CN112462767A - Method and device for detecting breakpoint position of boundary line and self-walking equipment - Google Patents
Method and device for detecting breakpoint position of boundary line and self-walking equipment Download PDFInfo
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- CN112462767A CN112462767A CN202011326418.3A CN202011326418A CN112462767A CN 112462767 A CN112462767 A CN 112462767A CN 202011326418 A CN202011326418 A CN 202011326418A CN 112462767 A CN112462767 A CN 112462767A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application provides a method and a device for detecting a breakpoint position of a boundary line and self-walking equipment, wherein the detection method comprises the following steps: receiving a working signal sent by the boundary line; if the working signal is not received, judging that a breakpoint exists in the boundary line, and dividing the boundary line into a first boundary line and a second boundary line by the breakpoint; applying detection voltages at both ends of the boundary line so that the potential of the first boundary line is not equal to the potential of the second boundary line; and detecting the electromagnetic signal along the boundary line, and judging the position of the intensity change of the electromagnetic signal as a breakpoint position. According to the method and the device, the voltage is applied to the boundary line with the breakpoint, the potential difference exists between the first boundary line and the second boundary line on the two sides of the breakpoint, the strength of the electromagnetic signals near the first boundary line and the second boundary line is different, the position where the electromagnetic signals change, namely the position of the breakpoint, is obtained through detection, the time and the energy of a user for searching the breakpoint are reduced, and the user experience is further improved.
Description
Technical Field
The application relates to the field of automatic control, in particular to a method and a device for detecting a breakpoint position of a boundary line and self-walking equipment.
Background
From walking equipment (such as intelligent lawn mowers, intelligent snow throwers, etc.), the working area may be limited by an electrically conductive boundary line. The electric or magnetic field formed by the boundary line can be detected by a sensor on the self-propelled device, so that the self-propelled device turns around or turns around when approaching the boundary of the working area, without leaving the working area. Typically, a current is induced on the boundary line, and a voltage is induced by a detection coil from the walking device. The field strength rises significantly near the boundary line and, when a certain threshold value is reached, the direction of travel is reversed or reversed.
It follows that the self-propelled device will not work by itself once the boundary line breaks. Chinese patent application CN109070305A discloses a method for detecting a break point of a boundary line, but the method is only suitable for detecting the situation where the boundary line is cut off by the self-walking device itself.
In fact, the boundary line may also be broken by external factors, such as being bitten by a rat or being accidentally shoveled by an unknowing person; furthermore, the boundary line may be broken during the fixing process. Once the boundary line has a breakpoint, the self-walking equipment cannot work normally; and the user can not know the breakpoint position, needs to dig out the whole boundary line to search one by one, and is time-consuming and labor-consuming, and the user experience is not good.
Disclosure of Invention
The application provides a method and a device for quickly searching a breakpoint position of a boundary line and self-walking equipment.
Specifically, the application provides a method for detecting a breakpoint position of a boundary line, which is used for a self-walking device, wherein the self-walking device works in a working area surrounded by the boundary line, and the detection method comprises the following steps: receiving a working signal sent by the boundary line; if the working signal is not received, judging that a breakpoint exists in the boundary line, and dividing the boundary line into a first boundary line and a second boundary line by the breakpoint; applying detection voltages at both ends of the boundary line so that the potential of the first boundary line is not equal to the potential of the second boundary line; and detecting the electromagnetic signal along the boundary line, and judging the position of the intensity change of the electromagnetic signal as a breakpoint position.
Further, the potential of the first boundary line is 0, and the potential of the second boundary line is a positive value or a negative value.
Further, the detection voltage is a non-constant voltage, and a potential difference between the first boundary line and the second boundary line is not more than 36V.
Further, the potential of the first boundary line and the potential of the second boundary line are not equal to 0; the step of detecting electromagnetic signals along said boundary line comprises: detecting an electromagnetic signal along the boundary line from either end of the boundary line until the intensity of the electromagnetic signal changes.
Further, the detection method comprises the following steps: and marking the breakpoint position and giving a prompt after judging that the position of the electromagnetic signal intensity change is the breakpoint position.
Further, the step of determining the position of the electromagnetic signal intensity change as the breakpoint position includes: and when the intensity change value of the electromagnetic signal is greater than a preset value, judging that the current position is a broken point position.
In another aspect, the present application also provides an apparatus for detecting a breakpoint position of a boundary line, the apparatus including: the receiving module is configured to receive the working signal sent by the boundary line; the first judgment module is configured to judge that a breakpoint exists in the boundary line when a working signal is not received, and the breakpoint divides the boundary line into a first boundary line and a second boundary line; the adjusting module is configured to apply detection voltages at two ends of the boundary lines so that the potential of the first boundary line is not equal to the potential of the second boundary line; a detection module configured to detect an electromagnetic signal along the boundary line; and the second judging module is configured to judge the position of the electromagnetic signal intensity change as a breakpoint position.
In yet another aspect, the present application also provides a self-walking apparatus comprising the device as described above.
Further, the self-walking apparatus includes a walking system; when the breakpoint position of the boundary line is detected, the walking module drives the detection module to synchronously move along the boundary line;
and when the breakpoint position of the boundary line is detected, the control module controls the walking module to stop moving.
Further, the self-walking apparatus includes a working module; and when the position of the breakpoint is detected, the control module controls the working module to stop working.
According to the method and the device, the voltage is applied to the boundary line with the breakpoint, the potential difference exists between the first boundary line and the second boundary line on the two sides of the breakpoint, the strength of the electromagnetic signals near the first boundary line and the second boundary line is different, the position where the electromagnetic signals change, namely the position of the breakpoint, is obtained through detection, the time and the energy of a user for searching the breakpoint are reduced, and the user experience is further improved.
Drawings
Fig. 1 is a perspective view illustrating an embodiment of a method for detecting a breakpoint position of a boundary line according to the present application.
Fig. 2 is a schematic diagram of the detection method shown in fig. 1 for finding a breakpoint.
Fig. 3 is a schematic diagram of detecting a voltage in the method shown in fig. 1.
Fig. 4 is a perspective view of an angle of the present application from a walking device.
Fig. 5 is a perspective view of another angle of the present application from the walking device.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "plurality" or "a number" means two or more. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, the present application provides a method for detecting a breakpoint position of a boundary line, which is used for a self-walking apparatus, where the self-walking apparatus works in a working area surrounded by the boundary line. The self-walking device is, for example, a device capable of working and walking by itself, such as an intelligent mower, an intelligent snow sweeper, an intelligent fallen leaf sweeper, and the like, and is capable of receiving a working signal (e.g., an electromagnetic signal) sent by the boundary line to work in a working area.
The method for detecting the breakpoint position of the boundary line includes:
step S10: receiving a working signal sent by the boundary line 10;
step S20: if the working signal is not received, judging that a breakpoint B exists in the boundary line 10, and dividing the boundary line 10 into a first boundary line 11 and a second boundary line 12 by the breakpoint;
step S30: applying a detection voltage to both ends of the boundary line 10 so that the potential of the first boundary line 11 is not equal to the potential of the second boundary line 12;
step S40: detecting electromagnetic signals along said boundary line 10;
step S50: and judging the position of the electromagnetic signal intensity change as the breakpoint position.
In particular, the self-walking device 2 and the base station 3 may be the subject of performing the above-mentioned method, the base station 3 being available for charging the self-walking device 1 and at the same time for supplying the borderline 10 with electric current.
In step S10, when the self-propelled device is operating normally, the device can receive the operation signal from the boundary line 10 normally, and the operation module can perform normal operations such as mowing, snow sweeping, leaf sweeping, and the like.
In step S20, when the operation signal cannot be received, it is determined that the boundary line 10 has a break point B, and the break point B may be unintentionally broken by human or may be bitten by a rat. When the self-propelled device is a smart mower, it may also be cut off by its own working module (i.e. a cutting blade). And if the self-walking equipment can receive the working signal, the self-walking equipment works normally.
The base station 3 can detect the break point of the boundary line 10 from the broken boundary line while judging the break point from the traveling apparatus 2. In step S30, the base station 2 applies detection voltages to both ends of the boundary line 10, where "both ends of the boundary line" are both ends of the boundary line connected to the base station. After the application of the detection voltage, the first boundary line 11 and the second boundary line 12 have different potentials, so that electromagnetic signals of different intensities are generated around the first boundary line 11 and the second boundary line 12. Preferably, the detection voltage is a non-constant voltage, such as that shown in fig. 3, so that the electromagnetic signal is easily detected.
In one embodiment, in step S50, an electromagnetic signal is detected along the boundary line 10 by the self-walking device 2, wherein the potential of the first boundary line 11 and the potential of the second boundary line 12 are not equal to 0. Since the electromagnetic signal intensities generated around the first boundary line 11 and the second boundary line 12 are different, the position where the electromagnetic signal intensity changes can be determined as the position of the break point, that is, the position of the break point B. And marking the breakpoint position and giving a prompt after judging that the position of the electromagnetic signal intensity change is the breakpoint position. The cues may be acoustic cues, optical cues, or the like that are noticeable to the user.
The self-propelled device, being able to detect electromagnetic signals (like the working signals described above), is able to return to the base station and to automatically travel along the boundary line 10 until a breakpoint is found. In other words, the whole search process of the breakpoint is automatically performed, and the user only needs to repair the breakpoint between the first boundary line 11 and the second boundary line 12 after finding the breakpoint, so that a great amount of time and energy are saved, and the user experience is improved.
In this embodiment, the intensity of the electromagnetic signal is considered to be changed when the difference between the intensities of the electromagnetic signals is greater than or equal to 3%, so as to avoid the influence of the change in the electromagnetic intensity caused by the unstable voltage of the first boundary line 11 (or the second boundary line 12) on the detection; in other embodiments, the difference in electromagnetic signal intensity is 2%, 5%, or 10%. Preferably, when the intensity variation value of the electromagnetic signal is greater than a preset value, the current position is judged to be the breakpoint position, so that the detection accuracy is further improved, and false detection is avoided.
In another embodiment the potential of the first borderline 11 is 0 and the potential of the second borderline 12 is positive or negative. Since the potential of the first boundary line 11 is 0, no electromagnetic signal is generated, and the potential of the second boundary line 12 is not zero, so that an electromagnetic signal is formed therearound. The user detects the electromagnetic signal along the boundary line 10 from one end (the end with higher potential) of the first boundary line 11 until the electromagnetic signal intensity is 0 (i.e. the electromagnetic signal intensity changes), and determines that the current position is the breakpoint position, which is convenient for the user to repair the breakpoint of the first boundary line 11 and the second boundary line 12.
Preferably, the potential difference between the first boundary line 11 and the second boundary line 12 is not more than 36V, so as to ensure user safety.
In other embodiments, the detection of the electromagnetic signal along the boundary line may also be performed by a user carrying a detection device, for example, a user directly using a non-contact test pencil for detection. Preferably, the detection equipment can be installed or directly integrated on the distance measuring wheel, the user does not need to bend down to operate, and fatigue is reduced.
If a plurality of breakpoints exist in the boundary line, the breakpoints can be searched and repaired one by one. For example, a first breakpoint (closest to one end of the boundary line) is found and then repaired, and then a second breakpoint (closer to one end of the boundary line) is found and repaired, and so on, thereby realizing the repair of all breakpoints.
On the other hand, the application also provides a device for detecting the breakpoint position of the boundary line, which is used for executing the method. The device comprises a receiving module, a first judging module, an adjusting module, a detecting module and a second judging module. The receiving module is configured to receive a working signal sent by the boundary line; the first judging module is configured to judge that a breakpoint exists in a boundary line when a working signal is not received, and the boundary line is divided into a first boundary line and a second boundary line by the breakpoint; the adjusting module is configured to apply detection voltages at two ends of the boundary lines, and the potential of the first boundary line is not equal to the potential of the second boundary line; the detection module is configured to detect an electromagnetic signal along the boundary line; the second judging module is configured to judge the position of the electromagnetic signal intensity change as a breakpoint position.
In yet another aspect, the present application further provides a self-propelled device. Referring to fig. 4 and 5, the self-propelled device 2 includes the above-mentioned apparatus, specifically, the self-propelled device includes a main body 21, a driving wheel (front wheel) 22 installed below the main body 21, a driven wheel (rear wheel) 23, a working module 24 and a detection module 25, the detection module 25 is located in front of the driving wheel 22, and the detection module 25 is located on a substantially vertical plane of the main body 21. The main body 21 includes a housing, a control system, a power system, a communication system, and the like. The receiving module is integrated in a communication system, and the first judging module, the second judging module and the adjusting module are integrated in the control system. The driving wheel 22 and the driven wheel 23 are used as walking modules of the self-walking device to drive the machine body main body 21, the working module 24, the detection module 25 and other structures to synchronously move. When the breakpoint of the boundary line is detected, the walking module drives the detection module 25 to move along the boundary line synchronously, so as to detect the electromagnetic signal. The structure of the detection module 25 is similar to that of a common non-contact test pencil on the market, and mainly comprises a detection coil, a metal contact and an insulating sleeve coated on the outer side of the metal contact.
It should be noted that, in order to ensure safety, the control module controls the working module to stop working so as not to hurt users or unknown people and animals.
According to the method and the device, the voltage is applied to the boundary line with the breakpoint, the potential difference exists between the first boundary line and the second boundary line on the two sides of the breakpoint, the strength of the electromagnetic signals near the first boundary line and the second boundary line is different, the position where the electromagnetic signals change, namely the position of the breakpoint, is obtained through detection, the time and the energy of a user for searching the breakpoint are reduced, and the user experience is further improved.
Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being covered by the following claims.
Claims (10)
1. A method of detecting a position of a break point of a boundary line, for a self-traveling apparatus that operates within a working area surrounded by the boundary line, the method comprising:
receiving a working signal sent by the boundary line;
if the working signal is not received, judging that a breakpoint exists in the boundary line, and dividing the boundary line into a first boundary line and a second boundary line by the breakpoint;
applying a detection voltage to the boundary line so that the potential of the first boundary line is not equal to the potential of the second boundary line;
detecting an electromagnetic signal along the boundary line;
and judging the position of the electromagnetic signal intensity change as the breakpoint position.
2. The method according to claim 1, characterized in that the potential of the first borderline is 0 and the potential of the second borderline is positive or negative.
3. The method according to claim 1, wherein the detection voltage is a non-constant voltage, and a potential difference of the first boundary line and the second boundary line is not more than 36V.
4. The method according to claim 1, characterized in that the potential of the first borderline and the potential of the second borderline are not equal to 0;
the step of detecting electromagnetic signals along said boundary line comprises:
detecting an electromagnetic signal along the boundary line from either end of the boundary line until the intensity of the electromagnetic signal changes.
5. The method of claim 1, wherein the detection method comprises: and marking the breakpoint position and giving a prompt after judging that the position of the electromagnetic signal intensity change is the breakpoint position.
6. The method according to any one of claims 1 to 5, wherein the step of determining the position of the electromagnetic signal intensity variation as the position of the broken point comprises:
and when the intensity change value of the electromagnetic signal is greater than a preset value, judging that the current position is a broken point position.
7. An apparatus for detecting a breakpoint position of a boundary line, the apparatus comprising:
the receiving module is configured to receive the working signal sent by the boundary line;
the first judgment module is configured to judge that a breakpoint exists in the boundary line when a working signal is not received, and the breakpoint divides the boundary line into a first boundary line and a second boundary line;
the adjusting module is configured to apply detection voltages at two ends of the boundary lines so that the potential of the first boundary line is not equal to the potential of the second boundary line;
a detection module configured to detect an electromagnetic signal along the boundary line;
and the second judging module is configured to judge the position of the electromagnetic signal intensity change as a breakpoint position.
8. A self-walking apparatus, characterized in that it comprises a device according to claim 7.
9. The self-propelled device of claim 8, wherein the self-propelled device comprises a walking system;
when the breakpoint position of the boundary line is detected, the walking module drives the detection module to synchronously move along the boundary line;
and when the breakpoint position of the boundary line is detected, the control module controls the walking module to stop moving.
10. The self-walking apparatus of claim 9, comprising a work module;
and when the position of the breakpoint is detected, the control module controls the working module to stop working.
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| CN202011326418.3A CN112462767A (en) | 2020-11-24 | 2020-11-24 | Method and device for detecting breakpoint position of boundary line and self-walking equipment |
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| CN202011326418.3A CN112462767A (en) | 2020-11-24 | 2020-11-24 | Method and device for detecting breakpoint position of boundary line and self-walking equipment |
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