CN113741471B - 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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- CN113741471B CN113741471B CN202111061202.3A CN202111061202A CN113741471B CN 113741471 B CN113741471 B CN 113741471B CN 202111061202 A CN202111061202 A CN 202111061202A CN 113741471 B CN113741471 B CN 113741471B
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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
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The application provides automatic walking equipment, a base station and a data interaction method thereof. The application sets the coding unit in the base station and sets the decoding unit in the automatic walking equipment correspondingly, thus, the coding unit codes the boundary line signal based on signal state jump, the application can carry the data information to be transmitted in the boundary line signal, so as to facilitate the automatic walking equipment to recognize the data information correspondingly according to the state jump of the boundary line signal. The application recognizes the data information through the state jump of the boundary line signal, is insensitive to the waveforms before and after the signal jump, and can effectively overcome the problem of signal misjudgment caused by waveform distortion. Moreover, the jump signal carries a time period, so that the application can realize the verification of the signal period while identifying the data information, simplify the complexity of encoding and decoding, reduce the false identification rate of boundary line signals and realize the reliable transmission of 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, many self-walking devices adopt a mode of embedding boundary signal lines to set the working area of the device. The method is widely used by a mowing robot for home lawn trimming in European and American areas.
The basic principle of using the boundary signal line to set the working area of the self-walking equipment is as follows: the base station excites the boundary signal line to emit electromagnetic field signal with certain rule, and the signal receiving device on the automatic walking equipment detects and recognizes the electromagnetic field signal. Since the electromagnetic field signals received by the autonomous walking device are different between inside and outside the working area, it can be known from the electromagnetic field signal of the boundary line whether the device is currently inside or outside the working area. The boundary signal is reliably and accurately detected and identified, and is very important for the operation of the self-walking equipment.
In practical applications, the method for detecting the boundary line signal is relatively simple, and is generally performed by detecting the level duration of several consecutive pulses and matching with a predefined template. Since the predefined boundary line signal templates described above are typically relatively simple, it is easy to erroneously identify an interfering signal as a valid boundary signal. The existing boundary line signals have low interference resistance and high false recognition rate, and the automatic walking equipment often works beyond the boundary line. In addition, once the existing border line signal templates are set, the existing border line signal templates are difficult to modify again later.
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 application adopts the following technical scheme.
Firstly, 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 recognizes the data information carried by the boundary line signal.
Optionally, the data interaction method for a walking device according to any one of the preceding claims, wherein the boundary line signal includes two signal states, i.e. a high signal state and a low signal state, each of which is maintained for a minimum duration of t; 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, the automatic walking equipment takes 2T as the minimum code reading period T to identify.
Optionally, the data interaction method for an automatic walking device according to any one of the above, wherein the automatic walking device responds to the state transition of the boundary line signal, and recognizes the data information carried by the boundary line signal according to the following steps: in a minimum code reading period T, the state jump of the identification signal from high to low corresponds to first data information; the state transition of the identification signal from low to high corresponds to the second data information in a minimum code reading period T.
Optionally, the data interaction method for an automatic walking device according to any one of the above, wherein the automatic walking device responds to the state transition of the boundary line signal, and recognizes the data information carried by the boundary line signal according to the following steps: at a fixed code reading time within a minimum code reading period T, identifying first data information carried by a boundary line signal with a low signal state; at the fixed code reading time within a minimum code reading period T, the boundary line signal with the high signal state is identified as the second data information.
Optionally, the data interaction method for an automatic walking device according to any one of the above, wherein the automatic walking device responds to the state transition of the boundary line signal, and recognizes the data information carried by the boundary line signal according to the following steps: in a minimum code reading period T, identifying first data information carried by boundary line signals with signal state jump; and in a minimum code reading period T, identifying the second data information carried by the boundary line signal with no jump of the signal state.
Optionally, the data interaction method for a walking device according to any one of the preceding claims, wherein the boundary line signal comprises: a synchronization section, a data section and a verification section; the synchronous section comprises a plurality of state jumps of boundary line signals with the same period; and a fixed mapping relation exists between the state jump of the boundary line signal in the check segment and the state jump of the boundary line signal in the data segment.
Meanwhile, to achieve the above object, the present application also provides an automatic walking apparatus comprising: 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 the data interaction method for the automatic walking equipment.
Optionally, the self-walking device of any one of the above, further comprising a synchronization unit that updates a synchronization clock of the self-walking device in response to state transitions of consecutive same periods in the boundary line signal.
Optionally, the automatic walking device according to any one of the preceding claims, further comprising a checking unit, configured to check whether the check segment and the data segment after the continuous same state transition 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 also comprises a coding unit which adjusts the boundary line signal to correspondingly perform state jump according to the data information to be transmitted.
Optionally, the base station according to any one of the preceding claims, wherein the encoding unit further drives the boundary line to send a continuous number of state transitions of the boundary line signal with the same period before adjusting the boundary line signal to perform the state transitions according to the data information to be sent.
Optionally, the base station according to any one of the preceding claims, wherein the coding unit further continues to drive the boundary line to send a check segment state transition with 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 sent.
Advantageous effects
The application sets the coding unit in the base station and sets the decoding unit in the automatic walking equipment correspondingly, thus, the coding unit codes the boundary line signal based on signal state jump, the application can carry the data information to be transmitted in the boundary line signal, so as to facilitate the automatic walking equipment to recognize the data information correspondingly according to the state jump of the boundary line signal. The application recognizes the data information through the state jump of the boundary line signal, is insensitive to the waveforms before and after the signal jump, and can effectively overcome the problem of signal misjudgment caused by waveform distortion. Moreover, the jump signal carries a time period, so that the application can realize the verification of the signal period while identifying the data information, simplify the complexity of encoding and decoding, reduce the false identification rate of boundary line signals and realize the reliable transmission of 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 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 the application and together with the embodiments of the application, and do not limit the application. In the drawings:
FIG. 1 is a schematic diagram of a data interaction between an autonomous walking device and a base station of the present application;
FIG. 2 is a schematic diagram of a first boundary line signal in the present application;
fig. 3 is a schematic diagram of another boundary line signal according to the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present application fall within the protection scope of the present 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" in the present application means that each exists alone or both exist.
The meaning of "inner and outer" in the present application means that the direction directed to the inside of the track system is inner and vice versa with respect to the track system itself; and not to a particular limitation of the mechanism of the device of the present application.
"connected" as used herein means either a direct connection between components or an indirect connection between components via other components.
Fig. 1 is a schematic diagram of a base station and at least one automatic walking device matched with the base station according to 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 operates in the working area surrounded by the boundary line so as to perform operations such as mowing or sweeping on the ground of the working area.
The application is provided with the following steps:
a boundary line signal driving unit connected to a boundary line surrounding an outer periphery of the work area for driving the boundary line to transmit a boundary line signal;
and the encoding unit is connected with the boundary line signal driving unit and is used for triggering the boundary line signal driving unit to correspondingly control the boundary line signal to carry out state jump according to the data information to be transmitted.
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 working unit is used for executing maintenance operations such as cutting, impurity removal and the like on a lawn on the ground of the working area through the mowing blade or executing other types of maintenance operations on the ground of the working area through other working devices such as spraying, blowing or dust collection and the like in the process that the automatic walking equipment walks to traverse the working area surrounded by the boundary line;
the boundary line signal detection unit can generally adopt an inductive coupling mode 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.
Thus, the present application replaces the mode of identifying data information as "0" or "1" based on the high and low level states of the boundary line signal in the prior art with: the data signal carried by the boundary line signal is judged by whether the boundary line signal is changed or not. The mode of identifying the data information based on the state jump of the boundary line signal ensures that the automatic walking of the application is only sensitive to the change moment of the state of the signal and is not sensitive to the waveforms before and after the signal is changed when the judgment logic is carried out on the boundary line signal. The waveform distortion generated by interference in the process of boundary line signal transmission generally only superimposes a certain interference component on the high and low level states of the boundary line signal, so that the judgment of the accurate level state of the boundary line signal by a decoding unit is affected, and the switching between different boundary line signal level states is not affected.
Meanwhile, in the boundary line signal of the application, a signal jump is necessarily existed in the bit period corresponding to each data information to be transmitted, so the encoded boundary line signal carries the time period information. Therefore, the application can realize the synchronization of the signal detection process and the verification of the signal period by utilizing the jump period while the decoding unit recognizes the data information carried by the boundary line signal.
In addition, the data information judging mode based on the state jump of the boundary line signal can design complex and changeable boundary line signal codes, so that complex data transmission is realized by utilizing the boundary line signal, and the false recognition rate of the signal is greatly reduced.
In specific implementation, taking an example that "01001101" data information shown in the upper side of fig. 2 needs to be transmitted, in the first codec mode, the boundary line data transmission from the base station to the automatic walking device can be achieved by:
the coding unit of the base station takes a period t which is not lower than the processing time interval required by decoding of the automatic walking equipment as a unit, and the '01001101' data to be transmitted is coded according to the following rule: encoding data information having bits corresponding to "0" as a state transition of a signal state from low to high, i.e., a low level for one t period and a high level for one t period immediately following the low level; the data information having 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 immediately following the high level. In this way, the "01001101" data to be transmitted is encoded as a state transition sequence of "low, high, low, high, low" boundary line signals with t as the minimum period of signal state transitions, triggering a boundary line signal driving unit to correspondingly drive a boundary line to send a boundary line signal of high-low signal state jump by the sequence;
the boundary line signal detection unit of the automatic walking equipment transmits corresponding electric signals to the decoding unit after sensing the boundary line signals through inductive coupling, and the decoding unit is triggered to recognize data information carried by the boundary line signals according to state transitions of the boundary line signals in the following mode:
and judging whether the state transition of the boundary line signal is low-to-high or low-to-high in the time period of the minimum code reading period T by taking a preset fixed minimum code reading period T as a unit or directly taking the time length which is 2 times of the minimum period T of the state transition of the signal in the boundary line signal as a unit, wherein the data information corresponding to the boundary line signal of the period is considered to be '1' when the state transition from high to low is recognized once in the minimum code reading period T, and the data information corresponding to the boundary line signal of the period is considered to be '0' when the state transition from low to high is recognized once in the minimum code reading period T. Thereby, the "low, high", "high, low", "low, high", "low, low in the minimum code reading period T included in the boundary line signal is obtained the high, low, high, low state transition sequences are identified as data information of" 01001101 "accordingly.
Therefore, the automatic walking equipment can record data according to the high-low change or jump state of the signal level in each interval time in the boundary line signal, sequentially transmit a plurality of groups of data to the automatic walking equipment from the base station, correspondingly identify the data by the decoding unit of the automatic walking equipment and sequentially splice the data into data information, and realize the transmission of complex information from the base station to the automatic walking equipment.
In this embodiment, the encoding is performed in different jump modes of the level between two bits in the minimum code reading period T, so that there is a jump of the level signal in the middle of each bit, so that the boundary line signal carries the symbol period information. Thus, the signal transitions are used to represent the logic value of the bit, and the internal synchronous clock of the automatic walking equipment is updated.
In the second implementation manner, considering that the boundary signal does not necessarily have a state flip before and after each minimum code reading period T, in the decoding manner described above, the decoding manner of determining the minimum code reading period T "according to the unit of 2 times the duration of the minimum period T of the signal state transition in the boundary signal may affect the correct decoding because the minimum code reading period T is erroneously set to be 3T or 4T or the like because the signal state transition in the actual boundary signal is less. In order to solve the problem, the application can further add a synchronous segment based on the coding and decoding mode so as to accurately update the synchronous clock of the automatic walking decoding unit through the signal state jump of the synchronous segment, thereby correctly reading the state jump condition of the boundary line signal.
In this way, a synchronization unit may be added to the automatic walking device, for updating the synchronization clock of the automatic walking device in response to the state transitions of the same continuous period in the boundary line signal.
The base station can realize data information transmission of the automatic walking equipment according to the following mode:
the coding unit of the base station codes the '01001101' data to be transmitted by taking a preset period t as a unit according to the following rule: encoding data information having bits corresponding to "0" as a state transition of a signal state from low to high, i.e., a low level for one t period and a high level for one t period immediately following the low level; the data information having 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 immediately following the high level. In this way, the "01001101" data to be transmitted is encoded as a state transition sequence of "low, high, low, high, low" boundary line signals with t as the minimum period of signal state transitions, and a number of consecutive state transitions of periodic boundary line signals with t as the signal state sustain time are added before or after the sequence, that is, the number of state transitions of the synchronization section is not particularly limited, and can be set to be the state transition of a logic 1 signal with 4 bit periods, or can be arbitrarily set to provide clock information by the state transitions with n periods. Then triggering the boundary line signal driving unit to correspondingly drive the boundary line to send boundary line signals of high and low signal state transitions and the added period transition synchronization section;
and the boundary line signal detection unit of the automatic walking equipment transmits corresponding electric signals to the decoding unit after detecting the boundary line signals through wireless signal receiving devices such as an antenna, a coil and a sensor, and triggers the decoding unit to recognize data information carried by the boundary line signals according to state jump of the boundary line signals in the following manner:
according to the coding rule, a synchronization segment with cycle jump is found at the head end or the tail end of the boundary line signal sequence, and then the minimum code reading period T=2t is determined according to the shortest time T maintained by any state of the boundary line signal in the synchronization segment. And then, judging whether the state of the boundary line signal is high or low in the fixed code reading time in each minimum code reading period T by taking the minimum code reading period T as a unit. For example, at 0.3 seconds after the start time point of each minimum code reading period tstart of the boundary line signal, the data information corresponding to the boundary line signal state at this time is identified as "0", and the data information corresponding to the boundary line signal state at this time is identified as "1". The boundary line signal hopping sequence in each code reading period T in the boundary line signal is thereby identified as data information of "01001101" accordingly.
Therefore, the application can update 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 line 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 the third implementation manner, considering that the boundary line signal is easily affected by the external environment interference factor to cause state inversion or misidentification, the present application may further add a verification segment based on any of the above embodiments. The method and the device can accurately judge whether the data obtained by decoding is correct or not 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 transfer complex information, and more accurate and efficient data transfer 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, a check segment may be added to the automatic walking device, so as to check whether the remaining check segment and the data segment have a fixed mapping relationship after the synchronization segment corresponding to the continuous same state jump is removed from the boundary line signal. When the two accords with the mapping relation determined during coding, the boundary line signal identification is judged to be accurate, and the acquired data information is identified to be effective; and when the mapping modes are not matched before the two, judging that the boundary line signal identification is 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 according to the following manner:
the coding unit of the base station codes the '01001101' data to be transmitted by taking a preset period t as a unit according to the following rule: encoding data information with bit corresponding to '1' into a state transition with one signal state from high to low or from low to high, namely switching the signal state of the high level of the immediately previous period into the low level of one t period or switching the signal state of the low level of the immediately previous period into the high level of one t period according to the high and low level states of the immediately previous period; the data information having the bit corresponding to "0" is encoded into a level state extending for the last t period, that is, when the "0" data information is encoded according to the high and low level states of the last t period, the signal state of the high level immediately preceding period is maintained as the high level of one t period, or the signal state of the low level immediately preceding period is maintained as the low level of one t period. In this way the first and second components, 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 transitions, and adds a number of consecutive state transitions of periodic boundary line signals with t as signal state maintenance time before or after the sequence, that is to say, the above-mentioned "high, low, high, low, high the state transition sequence of the high boundary line signal is preceded or followed by a number of state transitions of high, low, or low, high, low, high. And then, turning the signal jump of the data segment to high and low levels, or arranging the signal jump of the data segment in a reverse way, or generating the signal jump of the check segment matched with the data segment according to any fixed mapping relation. Finally, triggering the boundary line signal driving unit to correspondingly drive the boundary line to send the boundary line signal of the high-low signal state jump and the synchronization section and the verification section of the increased cycle jump;
the boundary line signal detection unit of the automatic walking equipment transmits corresponding electric signals to the decoding unit after detecting the boundary line signals through wireless signal receiving devices such as an antenna, a coil and a sensor or an inductance element, and triggers the decoding unit to recognize data information carried by the boundary line signals according to state jump of the boundary line signals in the following mode:
firstly, according to the coding rule, a synchronization section with cycle jump is found at the head end of the boundary line signal sequence, and then the minimum code reading period T=2t is determined according to the shortest time T maintained by any state of the boundary line signal in the synchronization section. And then judging whether the state of the boundary line signal in each minimum code reading period T is jumped by taking the minimum code reading period T as a unit. For example, it is determined whether or not a state transition occurs in the boundary line signal in each minimum code reading period T of the boundary line signal, and when it is recognized that the boundary line signal undergoes a state transition from high to low or from low to high once in one minimum code reading period T, the data information corresponding to the boundary line signal in the period is regarded as "1", and when it is recognized that the boundary line signal does not undergo any state transition in one minimum code reading period T, the data information corresponding to the boundary line signal in the period is regarded as "0". The state transition sequences of "high, low", "low, high", "high, low", "low, high", "high, high" contained in each minimum code reading period T in the boundary line signal are thereby identified as data information of "1010110" accordingly.
The checking of the check segment data state transitions may be performed before decoding and identifying each cycle, or after decoding and identifying. During verification, whether the signal state of the verification segment corresponds to the opposite of the high level and the low level of the signal jump of the data segment is compared according to the verification rule during coding, or whether the level jump sequence of the verification segment is the description arrangement of the signal jump of the data segment is compared, or whether the verification segment in the boundary line signal can be matched with the data segment according to the fixed mapping relation in any mode selected during coding is judged. And when the verification is matched, judging that the boundary line signal transmission is accurate, otherwise, judging that the boundary line signal is wrong.
Therefore, the application can ensure that the boundary line signal can be accurately identified by the automatic walking equipment through optimizing the encoding and decoding modes of the boundary line signal, thereby fully utilizing the boundary line signal to realize the information transmission from the base station to the automatic walking equipment.
Preferably, the application can use the data segment and the check segment to check the data after finishing a group of boundary line signals. After the verification is correct, the segments of signals are compared with the initial data segments which are agreed in advance between the base station and the self-walking equipment. If the signals match, the boundary line signals are correctly received and decoded. Whereby the transmission of the following other data information can be continued.
In summary, the present application is different from the existing logic determination and encoding methods based on the boundary signal lines with regular variation of high and low levels, and the present application does not directly determine boundary line signals and position information according to high levels or low levels received by the automatic walking device, and is also different from the existing implementation methods to detect the time interval between adjacent high levels, or to test the information such as the number of high levels/low levels in a period of time. The coding and decoding mode 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, so that the time interval between adjacent high levels changes, or the detection of the high level itself is misjudged to cause the verification error. Therefore, the encoding and decoding mode based on signal state jump of boundary line signals in the application can optimize the acquisition and reading of the boundary line signals, so that the boundary line signals can carry more complex data information, and the error rate when the boundary line signals are identified is effectively reduced.
In the case that a plurality of boundary lines are arranged in the same place, the base station and the automatic walking equipment for data transmission by using the method 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 the boundary line signals so as to improve the accuracy of boundary line identification.
The application can realize the data transmission of the automatic walking equipment directly through the boundary line signal without other communication means, thereby effectively reducing the cost of the automatic walking equipment.
The application records data according to the level of the boundary line signal in each interval time or jump, and a plurality of data can form data information to realize the transmission of complex information. Meanwhile, compared with a conventional signal (detecting high and low level time intervals), the application provides a jump edge signal (reading jump), and the automatic walking equipment can obtain higher verification accuracy by means of the jump edge identification data information.
The foregoing is a description of embodiments of the application, which are specific and detailed, but are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.
Claims (10)
1. A data interaction method for automatic walking equipment, characterized by the steps of
Comprising the following steps:
the automatic walking equipment receives the boundary line signal, responds to state jump of the boundary line signal, and correspondingly recognizes data information carried by the boundary line signal;
the boundary line signal includes: a synchronization section, a data section and a verification section;
the synchronous section comprises a plurality of state jumps of boundary line signals with the same period;
the state jump of the boundary line signal in the check segment and the state jump of the boundary line signal in the data segment have the following fixed mapping relation:
the signal jump of the data segment is turned over in high and low level or the signal jump of the data segment is arranged in a reverse way, so that the signal jump of the check segment matched with the data segment is generated;
and finally, triggering the boundary line signal driving unit to correspondingly drive the boundary line to send the boundary line signal with the high-low signal state jump and the synchronization section and the verification section with the cycle jump.
2. A data interaction method for a self-propelled device according to claim 1 and wherein,
the boundary line signal comprises a high signal state and a low signal state, and the shortest duration maintained by each signal state is t;
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, the automatic walking equipment takes 2T as the minimum code reading period T to identify.
3. A data interaction method for a self-propelled device according to claim 2 and wherein,
the automatic walking equipment responds to the state jump of the boundary line signal, and recognizes the data information carried by the boundary line signal according to the following steps:
in a minimum code reading period T, the state jump of the identification signal from high to low corresponds to first data information;
the state transition of the identification signal from low to high corresponds to the second data information in a minimum code reading period T.
4. A data interaction method for a self-propelled device according to claim 2 and wherein,
the automatic walking equipment responds to the state jump of the boundary line signal, and recognizes the data information carried by the boundary line signal according to the following steps:
at a fixed code reading time within a minimum code reading period T, identifying first data information carried by a boundary line signal with a low signal state;
at the fixed code reading time within a minimum code reading period T, the boundary line signal with the high signal state is identified as the second data information.
5. A data interaction method for a self-propelled device according to claim 2 and wherein,
the automatic walking equipment responds to the state jump of the boundary line signal, and recognizes the data information carried by the boundary line signal according to the following steps:
in a minimum code reading period T, identifying first data information carried by boundary line signals with signal state jump;
and in a minimum code reading period T, identifying the second data information carried by the boundary line signal with no jump of the signal state.
6. An automatic walking device is characterized in that,
comprising the following steps:
a boundary line signal detection unit for receiving a boundary line signal;
the decoding unit is configured to correspondingly identify the data information carried by the boundary line signal according to the data interaction method for the automatic walking device according to any one of claims 1 to 5 in response to a state transition of the boundary line signal.
7. The walking apparatus of claim 6, wherein the automatic walking apparatus comprises a plurality of wheels,
the synchronous unit is used for updating the synchronous clock of the automatic walking equipment in response to state jumps with the same continuous period in the boundary line signal.
8. The walking apparatus of claim 6, wherein the automatic walking apparatus comprises a plurality of wheels,
and the verification unit is used for verifying whether the verification segments and the data segments after continuous same state jump in the boundary line signals have a fixed mapping relation.
9. A base station to which a boundary line surrounding an operating area of a robot is connected, characterized in that,
the base station comprises a coding unit which adjusts boundary line signals to carry out state jump correspondingly according to data information to be transmitted;
the boundary line signal includes: a synchronization section, a data section and a verification section;
the synchronous section comprises a plurality of state jumps of boundary line signals with the same period;
the state jump of the boundary line signal in the check segment and the state jump of the boundary line signal in the data segment have the following fixed mapping relation:
the signal jump of the data segment is turned over in high and low level or the signal jump of the data segment is arranged in a reverse way, so that the signal jump of the check segment matched with the data segment is generated;
and finally, triggering the boundary line signal driving unit to correspondingly drive the boundary line to send the boundary line signal with the high-low signal state jump and the synchronization section and the verification section with the cycle jump.
10. The base station of claim 9, wherein,
the coding unit also drives the boundary line to transmit continuous state transitions of a plurality of boundary line signals with the same period before the state transitions are correspondingly carried out on the boundary line signals according to the data information to be transmitted.
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