CN111934696A - Intelligent robot position identification method and system - Google Patents
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Abstract
本发明公开了一种智能机器人位置识别方法和系统，其中发射基站可以产生携带第一脉冲序列的脉冲电流，将脉冲电流传输至围线，使围线发射第一脉冲序列，这样机器人可以将第一脉冲序列与预存的参考信号进行比对，获取第一脉冲序列与预存的参考信号之间的相似度和/或相关性等特征，依据这些特征确定机器人相对于围线的位置，以提高相应机器人位置识别过程中的抗干扰性，从而提升机器人位置确定过程中的作业安全性和稳定性。其中第一脉冲序列可以采用占空比大于第一设定比例这样占空比较大的脉冲序列或者占空比小于第二设定比例这样较小的脉冲序列，使机器人在接收到围线发射的信号后，可以将其与参考信息进行快速准确地比对。
The invention discloses a method and system for identifying the position of an intelligent robot, wherein a transmitting base station can generate a pulse current carrying a first pulse sequence, and transmit the pulse current to a fence line, so that the fence line emits the first pulse sequence, so that the robot can transmit the first pulse sequence. A pulse sequence is compared with a pre-stored reference signal to obtain features such as similarity and/or correlation between the first pulse sequence and the pre-stored reference signal. Anti-interference in the process of robot position recognition, thereby improving the operation safety and stability in the process of robot position determination. The first pulse sequence can be a pulse sequence with a larger duty cycle than the first set ratio, or a pulse sequence with a smaller duty cycle than the second set ratio, so that the robot receives Once the signal is generated, it can be quickly and accurately compared with reference information.
Description
技术领域technical field
本发明涉及机器人技术领域，尤其涉及一种智能机器人位置识别方法和系统。The present invention relates to the field of robot technology, and in particular, to a method and system for identifying the position of an intelligent robot.
背景技术Background technique
随着智能控制技术的高速发展，机器人与人们工作生活之间的联系越来越密切，比如割草机器人目前在广大地区家庭草坪修剪方面应用广泛，其工作区域是通过预先铺设载有电流信号的围线来设定的。割草机器人等这一类结合相应围线工作的机器人通常需要通过检测围线发出的电流信号来判断割草机器人是否工作在围线中。目前常用发射和接收方式包括：一：通过围线发送周期性的几个脉冲信号，割草机器人接收到这几个脉冲信号的有无来判别；二：充电站通过围线发送带有编码的脉冲信号，割草机器人接收到带有编码的脉冲信号，然后进行解码来判别。随着市场竞争的加剧，降低成本是必经之路，其中割草电机将会从无刷电机变成有刷电机。其他类似的园林工具中的电机也会使用有刷电机。有刷电机工作时带来的电磁干扰是很强烈的，频谱范围也很宽泛。对于在这种环境中工作的机器人来说，会有检测围线信号异常导致不能正常工作或者冲出围线的危险。这样便容易导致结合围线确定机器人位置的方案安全性低，稳定性差。With the rapid development of intelligent control technology, the connection between robots and people's work and life is getting closer and closer. For example, lawnmower robots are currently widely used in household lawn mowing in vast areas. The working area is pre-laid with current signals. line to set. Robots such as lawnmower robots that work in conjunction with the corresponding fence usually need to determine whether the lawnmower robot is working in the fence by detecting the current signal sent by the fence. At present, the commonly used transmission and reception methods include: 1. Send periodic pulse signals through the fence, and the lawn mower robot can judge whether the pulse signals are received or not; 2: The charging station sends coded pulse signals through the fence. Pulse signal, the lawn mower robot receives the coded pulse signal, and then decodes it to determine. With the intensification of market competition, cost reduction is the only way, among which the mowing motor will change from a brushless motor to a brushed motor. Motors in other similar garden tools also use brushed motors. The electromagnetic interference brought by the brushed motor is very strong, and the frequency spectrum is also very wide. For robots working in such an environment, there is a danger of detecting abnormal signals from the perimeter, resulting in failure to work normally or rushing out of the perimeter. In this way, it is easy to lead to the low security and poor stability of the solution of determining the robot position in combination with the perimeter.
发明内容SUMMARY OF THE INVENTION
针对以上问题，本发明提出一种智能机器人位置识别方法和系统。In view of the above problems, the present invention proposes a method and system for recognizing the position of an intelligent robot.
为实现本发明的目的，提供一种智能机器人位置识别方法，包括如下步骤：In order to realize the purpose of the present invention, a kind of intelligent robot position identification method is provided, which comprises the following steps:
S10，发射基站产生携带第一脉冲序列的脉冲电流，将所述脉冲电流传输至围线，使所述围线发射第一脉冲序列；所述第一脉冲序列为占空比大于第一设定比例或者占空比小于第二设定比例的脉冲序列；S10, the transmitting base station generates a pulse current carrying a first pulse sequence, and transmits the pulse current to the enclosure line, so that the enclosure line transmits the first pulse sequence; the duty cycle of the first pulse sequence is greater than the first setting A pulse sequence whose ratio or duty cycle is less than the second set ratio;
S20，所述机器人接收所述第一脉冲序列，根据所述第一脉冲序列与预存的参考信号确定所述机器人相对于围线的位置；所述参考信号与第一脉冲序列的信号一致。S20, the robot receives the first pulse sequence, and determines the position of the robot relative to the perimeter according to the first pulse sequence and a pre-stored reference signal; the reference signal is consistent with the signal of the first pulse sequence.
在一个实施例中，所述机器人接收所述第一脉冲序列，根据所述第一脉冲序列与预存的参考信号确定所述机器人相对于围线的位置的步骤具体包括：In one embodiment, the robot receives the first pulse sequence, and the step of determining the position of the robot relative to the perimeter according to the first pulse sequence and a pre-stored reference signal specifically includes:
所述机器人接收所述第一脉冲序列，将所述第一脉冲序列与预存的参考信号进行比对，若第一脉冲序列与所述参考信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以内；若第一脉冲序列与所述参考信号的反向信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以外。The robot receives the first pulse sequence and compares the first pulse sequence with a pre-stored reference signal, if the similarity between the first pulse sequence and the reference signal is greater than or equal to a third preset ratio , it is determined that the robot is within the perimeter; if the similarity between the first pulse sequence and the reverse signal of the reference signal is greater than or equal to the third set ratio, it is determined that the robot is outside the perimeter.
具体地，上述智能机器人位置识别方法，还包括：Specifically, the above-mentioned intelligent robot position identification method further includes:
若第一脉冲序列与所述参考信号之间的相似度小于第三设定比例，且第一脉冲序列与所述参考信号的反向信号之间的相似度小于第三设定比例，则判定所述机器人不在工作区。If the similarity between the first pulse sequence and the reference signal is less than the third set ratio, and the similarity between the first pulse sequence and the inverse signal of the reference signal is less than the third set ratio, it is determined that The robot is not in the work area.
具体地，所述第三设定比例的取值范围为70％-90％。Specifically, the value range of the third set ratio is 70%-90%.
在一个实施例中，所述第一设定比例的取值范围为60％-80％，第二设定比例的取值范围为20％-40％。In one embodiment, the value range of the first set ratio is 60%-80%, and the value range of the second set ratio is 20%-40%.
在一个实施例中，所述脉冲电流还包括第二脉冲序列；In one embodiment, the pulsed current further includes a second pulse sequence;
所述发射基站产生携带第一脉冲序列的脉冲电流，将所述脉冲电流传输至围线之后，还包括：The transmitting base station generates a pulse current carrying the first pulse sequence, and after transmitting the pulse current to the fence line, the method further includes:
所述发射基站读取通过所述围线的第二脉冲序列，以获取所述第二脉冲序列的幅值，根据所述第二脉冲序列的幅值控制所产生的脉冲电流的幅值。The transmitting base station reads the second pulse sequence passing through the perimeter line to obtain the amplitude of the second pulse sequence, and controls the amplitude of the generated pulse current according to the amplitude of the second pulse sequence.
具体地，所述第二脉冲序列为占空比为50％的脉冲序列。Specifically, the second pulse sequence is a pulse sequence with a duty cycle of 50%.
在一个实施例中，所述第一脉冲序列的频率相同；和/或，所述第一脉冲序列为序列本身与相反序列之间的电平差大于或等于设定差值的脉冲序列。In one embodiment, the frequencies of the first pulse sequences are the same; and/or, the first pulse sequence is a pulse sequence in which the level difference between the sequence itself and the opposite sequence is greater than or equal to a set difference.
一种智能机器人位置识别系统，包括发射基站、围线和机器人；所述发射基站通过所述围线与所述机器人进行通信连接；An intelligent robot position identification system, comprising a launch base station, a fence and a robot; the launch base station communicates with the robot through the fence line;
所述发射基站包括信号发生模块，所述信号发生模块用于产生携带第一脉冲序列的脉冲电流；所述第一脉冲序列为占空比大于第一设定比例或者占空比小于第二设定比例的脉冲序列；The transmitting base station includes a signal generating module, and the signal generating module is used to generate a pulse current carrying a first pulse sequence; the first pulse sequence has a duty cycle greater than a first set ratio or a duty cycle less than a second set ratio. Scaled pulse train;
所述围线设置在目标工作区域一周，围线的两端分别与所述信号发生模块相连，信号发生模块将所述脉冲电流传输至所述围线上，所述围线发射第一脉冲序列；The enclosure line is arranged around the target working area, and both ends of the enclosure line are respectively connected to the signal generating module. The signal generating module transmits the pulse current to the enclosure line, and the enclosure line emits a first pulse sequence. ;
所述机器人包括信号检测单元和处理器，所述信号检测单元用于接收围线发射的第一脉冲序列的信号，所述处理器将接收到的所述第一脉冲序列的信号和预存的参考信号进行比对，以确定机器人相对于围线的位置；所述参考信号与第一脉冲序列的信号一致。The robot includes a signal detection unit and a processor, the signal detection unit is used for receiving the signal of the first pulse sequence emitted by the perimeter, and the processor combines the received signal of the first pulse sequence with the pre-stored reference The signals are compared to determine the position of the robot relative to the perimeter; the reference signal is consistent with the signal of the first pulse sequence.
在一个实施例中，所述信号检测单元包括信号接收装置和选频放大模块，所述机器人还包括滤波模块和数字脉冲整形模块；所述信号接收装置、选频放大模块、滤波模块、数字脉冲整形模块和处理器依次连接；In one embodiment, the signal detection unit includes a signal receiving device and a frequency selective amplifying module, and the robot further includes a filtering module and a digital pulse shaping module; the signal receiving device, the frequency selective amplifying module, the filtering module, the digital pulse shaping module The shaping module and the processor are connected in turn;
所述信号接收装置接收所述围线发射的第一脉冲序列的信号；The signal receiving device receives the signal of the first pulse sequence transmitted by the perimeter;
所述选频放大模块在所述信号接收装置接收的信号中选取第一脉冲序列，按照预设的频率对所述第一脉冲序列进行选频放大，将选频放大后的第一脉冲序列发送至所述滤波模块；The frequency selective amplification module selects a first pulse sequence from the signal received by the signal receiving device, performs frequency selective amplification on the first pulse sequence according to a preset frequency, and transmits the frequency selective amplified first pulse sequence to the filtering module;
所述滤波模块对所述第一脉冲序列进行滤波处理，将滤波处理后的第一脉冲序列发送至所述数字脉冲整形模块；The filtering module performs filtering processing on the first pulse sequence, and sends the filtered first pulse sequence to the digital pulse shaping module;
所述数字脉冲整形模块对所接收的第一脉冲序列进行整形处理，将整理处理后的第一脉冲序列发送至所述处理器；The digital pulse shaping module performs shaping processing on the received first pulse sequence, and sends the sorted first pulse sequence to the processor;
所述处理器比对所述第一脉冲序列与预存的参考信号，若第一脉冲序列与所述参考信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以内，若第一脉冲序列与所述参考信号的反向信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以外。The processor compares the first pulse sequence with the pre-stored reference signal, and if the similarity between the first pulse sequence and the reference signal is greater than or equal to a third preset ratio, then it is determined that the robot is in the perimeter. Within, if the similarity between the first pulse sequence and the reverse signal of the reference signal is greater than or equal to a third set ratio, it is determined that the robot is outside the perimeter.
具体地，所述处理器在检测到所述第一脉冲序列与所述参考信号之间的相似度小于第三设定比例，且第一脉冲序列与所述参考信号的反向信号之间的相似度小于第三设定比例时，判定所述机器人不在工作区。Specifically, the processor detects that the similarity between the first pulse sequence and the reference signal is less than a third set ratio, and the similarity between the first pulse sequence and the reverse signal of the reference signal is When the similarity is less than the third set ratio, it is determined that the robot is not in the work area.
上述智能机器人位置识别方法和系统中，发射基站可以产生携带第一脉冲序列的脉冲电流，将脉冲电流传输至围线，使围线向机器人发射第一脉冲序列，这样机器人可以将第一脉冲序列与预存的参考信号进行比对，获取第一脉冲序列与预存的参考信号之间的相似度和/或相关性等特征，依据这些特征确定机器人相对于围线的位置，以提高相应机器人位置识别过程中的抗干扰性，从而提升机器人位置确定过程中的作业安全性和稳定性。其中第一脉冲序列可以采用占空比大于第一设定比例这样占空比较大的脉冲序列或者占空比小于第二设定比例这样较小的脉冲序列，使机器人在接收到围线发射的信号后，可以将其与参考信息进行快速准确地比对，进而提高智能机器人位置识别的效率和准确性，进一步保证位置识别过程的稳定性。In the above-mentioned intelligent robot position identification method and system, the transmitting base station can generate a pulse current carrying the first pulse sequence, and transmit the pulse current to the enclosure, so that the enclosure transmits the first pulse sequence to the robot, so that the robot can transmit the first pulse sequence. Comparing with the pre-stored reference signal to obtain features such as similarity and/or correlation between the first pulse sequence and the pre-stored reference signal, and determine the position of the robot relative to the perimeter according to these features to improve the position recognition of the corresponding robot Anti-interference in the process, thereby improving the safety and stability of the robot position determination process. The first pulse sequence can be a pulse sequence with a larger duty cycle than the first set ratio, or a pulse sequence with a smaller duty cycle than the second set ratio, so that the robot receives After the signal is received, it can be quickly and accurately compared with the reference information, thereby improving the efficiency and accuracy of the position recognition of the intelligent robot, and further ensuring the stability of the position recognition process.
附图说明Description of drawings
图1是一个实施例的智能机器人位置识别方法流程图；Fig. 1 is the flow chart of the intelligent robot position identification method of one embodiment;
图2是一个实施例的参考信号示意图；2 is a schematic diagram of a reference signal of an embodiment;
图3是一个实施例的智能机器人位置识别系统示意图；3 is a schematic diagram of an intelligent robot position recognition system according to an embodiment;
图4是一个实施例的脉冲电流示意图；4 is a schematic diagram of a pulse current of an embodiment;
图5为另一个实施例的智能机器人位置识别系统结构示意图；5 is a schematic structural diagram of an intelligent robot position recognition system according to another embodiment;
图6为一个实施例中机器人的部分结构示意图。FIG. 6 is a schematic diagram of a part of the structure of a robot in one embodiment.
具体实施方式Detailed ways
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
参考图1所示，图1为一个实施例的智能机器人位置识别方法流程图，包括如下步骤：Referring to FIG. 1, FIG. 1 is a flowchart of a method for identifying a position of an intelligent robot according to an embodiment, including the following steps:
S10，发射基站产生携带第一脉冲序列的脉冲电流，将所述脉冲电流传输至围线，使所述围线发射第一脉冲序列；所述第一脉冲序列为占空比大于第一设定比例或者占空比小于第二设定比例的脉冲序列；S10, the transmitting base station generates a pulse current carrying a first pulse sequence, and transmits the pulse current to the enclosure line, so that the enclosure line transmits the first pulse sequence; the duty cycle of the first pulse sequence is greater than the first setting A pulse sequence whose ratio or duty cycle is less than the second set ratio;
S20，所述机器人接收所述第一脉冲序列，根据所述第一脉冲序列与预存的参考信号确定所述机器人相对于围线的位置；所述参考信号与第一脉冲序列的信号一致。S20, the robot receives the first pulse sequence, and determines the position of the robot relative to the perimeter according to the first pulse sequence and a pre-stored reference signal; the reference signal is consistent with the signal of the first pulse sequence.
具体地，参考信号为与第一脉冲序列完全一样的信号。第一设定比例可以取一较大的比例值，第二设定比例可以取一个较小的比例值，以使后续机器人可以快速准确地获取第一脉冲序列与参考信号之间的相似度或者相关性等特征，依据所得到的特征对机器人的位置进行快速准确地识别。Specifically, the reference signal is exactly the same signal as the first pulse sequence. The first set ratio can take a larger ratio value, and the second set ratio can take a small ratio value, so that the subsequent robot can quickly and accurately obtain the similarity between the first pulse sequence and the reference signal or Correlation and other features, according to the obtained features to quickly and accurately identify the position of the robot.
在实际工作过程中，围线向机器人发射的信号，即第一脉冲序列，可以采用正负脉冲序列，脉冲序列频率相同，占空比不同，脉冲序列电流恒定可控，以保证所发射信号的稳定性，使机器人在接收到围线发射的信号后，可以将其与参考信息进行准确比对。In the actual working process, the signal sent by the enclosure line to the robot, that is, the first pulse sequence, can use positive and negative pulse sequences. Stability, so that the robot can accurately compare the signal with the reference information after receiving the signal emitted by the fence.
上述智能机器人位置识别方法中，发射基站可以产生携带第一脉冲序列的脉冲电流，将脉冲电流传输至围线，使围线向机器人发射第一脉冲序列，这样机器人可以将第一脉冲序列与预存的参考信号进行比对，获取第一脉冲序列与预存的参考信号之间的相似度和/或相关性等特征，依据这些特征确定机器人相对于围线的位置，以提高机器人位置识别过程中的抗干扰性，从而提升机器人位置确定过程中的作业安全性和稳定性。其中第一脉冲序列可以采用占空比大于第一设定比例这样占空比较大的脉冲序列或者占空比小于第二设定比例这样较小的脉冲序列，使机器人在接收到围线发射的信号后，可以将其与参考信息进行快速准确地比对，进而提高智能机器人位置识别的效率和准确性，进一步保证位置识别过程的稳定性。In the above-mentioned intelligent robot position identification method, the transmitting base station can generate a pulse current carrying the first pulse sequence, and transmit the pulse current to the enclosure, so that the enclosure transmits the first pulse sequence to the robot, so that the robot can compare the first pulse sequence with the pre-stored pulse sequence. Compare the reference signals of the robot, obtain the characteristics such as similarity and/or correlation between the first pulse sequence and the pre-stored reference signal, and determine the position of the robot relative to the perimeter according to these characteristics, so as to improve the position recognition process of the robot. Anti-interference, thereby improving the safety and stability of the robot position determination process. The first pulse sequence can be a pulse sequence with a larger duty cycle than the first set ratio, or a pulse sequence with a smaller duty cycle than the second set ratio, so that the robot receives After the signal is received, it can be quickly and accurately compared with the reference information, thereby improving the efficiency and accuracy of the position recognition of the intelligent robot, and further ensuring the stability of the position recognition process.
在一个实施例中，所述机器人接收所述第一脉冲序列，根据所述第一脉冲序列与预存的参考信号确定所述机器人相对于围线的位置的步骤具体包括：In one embodiment, the robot receives the first pulse sequence, and the step of determining the position of the robot relative to the perimeter according to the first pulse sequence and a pre-stored reference signal specifically includes:
所述机器人接收所述第一脉冲序列，将所述第一脉冲序列与预存的参考信号进行比对，若第一脉冲序列与所述参考信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以内；若第一脉冲序列与所述参考信号的反向信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以外。The robot receives the first pulse sequence and compares the first pulse sequence with a pre-stored reference signal, if the similarity between the first pulse sequence and the reference signal is greater than or equal to a third preset ratio , it is determined that the robot is within the perimeter; if the similarity between the first pulse sequence and the reverse signal of the reference signal is greater than or equal to the third set ratio, it is determined that the robot is outside the perimeter.
上述第三设定比例可以依据相应的位置识别精度设置，具体地，位置识别精度越高，第三设定比例的取值越大。The above-mentioned third set ratio may be set according to the corresponding position recognition accuracy. Specifically, the higher the position recognition accuracy, the larger the value of the third set ratio.
本实施例可以对机器人的位置进行准确识别，其中围线所发射的第一脉冲序列采用序列本身与相反序列之间的电平差异率较大的脉冲序列(正负脉冲序列)，其占空比不同，便于其与相应参考信号之间的比对，可以提高信号比对过程中的稳定性，进而提高相应机器人位置识别过程中的稳定性。In this embodiment, the position of the robot can be accurately identified, wherein the first pulse sequence emitted by the perimeter adopts a pulse sequence (positive and negative pulse sequence) with a large level difference rate between the sequence itself and the opposite sequence, and its duty cycle The ratio is different, which facilitates the comparison between it and the corresponding reference signal, which can improve the stability of the signal comparison process, thereby improving the stability of the corresponding robot position recognition process.
作为一个实施例，所述第一设定比例的取值范围为60％-80％，第二设定比例的取值范围为20％-40％。As an embodiment, the value range of the first set ratio is 60%-80%, and the value range of the second set ratio is 20%-40%.
具体地，机器人在边界线内和边界线外所检测到的信号是相反的，即边界线内检测到信号占空比是70％，则在边界外检测到的就是30％。且机器人接收到的信号和围线实际发射出来的信号之间可能存在一定误差，若使用60％或40％左右占空比的信号，在界内还是界外的判断上容易出现错误，从而影响相应位置识别过程中的稳定性。优选地，上述第一设定比例取70％，第二设定比例取30％，这样机器人在边界线内检测到信号占空比是70％，则在边界外检测到的就是30％，以这样的第一脉冲序列与相应参考信号进行相似度比对时，具有更高的抗干扰性和稳定性，可以避免位置识别错误等状况的产生，从而可以进一步保证所识别的机器人位置的准确性。Specifically, the signals detected by the robot within the boundary line and outside the boundary line are opposite, that is, the duty cycle of the signal detected within the boundary line is 70%, and the signal detected outside the boundary line is 30%. And there may be a certain error between the signal received by the robot and the signal actually emitted by the fence. If a signal with a duty cycle of about 60% or 40% is used, it is easy to make errors in the judgment of whether it is in or out of the boundary, which will affect the corresponding Stability during location recognition. Preferably, the above-mentioned first set ratio is 70%, and the second set ratio is 30%, so that the robot detects that the signal duty cycle is 70% within the boundary line, and the signal detected outside the boundary is 30%. When the similarity between the first pulse sequence and the corresponding reference signal is compared, it has higher anti-interference and stability, and can avoid the occurrence of position recognition errors, so as to further ensure the accuracy of the recognized robot position. .
在一个示例中，若第一设定比例取70％，第二设定比例取30％，第一脉冲序列为占空比大于70％的脉冲序列或者占空比小于30％的脉冲序列。参考信号为与第一脉冲序列一致的信号，这样将第一脉冲序列与参考信号进行比对，可以准确快速得到两者之间的相似度。在一个示例中，机器人预存的参考信号可以参考图2所示。In an example, if the first set ratio is 70% and the second set ratio is 30%, the first pulse sequence is a pulse sequence with a duty cycle greater than 70% or a pulse sequence with a duty cycle less than 30%. The reference signal is a signal consistent with the first pulse sequence, so by comparing the first pulse sequence with the reference signal, the similarity between the two can be accurately and quickly obtained. In an example, the reference signal pre-stored by the robot may be shown with reference to FIG. 2 .
作为一个实施例，上述智能机器人位置识别方法，还包括：As an embodiment, the above-mentioned intelligent robot position identification method further includes:
若第一脉冲序列与所述参考信号之间的相似度小于第三设定比例，且第一脉冲序列与所述参考信号的反向信号之间的相似度小于第三设定比例，则判定所述机器人不在工作区。If the similarity between the first pulse sequence and the reference signal is less than the third set ratio, and the similarity between the first pulse sequence and the inverse signal of the reference signal is less than the third set ratio, it is determined that The robot is not in the work area.
上述工作区为包括围线的设定区域，在工作区，机器人可以稳定地接收围线发射的各类信号。The above-mentioned work area is a set area including a fence line. In the work area, the robot can stably receive various signals emitted by the fence line.
本实施例可以对机器人不在工作区的状态进行稳定检测，对相应的智能机器人位置识别方案进行了有效完善。This embodiment can stably detect the state that the robot is not in the work area, and effectively improve the corresponding intelligent robot position recognition scheme.
作为一个实施例，所述第三设定比例的取值范围为70％-90％。As an embodiment, the value range of the third set ratio is 70%-90%.
优选地，上述第三设定比例的取值为80％，这样可以对机器人所在的位置进行更为准确地识别。Preferably, the value of the third set ratio is 80%, so that the position of the robot can be more accurately identified.
具体地，上述机器人可以包括割草机器人等需要结合相应围线进行作业的智能设备。在一个示例中，若机器人为割草机器人，执行上述智能机器人位置识别方法的智能机器人位置识别系统可以参考图3所示，割草机器人在设置围线的工作区移动，接收围线向机器人发射的第一脉冲序列，将第一脉冲序列与预存的参考信号进行比对，若第一脉冲序列与参考信号之间的相似度大于或者等于第三设定比例，判定所述机器人在围线以内，若第一脉冲序列与所述参考信号的反向信号之间的相似度大于或者等于第三设定比例，判定所述机器人在围线以外；若第一脉冲序列与所述参考信号之间的相似度小于第三设定比例，且第一脉冲序列与所述参考信号的反向信号之间的相似度小于第三设定比例，则判定所述机器人不在工作区；这样便可以实现对机器人位置的准确识别。Specifically, the above-mentioned robots may include smart devices such as lawn mowers that need to perform operations in conjunction with corresponding fence lines. In one example, if the robot is a lawn mower, the intelligent robot position identification system for executing the above method for intelligent robot position identification can refer to Figure 3. The lawn mowing robot moves in the work area where the fence line is set, and receives the fence line and transmits it to the robot. The first pulse sequence is compared with the pre-stored reference signal. If the similarity between the first pulse sequence and the reference signal is greater than or equal to the third set ratio, it is determined that the robot is within the perimeter. , if the similarity between the first pulse sequence and the reverse signal of the reference signal is greater than or equal to the third set ratio, it is determined that the robot is outside the perimeter; if there is a difference between the first pulse sequence and the reference signal The similarity is less than the third set ratio, and the similarity between the first pulse sequence and the reverse signal of the reference signal is less than the third set ratio, then it is determined that the robot is not in the work area; Accurate identification of robot position.
在一个实施例中，所述脉冲电流还包括第二脉冲序列；In one embodiment, the pulsed current further includes a second pulse sequence;
所述发射基站产生携带第一脉冲序列的脉冲电流，将所述脉冲电流传输至围线之后，还包括：The transmitting base station generates a pulse current carrying the first pulse sequence, and after transmitting the pulse current to the fence line, the method further includes:
所述发射基站读取通过所述围线的第二脉冲序列，以获取所述第二脉冲序列的幅值，根据所述第二脉冲序列的幅值控制所产生的脉冲电流的幅值。The transmitting base station reads the second pulse sequence passing through the perimeter line to obtain the amplitude of the second pulse sequence, and controls the amplitude of the generated pulse current according to the amplitude of the second pulse sequence.
具体地，所述第二脉冲序列为占空比为50％的脉冲序列。Specifically, the second pulse sequence is a pulse sequence with a duty cycle of 50%.
本实施例中，脉冲电流还包括第二脉冲序列，这样发射基站可以读取通过围线的第二脉冲序列，以获取所述第二脉冲序列的幅值，从而获取围线中所流过的脉冲电流的幅值，根据这一幅值控制所产生的脉冲电流的幅值，以保证传输至围线的脉冲电流的稳定性，从而提高相应位置识别过程中的稳定性。In this embodiment, the pulse current further includes a second pulse sequence, so that the transmitting base station can read the second pulse sequence passing through the perimeter to obtain the amplitude of the second pulse sequence, so as to obtain the pulses flowing through the perimeter. The amplitude of the pulse current is controlled according to the amplitude of the generated pulse current to ensure the stability of the pulse current transmitted to the perimeter, thereby improving the stability of the corresponding position identification process.
在一个实施例中，所述第一脉冲序列的频率相同；和/或，所述第一脉冲序列为序列本身与相反序列之间的电平差大于或等于设定差值的脉冲序列。In one embodiment, the frequencies of the first pulse sequences are the same; and/or, the first pulse sequence is a pulse sequence in which the level difference between the sequence itself and the opposite sequence is greater than or equal to a set difference.
上述设定差值可以依据脉冲序列的具体类型设置，比如设置为1.5等值。第一脉冲序列的序列本身与相反序列之间的电平差大于或等于设定差值，比如正负脉冲序列，使第一脉冲序列与其反向信号之间的差异更为明显，这样后续机器人可以针对第一脉冲序列以及相应参考信号进行更为准确地比对。The above-mentioned set difference can be set according to the specific type of the pulse sequence, for example, set to a value such as 1.5. The level difference between the sequence of the first pulse sequence itself and the opposite sequence is greater than or equal to the set difference, such as positive and negative pulse sequences, so that the difference between the first pulse sequence and its reverse signal is more obvious, so that the subsequent robot A more accurate alignment can be made for the first pulse sequence and the corresponding reference signal.
具体地，围线向机器人发射的脉冲序列的频率相同，这样脉冲序列频率相同，占空比不同，以对所发射的脉冲序列进行预设的规律编码，保证所发射信号的稳定性，这样机器人在接收到相应的脉冲序列后，可以采用选频放大模块，对相应频率序列的电磁波进行谐振放大，以抑制不同频率，提取有效信号，保证位置识别所采用的信号的有效性。围线所发射的第一脉冲序列采用序列本身与相反序列之间的电平差异率较大的脉冲序列(正负脉冲序列)，其占空比不同，便于其与相应参考信号之间的比对，可以提高信号比对过程中的准确性和稳定性，进而提高智能机器人位置识别过程中的稳定性。Specifically, the frequency of the pulse sequence transmitted by the fence to the robot is the same, so that the frequency of the pulse sequence is the same, and the duty cycle is different, so that the transmitted pulse sequence is encoded with a preset law to ensure the stability of the transmitted signal, so that the robot can After receiving the corresponding pulse sequence, the frequency selective amplifying module can be used to resonantly amplify the electromagnetic wave of the corresponding frequency sequence to suppress different frequencies, extract effective signals, and ensure the validity of the signals used for position identification. The first pulse sequence transmitted by the fence line adopts a pulse sequence (positive and negative pulse sequence) with a large level difference rate between the sequence itself and the opposite sequence, and its duty cycle is different, which is convenient for the ratio between it and the corresponding reference signal. Yes, it can improve the accuracy and stability of the signal comparison process, thereby improving the stability of the intelligent robot's position recognition process.
在一个示例中，围线向机器人发射的信号处理第一脉冲序列之外，还可以包括其他信号，若包括其他信号，相应的发射信号可以参考图4所示。具体地，围线处的信号发射可以采用正负交替的脉冲序列；脉冲序列电流恒定可控以适应不同面积的工作区。脉冲序列频率相同；占空比不同；对脉冲序列进行预设的规律编码。机器人处的围线信号接收部分采用选频放大模块，该模块对发射预设频率序列电磁波进行谐振放大，抑制不同频率。机器人处的窄带滤波模块，可以对选频放大后的序列进行滤波，滤除不在要求频率范围的信号。机器人处的数字整形模块，可以将模拟脉冲变成MCU处理器易于处理的数字脉冲。机器人处的MCU处理器可以设置相似度解码识别模块，该模块对预订的序列进行复原比对，以查看相似度，判别割草机器人是在围线中还是在围线外。In an example, the signal transmitted by the perimeter to the robot may include other signals in addition to the first pulse sequence. If other signals are included, the corresponding transmitted signals may be shown in FIG. 4 . Specifically, the signal emission at the perimeter can adopt a pulse sequence with alternating positive and negative; the current of the pulse sequence is constant and controllable to adapt to different working areas. The frequency of the pulse sequence is the same; the duty cycle is different; the pulse sequence is encoded with a preset law. The signal receiving part of the perimeter at the robot adopts a frequency-selective amplifying module, which resonates and amplifies the electromagnetic wave of the transmitted preset frequency sequence to suppress different frequencies. The narrow-band filter module at the robot can filter the frequency-selective and amplified sequence to filter out signals that are not in the required frequency range. The digital shaping module at the robot can convert analog pulses into digital pulses that can be easily handled by the MCU processor. The MCU processor at the robot can set a similarity decoding and identification module, which restores and compares the reserved sequences to check the similarity and determine whether the lawn mower robot is in the fence line or outside the fence line.
本示例因为发射脉冲频率相同，所以接收部分滤波可以使用带宽很窄的滤波方式，以不同占空比进行排列编码，在检测时根据占空比的大致排列顺序来判断接收到信号的是否正确。对比普通编码发射与接收方式抗干扰能力要强很多。有效解决了割草机器人等机器人中有刷电机碳刷换相带来的宽频谱电磁干扰问题，可应用于有刷割草电机这一类方案中，同时，也可以避开工作区其它设备产生的干扰。In this example, because the frequency of the transmitted pulses is the same, the filtering method of the receiving part can use a filtering method with a narrow bandwidth, and arrange and encode with different duty ratios. During detection, it is judged whether the received signal is correct according to the approximate arrangement order of the duty ratios. Compared with ordinary coding transmission and reception methods, the anti-interference ability is much stronger. It effectively solves the problem of wide-spectrum electromagnetic interference caused by the brush motor carbon brush commutation in robots such as lawn mowing robots. It can be applied to such solutions as brush lawn mowing motors. interference.
参考图5所示，图5为一个实施例的智能机器人位置识别系统结构示意图，包括发射基站51、围线52和机器人53；所述发射基站51通过所述围线52与所述机器人53进行通信连接；Referring to FIG. 5 , FIG. 5 is a schematic structural diagram of an intelligent robot position recognition system according to an embodiment, including a transmitting
所述发射基站51包括信号发生模块(图5中未示出)，所述信号发生模块用于产生携带第一脉冲序列的脉冲电流；所述第一脉冲序列为占空比大于第一设定比例或者占空比小于第二设定比例的脉冲序列；The transmitting
所述围线52设置在目标工作区域一周，围线52的两端分别与所述信号发生模块相连，信号发生模块将所述脉冲电流传输至所述围线52上，围线52发射第一脉冲序列；The
所述机器人53包括信号检测单元(图5中未示出)和处理器(图5中未示出)，所述信号检测单元用于接收围线发射的第一脉冲序列的信号，所述处理器将接收到的所述第一脉冲序列的信号和预存的参考信号进行比对，以确定机器人53相对于围线52的位置；所述参考信号与第一脉冲序列的信号一致。The
具体地，参考信号为与第一脉冲序列完全一样的信号。第一设定比例可以取一较大的比例值，第二设定比例可以取一个较小的比例值，以使后续机器人可以快速准确地获取第一脉冲序列与参考信号之间的相似度或者相关性等特征，依据所得到的特征对机器人的位置进行快速准确地识别。Specifically, the reference signal is exactly the same signal as the first pulse sequence. The first set ratio can take a larger ratio value, and the second set ratio can take a small ratio value, so that the subsequent robot can quickly and accurately obtain the similarity between the first pulse sequence and the reference signal or Correlation and other features, according to the obtained features to quickly and accurately identify the position of the robot.
在实际工作过程中，围线52向机器人53发射的信号，即第一脉冲序列，可以采用正负脉冲序列，脉冲序列频率相同，占空比不同，脉冲序列电流恒定可控，以保证围线52所发射信号的稳定性，使机器人53在接收到围线发射的信号后，可以将其与参考信息进行准确比对。In the actual working process, the signal transmitted by the
上述智能机器人位置识别系统中，发射基站51的信号发生模块可以产生携带第一脉冲序列的脉冲电流，将脉冲电流传输至围线52，使围线52向机器人53发射第一脉冲序列，这样机器人53的信号检测单元可以接收围线发射的第一脉冲序列的信号，在处理器中将上述第一脉冲序列与预存的参考信号进行比对，获取第一脉冲序列与预存的参考信号之间的相似度和/或相关性等特征，依据这些特征确定机器人53相对于围线52的位置，以提高机器人53位置识别过程中的抗干扰性，从而提升机器人53位置确定过程中的作业安全性和稳定性。In the above-mentioned intelligent robot position recognition system, the signal generation module of the transmitting
在一个实施例中，机器人接收第一脉冲序列，具体可以将第一脉冲序列与预存的参考信号进行比对，若第一脉冲序列与所述参考信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以内，若第一脉冲序列与所述参考信号的反向信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以外。In one embodiment, the robot receives the first pulse sequence. Specifically, the first pulse sequence may be compared with a pre-stored reference signal. If the similarity between the first pulse sequence and the reference signal is greater than or equal to the third set If the similarity between the first pulse sequence and the reverse signal of the reference signal is greater than or equal to the third set ratio, then it is determined that the robot is outside the perimeter .
上述第三设定比例可以依据相应的位置识别精度设置，具体地，位置识别精度越高，第三设定比例的取值越大。The above-mentioned third set ratio may be set according to the corresponding position recognition accuracy. Specifically, the higher the position recognition accuracy, the larger the value of the third set ratio.
本实施例可以对机器人的位置进行准确识别，其中围线所发射的第一脉冲序列采用序列本身与相反序列之间的电平差异率较大的脉冲序列(正负脉冲序列)，其占空比不同，便于其与相应参考信号之间的比对，可以提高信号比对过程中的稳定性，进而提高智能机器人位置识别过程中的稳定性。In this embodiment, the position of the robot can be accurately identified, wherein the first pulse sequence emitted by the perimeter adopts a pulse sequence (positive and negative pulse sequence) with a large level difference rate between the sequence itself and the opposite sequence, and its duty cycle The ratio is different, which facilitates the comparison between it and the corresponding reference signal, which can improve the stability of the signal comparison process, thereby improving the stability of the intelligent robot position recognition process.
作为一个实施例，所述第一设定比例的取值范围为60％-80％，第二设定比例的取值范围为20％-40％。As an embodiment, the value range of the first set ratio is 60%-80%, and the value range of the second set ratio is 20%-40%.
具体地，机器人在边界线内和边界线外所检测到的信号是相反的，即边界线内检测到信号占空比是70％，则在边界外检测到的就是30％。且机器人接收到的信号和围线实际发射出来的信号之间可能存在一定误差，若使用60％或40％左右占空比的信号，在界内还是界外的判断上容易出现错误，从而影响相应位置识别过程中的稳定性。优选地，上述第一设定比例取70％，第二设定比例取30％，这样机器人在边界线内检测到信号占空比是70％，则在边界外检测到的就是30％，以这样的第一脉冲序列与相应参考信号进行相似度比对时，具有更高的抗干扰性和稳定性，可以避免位置识别错误等状况的产生，从而可以进一步保证所识别的机器人位置的准确性。Specifically, the signals detected by the robot within the boundary line and outside the boundary line are opposite, that is, the duty cycle of the signal detected within the boundary line is 70%, and the signal detected outside the boundary line is 30%. And there may be a certain error between the signal received by the robot and the signal actually emitted by the fence. If a signal with a duty cycle of about 60% or 40% is used, it is easy to make errors in the judgment of whether it is in or out of the boundary, which will affect the corresponding Stability during location recognition. Preferably, the above-mentioned first set ratio is 70%, and the second set ratio is 30%, so that the robot detects that the signal duty cycle is 70% within the boundary line, and the signal detected outside the boundary is 30%. When the similarity between the first pulse sequence and the corresponding reference signal is compared, it has higher anti-interference and stability, and can avoid the occurrence of position recognition errors, so as to further ensure the accuracy of the recognized robot position. .
在一个示例中，若第一设定比例取70％，第二设定比例取30％，第一脉冲序列为占空比大于70％的脉冲序列或者占空比小于30％的脉冲序列。参考信号为与第一脉冲序列一致的信号，这样将第一脉冲序列与参考信号进行比对，可以准确快速得到两者之间的相似度。在一个示例中，机器人预存的参考信号可以参考图2所示。In an example, if the first set ratio is 70% and the second set ratio is 30%, the first pulse sequence is a pulse sequence with a duty cycle greater than 70% or a pulse sequence with a duty cycle less than 30%. The reference signal is a signal consistent with the first pulse sequence, so by comparing the first pulse sequence with the reference signal, the similarity between the two can be accurately and quickly obtained. In an example, the reference signal pre-stored by the robot may be shown with reference to FIG. 2 .
具体地，发射基站包括信号发生模块，其在围线中可以生成如图4所示的脉冲电流；该脉冲电流可以为双极性信号，频率相同。对脉冲序列的占空比进行编码，包含第一脉冲序列(如占空比大于70％或小于30％的序列)，以便区分机器人是在围线内还是在围线外。脉冲电流还可以包括第二脉冲序列(50％占空比序列)，以对脉冲电流的幅度进行控制，以适应不同大小的围线，使不同大小的围线电流都是一致的。Specifically, the transmitting base station includes a signal generating module, which can generate a pulse current in the enclosure as shown in FIG. 4 ; the pulse current can be a bipolar signal with the same frequency. The duty cycle of the pulse sequence is encoded, including the first pulse sequence (eg, a sequence with a duty cycle greater than 70% or less than 30%) in order to distinguish whether the robot is inside or outside the perimeter. The pulse current may also include a second pulse sequence (50% duty cycle sequence), so as to control the amplitude of the pulse current to adapt to different sizes of perimeter wires, so that the perimeter wire currents of different sizes are consistent.
在一个实施例中，所述信号检测单元包括信号接收装置和选频放大模块，所述机器人还包括滤波模块和数字脉冲整形模块；所述信号接收装置、选频放大模块、滤波模块、数字脉冲整形模块和处理器依次连接；In one embodiment, the signal detection unit includes a signal receiving device and a frequency selective amplifying module, and the robot further includes a filtering module and a digital pulse shaping module; the signal receiving device, the frequency selective amplifying module, the filtering module, the digital pulse shaping module The shaping module and the processor are connected in turn;
所述信号接收装置接收所述围线发射的第一脉冲序列的信号；The signal receiving device receives the signal of the first pulse sequence transmitted by the perimeter;
所述选频放大模块在所述信号接收装置接收的信号中选取第一脉冲序列，按照预设的频率对所述第一脉冲序列进行选频放大，将选频放大后的第一脉冲序列发送至所述滤波模块；The frequency selective amplification module selects a first pulse sequence from the signal received by the signal receiving device, performs frequency selective amplification on the first pulse sequence according to a preset frequency, and transmits the frequency selective amplified first pulse sequence to the filtering module;
所述滤波模块对所述第一脉冲序列进行滤波处理，将滤波处理后的第一脉冲序列发送至所述数字脉冲整形模块；The filtering module performs filtering processing on the first pulse sequence, and sends the filtered first pulse sequence to the digital pulse shaping module;
所述数字脉冲整形模块对所接收的第一脉冲序列进行整形处理，将整理处理后的第一脉冲序列发送至所述处理器；The digital pulse shaping module performs shaping processing on the received first pulse sequence, and sends the sorted first pulse sequence to the processor;
所述处理器比对所述第一脉冲序列与预存的参考信号，若第一脉冲序列与所述参考信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以内，若第一脉冲序列与所述参考信号的反向信号之间的相似度大于或者等于第三设定比例，则判定所述机器人在围线以外。The processor compares the first pulse sequence with the pre-stored reference signal, and if the similarity between the first pulse sequence and the reference signal is greater than or equal to a third preset ratio, then it is determined that the robot is in the perimeter. Within, if the similarity between the first pulse sequence and the reverse signal of the reference signal is greater than or equal to a third set ratio, it is determined that the robot is outside the perimeter.
具体地，围线向机器人发射的脉冲序列(包括第一脉冲序列)在各个时间点的频率相同，这样脉冲序列频率相同，占空比不同，以对所发射的脉冲序列进行预设的规律编码，保证所发射信号的稳定性，这样机器人在接收到相应的脉冲序列后，可以采用选频放大模块，依据预设的频率对相应频率序列的电磁波进行谐振放大，以抑制不同频率，提取有效信号，保证位置识别所采用的信号的有效性。上述预设的频率为与围线所发射脉冲序列的频率一致的频率。Specifically, the pulse sequence (including the first pulse sequence) emitted by the perimeter to the robot has the same frequency at each time point, so that the pulse sequence frequency is the same and the duty cycle is different, so that the emitted pulse sequence is encoded with a preset regularity , to ensure the stability of the transmitted signal, so that after the robot receives the corresponding pulse sequence, it can use the frequency selective amplification module to resonate and amplify the electromagnetic wave of the corresponding frequency sequence according to the preset frequency, so as to suppress different frequencies and extract effective signals. , to ensure the validity of the signal used for location recognition. The above-mentioned preset frequency is a frequency consistent with the frequency of the pulse sequence emitted by the perimeter.
具体地，所述处理器在检测到所述第一脉冲序列与所述参考信号之间的相似度小于第三设定比例，且第一脉冲序列与所述参考信号的反向信号之间的相似度小于第三设定比例时，判定所述机器人不在工作区。Specifically, the processor detects that the similarity between the first pulse sequence and the reference signal is less than a third set ratio, and the similarity between the first pulse sequence and the reverse signal of the reference signal is When the similarity is less than the third set ratio, it is determined that the robot is not in the work area.
上述工作区为包括围线的设定区域，在工作区，机器人可以稳定地接收围线发射的各类信号。The above-mentioned work area is a set area including a fence line. In the work area, the robot can stably receive various signals emitted by the fence line.
上述第三设定比例的取值范围为70％-90％。优选地，上述第三设定比例的取值为80％，这样可以对机器人所在的位置进行更为准确地识别。The value range of the above-mentioned third set ratio is 70%-90%. Preferably, the value of the third set ratio is 80%, so that the position of the robot can be more accurately identified.
本实施例可以对机器人不在工作区的状态进行稳定检测，对相应的智能机器人位置识别方案进行了有效完善。This embodiment can stably detect the state that the robot is not in the work area, and effectively improve the corresponding intelligent robot position recognition scheme.
在一个示例中，滤波模块可以为窄带滤波模块，处理器可以为MCU处理器，此时机器人的部分结构示意图可以参考图6所示。其中选频放大模块使用LC谐振的方式，谐振频率为围线发射序列频率；滤波模块为窄带滤波器，中心频率为围线发射序列频率，带宽设置10K左右；数字脉冲整形模块，将滤波后的模拟脉冲转变成MCU处理器易于处理的数字脉冲信号；MCU处理器内部储存有事先设定好的发射基站的电流脉冲序列，MCU处理器将接收到的脉冲序列(第一脉冲序列)和参考信号进行比对，得到两者之间的相似度，来判断相应机器人是否在设定的工作区。In an example, the filtering module may be a narrowband filtering module, and the processor may be an MCU processor. In this case, a schematic diagram of a part of the structure of the robot can be referred to as shown in FIG. 6 . The frequency selective amplifying module uses the LC resonance method, and the resonance frequency is the frequency of the perimeter emission sequence; the filter module is a narrow-band filter, the center frequency is the perimeter emission sequence frequency, and the bandwidth is set to about 10K; the digital pulse shaping module, the filtered The analog pulse is converted into a digital pulse signal that is easy to be processed by the MCU processor; the MCU processor internally stores the preset current pulse sequence of the transmitting base station, and the MCU processor converts the received pulse sequence (the first pulse sequence) and the reference signal Compare and get the similarity between the two to judge whether the corresponding robot is in the set work area.
具体地，上述机器人可以包括割草机器人等需要结合相应围线进行作业的智能设备。在另一个示例中，若机器人为割草机器人，执行上述智能机器人位置识别方法的智能机器人位置识别系统可以参考图3所示，割草机器人在设置围线的工作区移动，接收围线向机器人发射的第一脉冲序列，将第一脉冲序列与预存的参考信号进行比对，若第一脉冲序列与参考信号之间的相似度大于或者等于第三设定比例，判定所述机器人在围线以内，若第一脉冲序列与所述参考信号的反向信号之间的相似度大于或者等于第三设定比例，判定所述机器人在围线以外；若第一脉冲序列与所述参考信号之间的相似度小于第三设定比例，且第一脉冲序列与所述参考信号的反向信号之间的相似度小于第三设定比例，则判定所述机器人不在工作区；这样便可以实现对机器人位置的准确识别。Specifically, the above-mentioned robots may include smart devices such as lawn mowers that need to perform operations in conjunction with corresponding fence lines. In another example, if the robot is a lawn mowing robot, the intelligent robot position recognition system that executes the above intelligent robot position identification method can refer to Figure 3. The lawn mowing robot moves in the work area where the fence line is set, and receives the fence line to the robot. The transmitted first pulse sequence, compare the first pulse sequence with the pre-stored reference signal, if the similarity between the first pulse sequence and the reference signal is greater than or equal to the third set ratio, it is determined that the robot is in the fence line If the similarity between the first pulse sequence and the reverse signal of the reference signal is greater than or equal to the third set ratio, it is determined that the robot is outside the perimeter; if the difference between the first pulse sequence and the reference signal is The similarity between the two is less than the third set ratio, and the similarity between the first pulse sequence and the reverse signal of the reference signal is less than the third set ratio, then it is determined that the robot is not in the work area; this can achieve Accurate identification of robot position.
在一个实施例中，所述脉冲电流还包括第二脉冲序列；In one embodiment, the pulsed current further includes a second pulse sequence;
所述发射基站可以读取通过所述围线的第二脉冲序列，以获取所述第二脉冲序列的幅值，根据所述第二脉冲序列的幅值控制所产生的脉冲电流的幅值。The transmitting base station may read the second pulse sequence passing through the perimeter line to obtain the amplitude of the second pulse sequence, and control the amplitude of the generated pulse current according to the amplitude of the second pulse sequence.
具体地，所述第二脉冲序列为占空比为50％的脉冲序列。Specifically, the second pulse sequence is a pulse sequence with a duty cycle of 50%.
本实施例中，脉冲电流还包括第二脉冲序列，这样发射基站可以读取通过围线的第二脉冲序列，以获取所述第二脉冲序列的幅值，从而获取围线中所流过的脉冲电流的幅值，根据这一幅值控制所产生的脉冲电流的幅值，以保证传输至围线的脉冲电流的稳定性，从而提高相应位置识别过程中的稳定性。In this embodiment, the pulse current further includes a second pulse sequence, so that the transmitting base station can read the second pulse sequence passing through the perimeter to obtain the amplitude of the second pulse sequence, so as to obtain the pulses flowing through the perimeter. The amplitude of the pulse current is controlled according to the amplitude of the generated pulse current to ensure the stability of the pulse current transmitted to the perimeter, thereby improving the stability of the corresponding position identification process.
在一个实施例中，所述第一脉冲序列的频率相同；和/或，所述第一脉冲序列为序列本身与相反序列之间的电平差大于或等于设定差值的脉冲序列。In one embodiment, the frequencies of the first pulse sequences are the same; and/or, the first pulse sequence is a pulse sequence in which the level difference between the sequence itself and the opposite sequence is greater than or equal to a set difference.
上述设定差值可以依据脉冲序列的具体类型设置，比如设置为1.5等值。第一脉冲序列的序列本身与相反序列之间的电平差大于或等于设定差值，比如正负脉冲序列，使第一脉冲序列与其反向信号之间的差异更为明显，这样后续机器人可以针对第一脉冲序列以及相应参考信号进行更为准确地比对。The above-mentioned set difference can be set according to the specific type of the pulse sequence, for example, set to a value such as 1.5. The level difference between the sequence of the first pulse sequence itself and the opposite sequence is greater than or equal to the set difference, such as positive and negative pulse sequences, so that the difference between the first pulse sequence and its reverse signal is more obvious, so that the subsequent robot A more accurate alignment can be made for the first pulse sequence and the corresponding reference signal.
具体地，围线向机器人发射的脉冲序列的频率相同，这样脉冲序列频率相同，占空比不同，以对所发射的脉冲序列进行预设的规律编码，保证所发射信号的稳定性，这样机器人在接收到相应的脉冲序列后，可以采用选频放大模块，对相应频率序列的电磁波进行谐振放大，以抑制不同频率，提取有效信号，保证位置识别所采用的信号的有效性。围线所发射的第一脉冲序列采用序列本身与相反序列之间的电平差异率较大的脉冲序列(正负脉冲序列)，其占空比不同，便于其与相应参考信号之间的比对，可以提高信号比对过程中的准确性和稳定性，进而提高智能机器人位置识别过程中的稳定性。Specifically, the frequency of the pulse sequence transmitted by the fence to the robot is the same, so that the frequency of the pulse sequence is the same, and the duty cycle is different, so that the transmitted pulse sequence is encoded with a preset law to ensure the stability of the transmitted signal, so that the robot can After receiving the corresponding pulse sequence, the frequency selective amplifying module can be used to resonantly amplify the electromagnetic wave of the corresponding frequency sequence to suppress different frequencies, extract effective signals, and ensure the validity of the signals used for position identification. The first pulse sequence transmitted by the fence line adopts a pulse sequence (positive and negative pulse sequence) with a large level difference rate between the sequence itself and the opposite sequence, and its duty cycle is different, which is convenient for the ratio between it and the corresponding reference signal. Yes, it can improve the accuracy and stability of the signal comparison process, thereby improving the stability of the intelligent robot's position recognition process.
在一个示例中，围线向机器人发射的信号处理第一脉冲序列之外，还可以包括其他信号，若包括其他信号，相应的发射信号可以参考图4所示。具体地，围线处的信号发射可以采用正负交替的脉冲序列；脉冲序列电流恒定可控以适应不同面积的工作区。脉冲序列频率相同；占空比不同；对脉冲序列进行预设的规律编码。机器人处的围线信号接收部分采用选频放大模块，该模块对发射预设频率序列电磁波进行谐振放大，抑制不同频率。机器人处的窄带滤波模块，可以对选频放大后的序列进行滤波，滤除不在要求频率范围的信号。机器人处的数字整形模块，可以将模拟脉冲变成MCU处理器易于处理的数字脉冲。机器人处的MCU处理器可以设置相似度解码识别模块，该模块对预订的序列进行复原比对，以查看相似度，判别割草机器人是在围线中还是在围线外。In an example, the signal transmitted by the perimeter to the robot may include other signals in addition to the first pulse sequence. If other signals are included, the corresponding transmitted signals may be shown in FIG. 4 . Specifically, the signal emission at the perimeter can adopt a pulse sequence with alternating positive and negative; the current of the pulse sequence is constant and controllable to adapt to different working areas. The frequency of the pulse sequence is the same; the duty cycle is different; the pulse sequence is encoded with a preset regularity. The signal receiving part of the enclosure line at the robot adopts a frequency selective amplification module, which resonates and amplifies the electromagnetic wave of the transmitted preset frequency sequence to suppress different frequencies. The narrow-band filter module at the robot can filter the sequence after frequency selection and amplification, and filter out the signal that is not in the required frequency range. The digital shaping module at the robot can convert analog pulses into digital pulses that can be easily handled by the MCU processor. The MCU processor at the robot can set a similarity decoding and identification module, which restores and compares the reserved sequences to check the similarity and determine whether the lawn mower robot is in the fence line or outside the fence line.
本示例因为发射脉冲频率相同，所以接收部分滤波可以使用带宽很窄的滤波方式，以不同占空比进行排列编码，在检测时根据占空比的大致排列顺序来判断接收到信号的是否正确。对比普通编码发射与接收方式抗干扰能力要强很多。有效解决了割草机器人等机器人中有刷电机碳刷换相带来的宽频谱电磁干扰问题，可应用于有刷割草电机这一类方案中，同时，也可以避开工作区其它设备产生的干扰。In this example, because the frequency of the transmitted pulses is the same, the filtering method of the receiving part can use a filtering method with a narrow bandwidth, and arrange and encode with different duty ratios. During detection, it is judged whether the received signal is correct according to the approximate arrangement order of the duty ratios. Compared with ordinary coding transmission and reception methods, the anti-interference ability is much stronger. It effectively solves the problem of wide-spectrum electromagnetic interference caused by the brush motor carbon brush commutation in robots such as lawn mowing robots. It can be applied to such solutions as brush lawn mowing motors. interference.
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.
需要说明的是，本申请实施例所涉及的术语“第一\第二\第三”仅仅是区别类似的对象，不代表针对对象的特定排序，可以理解地，“第一\第二\第三”在允许的情况下可以互换特定的顺序或先后次序。应该理解“第一\第二\第三”区分的对象在适当情况下可以互换，以使这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。It should be noted that the term "first\second\third" involved in the embodiments of the present application is only to distinguish similar objects, and does not represent a specific ordering of objects. It is understandable that "first\second\third" "Three" may be interchanged in a particular order or sequence where permitted. It should be understood that the "first\second\third" distinctions may be interchanged under appropriate circumstances to enable the embodiments of the application described herein to be practiced in sequences other than those illustrated or described herein.
本申请实施例的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或模块的过程、方法、装置、产品或设备没有限定于已列出的步骤或模块，而是可选地还包括没有列出的步骤或模块，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或模块。The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product or device comprising a series of steps or modules is not limited to the listed steps or modules, but optionally also includes unlisted steps or modules, or optionally also includes Other steps or modules inherent to these processes, methods, products or devices.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.
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