interval of sideband signal.
30. a kind of automatic working system, including signal station, boundary line and automatic running device；
The signal station generates and transmits sideband signal in the boundary line；
The automatic running device detects sideband signal, walks and works in the working region that the boundary line is limited；It is special
Levy and be,
The automatic working system also includes non-conductor signal generator, sends non-conductor signal；
The automatic working system selectably operates in the first mode of operation or the second mode of operation；
Under first mode of operation, signal station generation sideband signal time and automatic running device detection sideband signal time with
Non- conductor signal is associated；
Under second mode of operation, signal station generation sideband signal time and automatic running device detection sideband signal time with
Non- conductor signal is uncorrelated.
31. automatic working system according to claim 30, it is characterised in that automatic working system is operated in the first work
During pattern, if the on-the-job satisfaction preparatory condition of automatic working system, makes automatic working system be switched to from the first mode of operation
Second mode of operation.
32. automatic working system according to claim 31, it is characterised in that the preparatory condition is, non-conductor signal
Transmission or receive it is unreliable.
33. automatic working system according to claim 31, it is characterised in that the preparatory condition is that automatically walk is set
It is standby that sideband signal is not detected by preset time.
34. automatic working system according to claim 31, it is characterised in that the preparatory condition is that signal station is pre-
If sideband signal is not generated in the time.
35. automatic working system according to claim 31, it is characterised in that the preparatory condition is that automatically walk is set
Standby or signal station judges that conductor signal is sent nothing but in preset time.
36. automatic working system according to claim 30, it is characterised in that under the first mode of operation, signal station generation
The time interval of sideband signal is located at automatic running device and detected within the time interval of sideband signal.
37. automatic working system according to claim 36, it is characterised in that automatic working system is operated in the first work
During pattern, automatic running device is not detected by sideband signal in the time interval of detection sideband signal, then makes automatic job family
System switches to the second mode of operation from the first mode of operation.
38. automatic working system according to claim 30, it is characterised in that under the second mode of operation, signal station is lasting
Sideband signal is generated, automatic running device persistently detects sideband signal.
39. automatic working system according to claim 30, it is characterised in that non-conductor signal generator is arranged on automatically
On one of walking arrangement and signal station, under the first mode of operation, automatic running device and the wherein another of signal station connect
Receive non-conductor signal.
40. automatic working system according to claim 30, it is characterised in that non-conductor signal generator is arranged on automatically
Under the outside of walking arrangement and signal station, the first mode of operation, automatic running device and signal station receive non-conductor signal.
41. a kind of method for controlling automatic working system, the automatic working system includes：
Signal station, generates sideband signal；
Boundary line, is electrically connected with signal station, transmits sideband signal；
Automatic running device, detects sideband signal, walks and works in the working region that boundary line is limited；
Non- conductor signal generator, sends non-conductor signal；Characterized in that, the method for the control automatic working system includes
Following steps：
The automatic working system is made to be operated in the first mode of operation so that time of signal station generation sideband signal and automatic
The time of walking arrangement detection sideband signal is associated with non-conductor signal；
When judging that non-conductor signal is unreliable, make automatic working system switch to the second mode of operation from the first mode of operation, make
Signal station generation sideband signal time and time and non-the conductor signal not phase of automatic running device detection sideband signal
Close.
42. the method for control automatic working system according to claim 41, it is characterised in that judge non-conductor signal
When sending or receiving unreliable, automatic working system is made to switch to the second mode of operation from the first mode of operation.
43. the method for control automatic working system according to claim 41, it is characterised in that automatic running device is pre-
If being not detected by sideband signal in the time, then judge that non-conductor signal is unreliable.
44. the method for control automatic working system according to claim 41, it is characterised in that signal station is in preset time
Do not generate sideband signal inside, then judge that non-conductor signal is unreliable.
45. the method for control automatic working system according to claim 41, it is characterised in that automatic running device or letter
Number station judges that conductor signal is sent nothing but in preset time, then judges that non-conductor signal is unreliable.
46. the method for control automatic working system according to claim 41, it is characterised in that under the first mode of operation,
Automatic running device is configured as receiving non-conductor signal, if automatic running device does not receive non-wire letter in preset time
Number, then judge that non-conductor signal is unreliable.
47. under the method for control automatic working system according to claim 41, the first mode of operation, signal station is configured
To receive non-conductor signal, if signal station does not receive non-conductor signal in preset time, conductor signal is judged
Lean on.
48. the method for control automatic working system according to claim 41, it is characterised in that under the first mode of operation,
The time interval of signal station generation sideband signal is located at automatic running device and detected within the time interval of sideband signal.
49. the method for control automatic working system according to claim 48, it is characterised in that automatic running device is in inspection
Sideband signal is not detected by the time interval for surveying sideband signal, then judges that non-conductor signal is unreliable.
50. a kind of automatic working system, including signal station, boundary line, and automatic running device；
The signal station generates sideband signal；
The sideband signal is transmitted in the boundary line, and produces electromagnetic field；
The automatic running device detects the electromagnetic field, walks and works in the working region that the boundary line is limited；Its
It is characterised by,
The automatic running device arrives the distance of boundary line according to itself, adjusts the levels of current of sideband signal.
51. automatic working system according to claim 50, it is characterised in that the automatic running device judges that itself is arrived
When the distance of boundary line reduces, reduce the levels of current of sideband signal；The automatic running device judges that itself arrives boundary line
During distance increase, increase the levels of current of sideband signal.
52. automatic working system according to claim 50, it is characterised in that automatic running device communicates with signal station,
To adjust the levels of current of sideband signal.
53. automatic working system according to claim 50, it is characterised in that automatic running device is sent certainly to signal station
Distance signal of the body to boundary line.
54. automatic working system according to claim 50, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, judges itself to the distance of boundary line.
55. automatic working system according to claim 50, it is characterised in that automatic working system storage automatically walk is set
The standby distance for arriving boundary line, the mapping relations between the desired value of the levels of current of sideband signal.
56. automatic working system according to claim 55, it is characterised in that automatic running device is sent certainly to signal station
Body is to the distance signal of boundary line, and signal station judges the electric current of sideband signal according to the distance signal and the mapping relations
The desired value of level, and according to the levels of current of desired value regulation sideband signal.
57. automatic working system according to claim 55, it is characterised in that automatic running device arrives border according to itself
The distance of line and the mapping relations judge the desired value of the levels of current of sideband signal, and send the target to signal station
Value.
58. automatic working system according to claim 50, it is characterised in that automatic running device sends to signal station and examined
The strength signal of the electromagnetic field measured, the strength signal for the electromagnetic field that signal station is detected according to automatic running device judges certainly
Distance of the dynamic walking arrangement to boundary line.
59. a kind of control method of automatic working system, the automatic working system includes signal station, boundary line, and automatically
Walking arrangement；Characterized in that, the control method of the automatic working system comprises the following steps：
The signal station generates sideband signal；
The sideband signal is transmitted in the boundary line, and produces electromagnetic field；
The automatic running device detects the electromagnetic field, walks and works in the working region that the boundary line is limited；
The automatic running device arrives the distance of boundary line according to itself, adjusts the levels of current of sideband signal.
60. the control method of automatic working system according to claim 59, it is characterised in that the automatic running device
Judge itself to boundary line distance reduce when, reduce sideband signal levels of current；The automatic running device judges itself
When distance to boundary line increases, increase the levels of current of sideband signal.
61. automatic working system according to claim 59, it is characterised in that automatic running device communicates with signal station,
To adjust the levels of current of sideband signal.
62. automatic working system according to claim 59, it is characterised in that automatic running device is sent certainly to signal station
Distance signal of the body to boundary line.
63. automatic working system according to claim 59, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, judges itself to the distance of boundary line.
64. automatic working system according to claim 59, it is characterised in that automatic working system storage automatically walk is set
The standby distance for arriving boundary line, the mapping relations between the desired value of the levels of current of sideband signal.
65. automatic working system according to claim 64, it is characterised in that automatic running device is sent certainly to signal station
Body is to the distance signal of boundary line, and signal station judges the electric current of sideband signal according to the distance signal and the mapping relations
The desired value of level, and according to the levels of current of desired value regulation sideband signal.
66. automatic working system according to claim 64, it is characterised in that automatic running device arrives border according to itself
The distance of line and the mapping relations judge the desired value of the levels of current of sideband signal, and send the target to signal station
Value.
67. automatic working system according to claim 59, it is characterised in that automatic running device sends to signal station and examined
The strength signal of the electromagnetic field measured, the strength signal for the electromagnetic field that signal station is detected according to automatic running device judges certainly
Distance of the dynamic walking arrangement to boundary line.
68. a kind of automatic working system, including signal station, boundary line, and automatic running device；
The signal station generates sideband signal；
The sideband signal is transmitted in the boundary line, and produces electromagnetic field；
The automatic running device detects the electromagnetic field, walks and works in the working region that the boundary line is limited；Its
It is characterised by,
The signal station generates the time interval of sideband signal, the intensity phase of the electromagnetic field detected with the automatic running device
Association.
69. automatic working system according to claim 68, it is characterised in that the electromagnetic field that automatic running device is detected
Intensity reduce, signal station generation sideband signal time interval increase；The intensity for the electromagnetic field that automatic running device is detected
Increase, the time interval of signal station generation sideband signal reduces.
70. automatic working system according to claim 68, it is characterised in that automatic running device is communicated with signal station,
Carry out the time interval that Regulate signal station generates sideband signal.
71. automatic working system according to claim 68, it is characterised in that automatic running device is sent certainly to signal station
The strength signal for the electromagnetic field that body is detected, signal station adjusts generation sideband signal according to the strength signal of the electromagnetic field
Time interval.
72. the automatic working system according to claim 71, it is characterised in that signal station is according to the intensity of the electromagnetic field
Signal, judges automatic running device to the distance of boundary line, and according to the distance of automatic running device to boundary line, regulation generation
The time interval of sideband signal.
73. the automatic working system according to claim 72, it is characterised in that signal station is according to automatic running device to side
The distance in boundary line, calculates the maximum time interval of generation sideband signal, and generates sideband signal so that generation sideband signal when
Between interval be not more than the maximum time interval.
74. automatic working system according to claim 68, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, judges itself to the distance of boundary line.
75. the automatic working system according to claim 74, it is characterised in that automatic running device is sent certainly to signal station
Body is to the distance signal of boundary line, and signal station is according to the distance signal, the time interval of regulation generation sideband signal.
76. the automatic working system according to claim 72 or 74, it is characterised in that automatic running device arrives boundary line
Distance reduces, and the time interval of signal station generation sideband signal reduces；Automatic running device increases to the distance of boundary line, signal
Stand and generate the time interval increase of sideband signal.
77. automatic working system according to claim 68, it is characterised in that automatic running device includes non-conductor signal
Generator, sends non-conductor signal, and signal station receives non-conductor signal, generates sideband signal.
78. the automatic working system according to claim 77, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, regulation sends the time interval of non-conductor signal.
79. the automatic working system according to claim 77, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, judges itself to the distance of boundary line, and arrives the distance of boundary line according to itself, adjusts and sends non-conductor signal
Time interval.
80. the automatic working system according to claim 77, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, calculates the maximum time interval for sending non-conductor signal, and send non-conductor signal so that send non-wire letter
Number time interval be not more than the maximum time interval.
81. automatic working system according to claim 68, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, calculates the maximum time interval that signal station generates sideband signal, and between the signal station transmission maximum time
Every signal, signal station receives the maximum time interval signal, generates sideband signal so that the time interval of generation sideband signal
No more than described maximum time interval.
82. a kind of control method of automatic working system, the automatic working system includes signal station, boundary line, and automatically
Walking arrangement；Characterized in that, the control method of the automatic working system comprises the following steps：The signal station generates border
Signal；
The sideband signal is transmitted in the boundary line, and produces electromagnetic field；
The automatic running device detects the electromagnetic field, walks and works in the working region that the boundary line is limited；
The signal station generates the time interval of sideband signal, the intensity phase of the electromagnetic field detected with the automatic running device
Association.
83. the control method of the automatic working system according to claim 82, it is characterised in that automatic running device is detected
The intensity of the electromagnetic field arrived reduces, the time interval increase of signal station generation sideband signal；The electricity that automatic running device is detected
The intensity increase in magnetic field, the time interval of signal station generation sideband signal reduces.
84. the automatic working system according to claim 82, it is characterised in that automatic running device is communicated with signal station,
Carry out the time interval that Regulate signal station generates sideband signal.
85. the automatic working system according to claim 82, it is characterised in that automatic running device is sent certainly to signal station
The strength signal for the electromagnetic field that body is detected, signal station adjusts generation sideband signal according to the strength signal of the electromagnetic field
Time interval.
86. the automatic working system according to claim 85, it is characterised in that signal station is according to the intensity of the electromagnetic field
Signal, judges automatic running device to the distance of boundary line, and according to the distance of automatic running device to boundary line, regulation generation
The time interval of sideband signal.
87. the automatic working system according to claim 86, it is characterised in that signal station is according to automatic running device to side
The distance in boundary line, calculates the maximum time interval of generation sideband signal, and generates sideband signal so that generation sideband signal when
Between interval be not more than the maximum time interval.
88. the automatic working system according to claim 82, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, judges itself to the distance of boundary line.
89. the automatic working system according to claim 88, it is characterised in that automatic running device is sent certainly to signal station
Body is to the distance signal of boundary line, and signal station is according to the distance signal, the time interval of regulation generation sideband signal.
90. the automatic working system according to claim 86 or 88, it is characterised in that automatic running device arrives boundary line
Distance reduces, and the time interval of signal station generation sideband signal reduces；Automatic running device increases to the distance of boundary line, signal
Stand and generate the time interval increase of sideband signal.
91. the automatic working system according to claim 82, it is characterised in that automatic running device includes non-conductor signal
Generator, sends non-conductor signal, and signal station receives non-conductor signal, generates sideband signal.
92. the automatic working system according to claim 91, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, regulation sends the time interval of non-conductor signal.
93. the automatic working system according to claim 91, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, judges itself to the distance of boundary line, and arrives the distance of boundary line according to itself, adjusts and sends non-conductor signal
Time interval.
94. the automatic working system according to claim 91, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, calculates the maximum time interval for sending non-conductor signal, and send non-conductor signal so that send non-wire letter
Number time interval be not more than the maximum time interval.
95. the automatic working system according to claim 82, it is characterised in that automatic running device is according to the electricity detected
The intensity in magnetic field, calculates the maximum time interval that signal station generates sideband signal, and between the signal station transmission maximum time
Every signal, signal station receives the maximum time interval signal, generates sideband signal so that the time interval of generation sideband signal
No more than described maximum time interval.
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| CN202010360425.9A CN111352428B (en) | 2016-04-21 | 2017-04-21 | Automatic working system and control method thereof |
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| CN202010360425.9A Division CN111352428B (en) | 2016-04-21 | 2017-04-21 | Automatic working system and control method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107305391B (en) | 2021-07-13 |
| WO2017181995A1 (en) | 2017-10-26 |
| CN111352428B (en) | 2023-07-14 |
| CN111352428A (en) | 2020-06-30 |
| CN111352429A (en) | 2020-06-30 |
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