CN113741471A - Automatic walking equipment, base station and data interaction method thereof - Google Patents
Automatic walking equipment, base station and data interaction method thereof Download PDFInfo
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- CN113741471A CN113741471A CN202111061202.3A CN202111061202A CN113741471A CN 113741471 A CN113741471 A CN 113741471A CN 202111061202 A CN202111061202 A CN 202111061202A CN 113741471 A CN113741471 A CN 113741471A
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The application provides automatic walking equipment, a base station and a data interaction method thereof. According to the method, the base station is provided with the coding unit, and the automatic walking equipment is correspondingly provided with the decoding unit, so that the boundary line signal is coded based on signal state jump through the coding unit. The data information is identified through the state jump of the boundary line signal, the waveform before and after the signal jump is insensitive, and the problem of signal misjudgment caused by waveform distortion can be effectively solved. And the jumping signal carries a time period, so that the method and the device can realize the verification of the signal period while identifying the data information, simplify the complexity of encoding and decoding, reduce the error identification rate of the boundary line signal and realize the reliable transmission of the complex information.
Description
Technical Field
The application relates to the field of automatic walking equipment, in particular to automatic walking equipment, a base station and a data interaction method thereof.
Background
At present, a plurality of self-walking devices set the working area of the devices by embedding boundary signal wires. The method is widely used by the mowing robot for trimming the domestic lawn in European and American areas.
The basic principle of using the boundary signal line to set the working area of the self-traveling apparatus is: the base station stimulates the boundary signal line to emit electromagnetic field signals with certain rules, and then the signal receiving device on the automatic walking equipment detects and identifies the electromagnetic field signals. Since the electromagnetic field signals received by the automatic walking equipment in the working area are different from those received by the automatic walking equipment outside the working area, the automatic walking equipment can know whether the equipment is currently in the working area or outside the working area through the electromagnetic field signals of the boundary line. The reliable and accurate detection and identification of boundary signals is of great importance to the operation of such self-propelled devices.
In practice, the detection method of the boundary line signal is simple, and generally the detection method is used for detecting the level duration of continuous pulses and matching the level duration with a predefined template for identification. Since the predefined boundary line signal template is usually simple, it is easy to misidentify an interfering signal as a valid boundary signal. The existing boundary line signal has low anti-interference performance and high misrecognition rate, and the automatic walking equipment is often caused to work beyond the boundary line. In addition, once the existing boundary line signal template is set, the subsequent modification is difficult.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides the automatic walking equipment, the base station and the data interaction method thereof, the data interaction between the automatic walking equipment and the base station is realized by utilizing the boundary line signal, the transmission of complex data can be realized, and the accuracy of the data interaction is improved. The technical scheme is specifically adopted in the application.
Firstly, in order to achieve the above object, a data interaction method for an automatic walking device is provided, which includes the steps of: the automatic walking equipment receives the boundary line signal, responds to the state jump of the boundary line signal and correspondingly identifies the data information carried by the boundary line signal.
Optionally, the data interaction method for the automatic walking device as described in any one of the above, wherein the boundary line signal includes two signal states, namely a high signal state and a low signal state, and a shortest duration maintained by each signal state is t; and when the automatic walking equipment responds to the state jump of the boundary line signal to identify the data information carried by the boundary line signal, identifying by taking 2T as the minimum code reading period T.
Optionally, the data interaction method for the automatic walking device as described in any of the above, wherein the automatic walking device, in response to the state transition of the boundary line signal, identifies the data information carried by the boundary line signal according to the following steps: in a minimum code reading period T, recognizing that the state of a signal jumps from a high state to a low state and corresponds to first data information; and in a minimum code reading period T, the state transition of the identification signal from low to high corresponds to the second data information.
Optionally, the data interaction method for the automatic walking device as described in any of the above, wherein the automatic walking device, in response to the state transition of the boundary line signal, identifies the data information carried by the boundary line signal according to the following steps: at a fixed code reading moment in a minimum code reading period T, identifying that the boundary line signal with a low signal state carries first data information; and at the fixed code reading moment in a minimum code reading period T, identifying the boundary line signal with high signal state as the second data information.
Optionally, the data interaction method for the automatic walking device as described in any of the above, wherein the automatic walking device, in response to the state transition of the boundary line signal, identifies the data information carried by the boundary line signal according to the following steps: in a minimum code reading period T, identifying that first data information is carried by a boundary line signal with a jump signal state; and in a minimum code reading period T, the boundary line signal without signal state transition is identified to carry the second data information.
Optionally, the data interaction method for the automatic walking device as described in any one of the above, wherein the boundary line signal includes: a synchronization segment, a data segment and a check segment; the synchronous section comprises state jumps of a plurality of boundary line signals with the same period; and a fixed mapping relation is formed between the state jump of the boundary line signal in the verification section and the state jump of the boundary line signal in the data section.
Simultaneously, for realizing above-mentioned purpose, this application still provides an automatic walking equipment, and it includes: a boundary line signal detection unit for receiving a boundary line signal; and the decoding unit is used for responding to the state jump of the boundary line signal and correspondingly identifying the data information carried by the boundary line signal according to any one of the data interaction methods for the automatic walking equipment.
Optionally, the automatic walking device further includes a synchronization unit, which updates a synchronization clock of the automatic walking device in response to the state transition of the boundary line signal in the same period.
Optionally, the automatic walking device further includes a checking unit, configured to check whether a check segment and a data segment after consecutive same state transitions in the boundary line signal have a fixed mapping relationship.
In addition, the application also provides a base station matched with the automatic walking, the base station is connected with a boundary line surrounding the working area of the automatic walking equipment, and the base station further comprises a coding unit which adjusts the boundary line signal to correspondingly carry out state jump according to the data information to be sent.
Optionally, in the base station as described in any of the above, before the coding unit adjusts the boundary line signal according to the data information to be transmitted to perform state transition correspondingly, the coding unit may transmit state transition of a plurality of continuous boundary line signals in the same period before the boundary line signal is adjusted to perform state transition correspondingly.
Optionally, the base station as described in any of the above, wherein the encoding unit further continues to drive the boundary line to transmit the check segment state transition having a fixed mapping relationship with the data information after adjusting the boundary line signal according to the data information to be transmitted to perform the state transition correspondingly.
Advantageous effects
According to the method, the base station is provided with the coding unit, and the automatic walking equipment is correspondingly provided with the decoding unit, so that the boundary line signal is coded based on signal state jump through the coding unit. The data information is identified through the state jump of the boundary line signal, the waveform before and after the signal jump is insensitive, and the problem of signal misjudgment caused by waveform distortion can be effectively solved. And the jumping signal carries a time period, so that the method and the device can realize the verification of the signal period while identifying the data information, simplify the complexity of encoding and decoding, reduce the error identification rate of the boundary line signal and realize the reliable transmission of the complex information.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a schematic diagram of a data interaction method between an automatic walking device and a base station according to the present application;
FIG. 2 is a schematic illustration of a first boundary line signal in the present application;
fig. 3 is a schematic diagram of another boundary line signal of the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The meaning of "inside and outside" in this application means that the direction pointing inside the rail system is inside and vice versa with respect to the rail system itself; and not as a specific limitation on the mechanism of the device of the present application.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
Fig. 1 is a base station and at least one automatic traveling device matched with the base station provided by the present application. The base station is connected with a boundary line surrounding a working area of the automatic walking equipment, and the automatic walking equipment runs in the working area surrounded by the boundary line so as to carry out operations such as mowing or sweeping on the ground of the working area.
The present application is provided in a base station with:
a boundary line signal driving unit which is connected with a boundary line surrounding the periphery of the working area and is used for driving the boundary line to send a boundary line signal;
and the coding unit is connected with the boundary line signal driving unit and used for triggering the boundary line signal driving unit to correspondingly control the boundary line signal to perform state jump according to the data information to be sent.
Each automatic walking device running in the working area surrounded by the boundary line can be correspondingly provided with:
the walking driving unit is used for driving the automatic walking equipment to walk;
the operation unit is used for performing maintenance operations such as cutting and impurity removal on the lawn on the ground of the working area through the mowing blade or performing other types of maintenance operations on the ground of the working area through other operation devices such as spraying, blowing or dust collection in the process that the automatic walking equipment walks to traverse the working area surrounded by the boundary line;
a boundary line signal detection unit, which can adopt an inductive coupling mode generally or directly receive the boundary line signal through a wireless signal receiving device;
and the decoding unit is connected with the boundary line signal detection unit and is used for responding to the state jump of the boundary line signal and correspondingly identifying the data information carried by the boundary line signal.
Therefore, the present application replaces the conventional method of identifying whether the data information is "0" or "1" based on the high and low level states of the boundary line signal with: and judging the data signal carried by the boundary line signal according to whether the boundary line signal changes. The mode of identifying data information based on the state jump of the boundary line signal ensures that the automatic walking of the invention is only sensitive to the change time of the signal state and is not sensitive to the waveform before and after the signal change when the judgment logic is carried out on the boundary line signal. The waveform distortion generated by interference in the transmission process of the boundary line signal is only superposed with certain interference components on the high and low level states of the boundary line signal generally, so that the judgment of the decoding unit on the accurate level state of the boundary line signal is influenced, and the switching between different boundary line signal level states is not influenced.
Meanwhile, in the boundary line signal of the present application, a signal jump must exist in a bit period corresponding to each data information to be transmitted, so that the encoded boundary line signal carries time period information. Therefore, the method and the device can realize synchronization of a signal detection process and verification of a signal period by utilizing a jump period while the decoding unit identifies data information carried by the boundary line signal.
In addition, the data information judgment mode based on the state jump of the boundary line signal can design complicated and variable boundary line signal codes, so that the complex data transmission is realized by utilizing the boundary line signal, and the error identification rate of the signal is greatly reduced.
In a specific implementation, taking the data information "01001101" shown in the upper side of fig. 2 as an example, in a first codec mode, the boundary line data transmission from the base station to the automatic walking device can be implemented in the following modes:
the coding unit of the base station codes 01001101 data to be transmitted according to the following rules by taking a period t not less than the processing time interval required by the decoding of the automatic walking equipment as a unit: encoding data information of which bit corresponds to '0' as a state transition of a signal state from low to high, namely, a low level of a t period and a high level of a t period following the low level; data information having a bit corresponding to "1" is encoded as a state transition of a signal state from high to low, i.e., a high level for one t period and a low level for one t period following the high level. According to the mode, 01001101 data to be transmitted are coded into a state jump sequence of boundary line signals of 'low, high, low, high, low, high and low' with t as a signal state jump minimum period, and the sequence triggers a boundary line signal driving unit to correspondingly drive a boundary line to send boundary line signals of high and low signal state jumps;
the boundary line signal detection unit of the automatic walking equipment transmits the corresponding electric signal to the decoding unit after sensing the boundary line signal through inductive coupling, and triggers the decoding unit to recognize data information carried by the boundary line signal according to the state jump of the boundary line signal in the following mode:
the method comprises the steps of taking a preset fixed minimum code reading period T as a unit, or directly taking the time length of 2 times of the minimum period T of signal state jump in a boundary line signal as a unit, judging whether the state jump of the boundary line signal is from low to high or from high to low in the time period of the minimum code reading period T, considering data information corresponding to the boundary line signal of the period to be '1' when recognizing that the boundary line signal in the minimum code reading period T undergoes one state jump from high to low, and considering the data information corresponding to the boundary line signal in the period to be '0' when recognizing that the boundary line signal in the minimum code reading period T undergoes one state jump from low to high. The state transition sequence "low, high", "high, low", "low, high", "low", "high, low", "high", "low", "high, low", "high", and "low" contained in each minimum read period T in the boundary line signal is thus identified as the data information "01001101".
Therefore, the automatic walking equipment can record data according to the high-low change or jumping state of the signal level in each interval time in the boundary line signal, transmit a plurality of groups of data sequences to the automatic walking equipment from the base station, correspondingly recognize the data sequences by the decoding unit of the automatic walking equipment and combine the data sequences into data information, and realize the transmission of complex information from the base station to the automatic walking equipment.
In this embodiment, encoding is performed in different hopping manners of levels between two bits within the minimum code reading period T, so that one hopping of a level signal necessarily exists in the middle of each bit, and the boundary line signal carries the upper symbol period information. Thus, we can realize the updating of the synchronous clock inside the automatic walking device while using the signal transition to represent the logic value of this bit.
In a second implementation manner, considering that the boundary line signal does not necessarily have a state transition before and after each minimum code reading period T, in the above decoding manner, "determining the minimum code reading period T according to a unit of 2 times the duration of the minimum period T of the signal state transition in the boundary line signal" may affect correct decoding by mistakenly setting the minimum code reading period T to a duration of 3T or 4T, etc., because the signal state transition in the actual boundary line signal is few. In order to solve the problem, the method can further add a synchronization segment on the basis of the coding and decoding mode so as to accurately update the synchronization clock of the automatic walking decoding unit through the signal state transition of the synchronization segment, thereby correctly reading the state transition condition of the boundary line signal.
In this way, the automatic traveling apparatus may be additionally provided with a synchronization unit for updating a synchronization clock of the automatic traveling apparatus in response to a state transition of the boundary line signal in the same cycle continuously.
The base station can realize data information transmission of the automatic walking equipment according to the following modes:
the coding unit of the base station codes the data to be transmitted, which is '01001101', according to the following rules by taking a preset period t as a unit: encoding data information of which bit corresponds to '0' as a state transition of a signal state from low to high, namely, a low level of a t period and a high level of a t period following the low level; data information having a bit corresponding to "1" is encoded as a state transition of a signal state from high to low, i.e., a high level for one t period and a low level for one t period following the high level. In this way, "01001101" data to be transmitted is encoded as a state transition sequence of "low, high, low, high, low, high, low, high, low" boundary line signals with t as the minimum period of signal state transition, and a plurality of consecutive state transitions of periodic boundary line signals with t as the signal state maintaining time are added before or after the sequence, that is, a plurality of "high, low, high, low, high, low" boundary line signals are added before or after the state transition sequence of the "low, high, low" boundary line signals, high, low, high "boundary line signals, the number of state transitions of the synchronization segment is not particularly limited, and can be set as the state transitions of logic 1 signals of 4 bit periods, the clock information provided by the n-cycle state transitions can also be arbitrarily set. Then triggering a boundary line signal driving unit to correspondingly drive a boundary line to send boundary line signals with high and low signal state jumps and the increased synchronous section with cycle jumps;
the boundary line signal detection unit of the automatic walking equipment detects the boundary line signal through wireless signal receiving devices such as an antenna, a coil and a sensor, transmits the corresponding electric signal to the decoding unit, triggers the decoding unit to recognize data information carried by the boundary line signal according to the state jump of the boundary line signal in the following mode:
firstly, according to the coding rule, finding a synchronization segment with a jump cycle at the head end or the tail end of the boundary line signal sequence, and then determining the minimum code reading period T =2T according to the shortest duration T maintained by any state of the boundary line signal in the synchronization segment. Then, it is determined whether the state of the boundary line signal is high or low at a fixed reading time within each minimum reading period T, in units of the minimum reading period T. For example, at 0.3 second after the start time of each minimum code reading period T of the boundary line signal, the data information corresponding to the time when the state of the lower boundary line signal at that time is low is identified as "0", and the data information corresponding to the time when the state of the lower boundary line signal at that time is high is identified as "1". The border-line signal transition sequence within each reading period T in the border-line signal is thus correspondingly recognized as data information of "01001101".
Therefore, the method and the device can realize the updating of the synchronous clock of the automatic walking equipment by utilizing the periodic state jump information carried by the boundary line signal, thereby improving the accuracy of identifying the boundary line signal. In this embodiment, the manner of directly reading the boundary signal state at a fixed time point in each code reading period T to obtain the data information can simplify the decoding step, improve the decoding efficiency, and reduce the decoding cost.
In a third implementation manner, it is considered that the boundary line signal is easily affected by external environment interference factors to cause state reversal or misidentification, and therefore, the verification segment may be further added on the basis of any of the above embodiments. Whether the decoded data is correct or not is accurately judged through the fixed mapping relation of signal state jump between the check segment and the data segment obtained by encoding, so that the boundary line signal can further carry and transmit complex information, and more accurate and efficient data transmission from the base station to the machine can be realized under the condition that wireless communication equipment is not used between the base station and the automatic walking equipment.
In this way, the automatic walking device can be additionally provided with a check segment for checking whether the remaining check segment and the data segment have a fixed mapping relation after the synchronous segment corresponding to the continuous same state jump is removed from the boundary line signal. Judging that the boundary line signal is accurately identified when the boundary line signal and the boundary line signal accord with the mapping relation determined when the boundary line signal and the boundary line signal are coded, and identifying that the acquired data information is effective; and when the two previous mapping modes are not matched, the boundary line signal identification is judged to be inaccurate, and the data information obtained by the original identification is invalid.
In this embodiment, the base station may implement data information transmission to the automatic walking device as follows:
the coding unit of the base station codes the data to be transmitted, which is '01001101', according to the following rules by taking a preset period t as a unit: coding data information with a bit corresponding to '1' as a state jump from high to low or low to high, namely, switching the signal state of high level in the next last period to low level in the last period or switching the signal state of low level in the next last period to high level in the last period according to the high and low level states in the last period; the data information whose bit corresponds to "0" is encoded into a level state which extends for the last t period, that is, when the data information of "0" is encoded according to the high and low level states of the last t period, the signal state of the high level next to the last period is maintained as the high level of the t period, or the signal state of the low level next to the last period is maintained as the low level of the t period. In this way, the "10101100" data to be transmitted in fig. 3 is encoded as a state transition sequence of "high, low, high, low, high" boundary line signals with t as the minimum period of signal state transition, and a number of consecutive state transitions of the periodic signal with t as the signal state holding time are added before or after the sequence, i.e., a number of "high, low, high, low, high" boundary line signals are added before or after the state transition sequence of the above-mentioned "high, low, high, low" or "low, high, low, high" boundary line signals. And then, the signal jumps of the data segment are inverted in high and low levels, or the signal jumps of the data segment are arranged in a reverse manner, or the signal jumps of the verification segment matched with the data segment are generated according to an arbitrary fixed mapping relation. Finally, triggering a boundary line signal driving unit to correspondingly drive a boundary line to send boundary line signals with high and low signal state jumps and the added synchronous section and the verification section with cycle jumps;
the boundary line signal detection unit of the automatic walking equipment detects the boundary line signal through a wireless signal receiving device or an inductive element such as an antenna, a coil and a sensor, transmits the corresponding electric signal to the decoding unit, triggers the decoding unit to recognize data information carried by the boundary line signal according to the state jump of the boundary line signal in the following mode:
firstly, finding a synchronous segment with a period jump at the head end of a boundary line signal sequence according to a coding rule, and then determining the minimum code reading period T =2T according to the shortest duration T maintained by any state of the boundary line signal in the synchronous segment. Then, the minimum code reading period T is used as a unit to determine whether the state of the boundary line signal in each minimum code reading period T has jumped. For example, whether the boundary line signal has a state transition is determined within each minimum code reading period T of the boundary line signal, if it is identified that the boundary line signal within one minimum code reading period T has undergone one state transition from high to low or from low to high, the data information corresponding to the boundary line signal within that period is considered to be "1", and if it is identified that the boundary line signal within one minimum code reading period T has not undergone any state transition, the data information corresponding to the boundary line signal within that period is considered to be "0". The state transition sequence "high, low", "low, high", "high, low", "low, high", "high, high", "low", "high", "low", "high, high" contained in each minimum code reading period T in the boundary line signal is thus identified as the data information "1010110".
The check of the state jump of the check segment data can be carried out before or after the decoding identification of each period. During verification, whether the signal state of the verification section is opposite to the high and low levels of the signal jump of the data section or not is compared according to a verification rule during coding, whether the level jump sequence of the verification section is arranged in a reverse manner of the signal jump of the data section or not is compared, or whether the verification section in the boundary line signal can be matched with the data section according to a fixed mapping relation in any mode selected during coding is judged. And when the check result is that the boundary line signals are matched, judging that the transmission of the boundary line signals is accurate, otherwise, judging that the boundary line signals are wrong.
Therefore, the boundary line signal can be accurately identified by the automatic walking equipment through optimization of the boundary line signal coding and decoding mode, and information transmission from the base station to the automatic walking equipment is achieved by fully utilizing the boundary line signal.
Preferably, the data section and the verification section are used for data verification after each group of boundary line signals are received. After the verification is correct, the several segments of signals are compared with initial data segment data agreed in advance between the base station and the self-walking equipment. If the signals are consistent, the boundary line signals are correctly received and decoded. Whereby the transmission of the following further data information can be continued.
In summary, the present application is different from the existing logic determination and encoding method for boundary signal lines based on regular changes of high and low levels, and the present application does not directly determine boundary signal and position information according to the high level or low level received by the automatic walking device, and is also different from the existing implementation method for detecting the time interval between adjacent high levels, or detecting the number of high levels/low levels within a period of time. The encoding and decoding method based on the state jump of the boundary line signal can overcome the defect that when the boundary line signal is unstable, the high level fluctuates to cause the change of the time interval between the adjacent high levels or the error judgment is caused by the error judgment of the detection of the high level. Therefore, the boundary line signal encoding and decoding method based on signal state jump can optimize the collection and reading of the boundary line signal, so that the boundary line signal can carry more complex data information, and the error rate when the boundary line signal is identified is effectively reduced.
Under the condition that a plurality of boundary lines are arranged in the same field, the base station and the automatic walking equipment which use the method to transmit data can respectively carry different data with great difference between different boundary lines. The automatic walking equipment in the complex working area can more accurately distinguish different boundary lines in the process of verifying and identifying boundary line signals so as to improve the accuracy of boundary line identification.
According to the method and the device, data transmission of the automatic walking equipment can be directly realized through the boundary line signal without other communication means, so that the cost of the automatic walking equipment can be effectively reduced.
According to the boundary line signal level height or jump recording data in each interval time, the data information can be formed by a plurality of data, and the transmission of complex information is realized. Meanwhile, compared with a conventional signal (detecting a high and low level time interval), the invention also provides a jump edge signal (reading jump), and the automatic walking equipment can obtain higher verification accuracy rate by a mode of identifying data information through the jump edge.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (12)
1. A data interaction method for automatic walking equipment is characterized by comprising the following steps:
the automatic walking equipment receives the boundary line signal, responds to the state jump of the boundary line signal and correspondingly identifies the data information carried by the boundary line signal.
2. The data interaction method for the automatic walking device as claimed in claim 1, wherein the boundary line signal comprises two signal states of high and low, each signal state being maintained for a minimum time period t;
and when the automatic walking equipment responds to the state jump of the boundary line signal to identify the data information carried by the boundary line signal, identifying by taking 2T as the minimum code reading period T.
3. The data interaction method for the automatic walking device as claimed in claim 2, wherein the automatic walking device identifies the data information carried by the border line signal in response to the state transition of the border line signal according to the following steps:
in a minimum code reading period T, recognizing that the state of a signal jumps from a high state to a low state and corresponds to first data information;
and in a minimum code reading period T, the state transition of the identification signal from low to high corresponds to the second data information.
4. The data interaction method for the automatic walking device as claimed in claim 2, wherein the automatic walking device identifies the data information carried by the border line signal in response to the state transition of the border line signal according to the following steps:
at a fixed code reading moment in a minimum code reading period T, identifying that the boundary line signal with a low signal state carries first data information;
and at the fixed code reading moment in a minimum code reading period T, identifying the boundary line signal with high signal state as the second data information.
5. The data interaction method for the automatic walking device as claimed in claim 2, wherein the automatic walking device identifies the data information carried by the border line signal in response to the state transition of the border line signal according to the following steps:
in a minimum code reading period T, identifying that first data information is carried by a boundary line signal with a jump signal state;
and in a minimum code reading period T, the boundary line signal without signal state transition is identified to carry the second data information.
6. The data interaction method for an automatic walking device according to any one of claims 1 to 5, wherein said borderline signal comprises: a synchronization segment, a data segment and a check segment;
the synchronous section comprises state jumps of a plurality of boundary line signals with the same period;
and a fixed mapping relation is formed between the state jump of the boundary line signal in the verification section and the state jump of the boundary line signal in the data section.
7. An automated walking device, comprising:
a boundary line signal detection unit for receiving a boundary line signal;
a decoding unit, configured to recognize data information carried by the boundary line signal according to the data interaction method for an automatic walking device of any one of claims 1 to 6, in response to a state transition of the boundary line signal.
8. The automatic walking device of claim 7, further comprising a synchronization unit which updates a synchronization clock of the automatic walking device in response to state transitions of the boundary line signal of the same period consecutively.
9. The automatic walking device of claim 7, further comprising a checking unit for checking whether the check segment and the data segment after consecutive same state transitions in the borderline signal have a fixed mapping relationship.
10. A base station is connected with a boundary line surrounding a working area of automatic walking equipment and is characterized by comprising a coding unit which adjusts a boundary line signal to correspondingly carry out state jump according to data information to be sent.
11. The base station of claim 10, wherein the coding unit further transmits a plurality of consecutive boundary line signals of the same period before adjusting the boundary line signals to perform state transitions according to the data information to be transmitted.
12. The base station of claim 10, wherein the coding unit further drives the boundary line to transmit a state transition of a check segment having a fixed mapping relation with the data information after adjusting the boundary line signal to perform the state transition according to the data information to be transmitted.
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| CN202111061202.3A CN113741471B (en) | 2021-09-10 | 2021-09-10 | Automatic walking equipment, base station and data interaction method thereof |
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