CN113852364A - Boundary signal generation and detection method, boundary signal generation system and mowing robot - Google Patents
Boundary signal generation and detection method, boundary signal generation system and mowing robot Download PDFInfo
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K5/00—Manipulating of pulses not covered by one of the other main groups of this subclass
- H03K5/153—Arrangements in which a pulse is delivered at the instant when a predetermined characteristic of an input signal is present or at a fixed time interval after this instant
- H03K5/1534—Transition or edge detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/0807—Measuring electromagnetic field characteristics characterised by the application
- G01R29/0814—Field measurements related to measuring influence on or from apparatus, components or humans, e.g. in ESD, EMI, EMC, EMP testing, measuring radiation leakage; detecting presence of micro- or radiowave emitters; dosimetry; testing shielding; measurements related to lightning
- G01R29/0821—Field measurements related to measuring influence on or from apparatus, components or humans, e.g. in ESD, EMI, EMC, EMP testing, measuring radiation leakage; detecting presence of micro- or radiowave emitters; dosimetry; testing shielding; measurements related to lightning rooms and test sites therefor, e.g. anechoic chambers, open field sites or TEM cells
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
Abstract
The invention relates to the technical field of electric tools, and particularly discloses a boundary signal generation and detection method, a boundary signal generation system and a mowing robot. The method for generating the boundary signal comprises the steps of determining the periodic characteristics of the interference signal in a preset space; and determining the initial generation time of the boundary signal according to the periodic characteristic. The method for generating the boundary signal comprises the steps of firstly determining the periodic characteristic of the interference signal in the preset space, and then determining the initial generation time of the boundary signal according to the periodic characteristic of the interference signal, so that the boundary signal can be effectively prevented from being generated at the time when the interference signal exists or the interference signal is strong, and further the boundary signal is prevented from being influenced by the interference signal.
Description
Technical Field
The invention relates to the technical field of electric tools, in particular to a boundary signal generating and detecting method, a boundary signal generating system and a mowing robot.
Background
Intelligent electric tools including lawn mowing robots have been increasingly widely used in various fields. Taking a mowing robot as an example, in the working process of the current mowing robot, a boundary loop is generally formed by surrounding the edge of a lawn by using a cable through a corresponding charging device, the charging device sends pulse current to a boundary coil to generate a magnetic field boundary signal, and the mowing robot analyzes the boundary information by detecting the magnetic field boundary signal in a working space so as to enable the mowing robot to work in the analyzed boundary line. However, the magnetic field boundary signal is easily interfered by signals of various external ac devices, motors or other charging devices, which makes it difficult for the mowing robot to detect the correct magnetic field boundary signal, and further causes the mowing robot to work beyond the boundary line or stop working.
Disclosure of Invention
Based on this, it is necessary to provide a boundary signal generation and detection method, a generation system, and a mowing robot, for the problem that it is difficult for the mowing robot to detect a correct magnetic field boundary signal due to the susceptibility of the magnetic field boundary signal to disturbance.
A method of generating a boundary signal, the method comprising:
determining the periodic characteristics of interference signals in a preset space;
and determining the initial generation time of the boundary signal according to the periodic characteristic.
In one embodiment, after the step of determining the starting generation time of the boundary signal according to the periodic characteristic, the method further includes:
and generating the boundary signal according to the initial generation moment and a preset boundary signal generation period.
In one embodiment, the step of determining the starting generation time of the boundary signal according to the periodic characteristic includes:
determining an idle time period according to the periodic characteristics;
and determining the initial generation time of the boundary signal according to the idle time period.
In one embodiment, the method further comprises:
before the step of generating the boundary signal, after judging that an interference signal is received, returning to the step of determining the periodic characteristic of the interference signal in the preset space; and/or
And judging whether the received signal in the time period of generating the boundary signal meets preset characteristic information or not, and returning to the step of determining the periodic characteristic of the interference signal in the preset space when the received signal does not meet the preset characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal.
In one embodiment, the step of determining the periodic characteristics of the interference signals in the preset space includes:
determining the periodic characteristics of the interference signal according to the characteristic information of the interference signal, wherein the characteristic information of the interference signal comprises: one or more of frequency information, waveform information, intensity information, amplitude scale information.
A method of detecting boundary signals, the method comprising:
determining characteristic information of a first signal, wherein the first signal is a signal of which the difference value between the received signal and a preset frequency is within a preset difference value range, and the preset frequency is the frequency of a boundary signal;
and extracting a signal which is consistent with preset characteristic information from the first signal as a boundary signal according to the characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal.
In one embodiment, before the step of determining the characteristic information of the first signal, the method further comprises:
determining the first signal from the received signals.
In one embodiment, the characteristic information includes one or more of signal strength information, amplitude scale information, and frequency information.
A boundary signal generating apparatus comprising:
a first determining unit, configured to determine a periodic characteristic of an interference signal in a preset space;
and the second determining unit is used for determining the initial generation time of the boundary signal according to the periodic characteristic.
A boundary signal detection apparatus comprising:
a third determining unit, configured to determine feature information of a first signal, where the first signal is a signal whose difference value between a received signal and a preset frequency is within a preset difference value range, and the preset frequency is a frequency of a boundary signal;
and the extraction unit is used for extracting a signal which accords with preset characteristic information from the first signal as a boundary signal according to the characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal.
A boundary signal generating system comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to thereby perform the boundary signal generating method described above.
A lawn mowing robot comprising:
the boundary signal detection device comprises a memory and a processor, wherein the memory and the processor are mutually connected in a communication mode, computer instructions are stored in the memory, and the processor executes the computer instructions so as to execute the boundary signal detection method.
A computer-readable storage medium having stored therein computer instructions which, when executed by a processor, implement the boundary signal generating method as described above.
A computer-readable storage medium having stored therein computer instructions which, when executed by a processor, implement the boundary signal detection method as described above.
The method for generating the boundary signal comprises the steps of firstly determining the periodic characteristic of the interference signal in the preset space, and then determining the initial generation time of the boundary signal according to the periodic characteristic of the interference signal, so that the boundary signal can be effectively prevented from being generated at the time when the interference signal exists or the interference signal is strong, and further the boundary signal is prevented from being influenced by the interference signal.
The method for detecting the boundary signal comprises the steps of firstly acquiring a received signal of which the difference value with the preset frequency is within the range of the preset difference value as a first signal, simultaneously determining the characteristic information of the first signal, and then extracting a signal which is consistent with the preset characteristic information from the first signal as the boundary signal. Because the signals with the difference value between the frequency and the frequency of the boundary signal within the preset difference value range are screened out before the boundary signal is extracted, the difficulty and the operation amount of extracting the boundary signal are reduced, and in addition, the boundary signal in the obtained signals is not interfered by the interference signal, so the boundary signal is easy to extract.
Drawings
FIG. 1 is a schematic diagram of an application scenario;
fig. 2 is a schematic flowchart of a method for generating a boundary signal according to embodiment 1 of the present application;
fig. 3 is a schematic flowchart of step S50 in the method for generating a boundary signal according to embodiment 1 of the present application;
fig. 4 is a schematic flowchart of another embodiment of a method for generating a boundary signal according to embodiment 1 of the present application;
fig. 5 is a schematic flowchart of a method for detecting a boundary signal according to embodiment 2 of the present application;
fig. 6 is a waveform diagram of an interference signal detected by the boundary signal generating method provided in embodiment 1 of the present application and a generated boundary signal;
fig. 7 is a waveform diagram of an interference signal and a boundary signal detected by the boundary signal detection method provided in embodiment 2 of the present application;
fig. 8 is a schematic structural diagram of a boundary signal generating device according to embodiment 3 of the present application;
fig. 9 is a schematic structural diagram of a boundary signal detection apparatus provided in embodiment 3 of the present application;
fig. 10 is a schematic structural diagram of a boundary signal generating system provided in embodiment 4 of the present application.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "upper," "lower," "front," "rear," "circumferential," and the like are based on the orientation or positional relationship shown in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the conventional mowing robot mainly operates according to the following principle: the boundary cable 10 surrounding the lawn is connected to a charging device 12 of the robot lawnmower 11, and a pulse current is sent to the boundary cable 10 through the charging device 12 to generate a magnetic field signal, which is used as a boundary signal of the working space 13 of the robot lawnmower 11. When the robot lawnmower 11 is operating, the built-in electromagnetic wave detection sensor detects the magnetic field signal and further acquires the boundary signal, and the robot lawnmower 11 can determine the boundary of the working space 13 based on the boundary signal.
However, the magnetic field signal detected by the mowing robot includes not only the boundary signal but also the interference signal, which may make it difficult for the mowing robot to detect the correct boundary signal, and may cause the mowing robot to work beyond the boundary or stop working.
In view of the above problems, the present application provides a boundary signal generation method, a boundary signal detection method, a boundary signal generation device, a boundary signal detection device, a boundary signal generation system, a mowing robot, and a computer-readable storage medium.
Example one
The embodiment of the application provides a method for generating a boundary signal, which is executed by a charging device end corresponding to the mowing robot. As shown in fig. 2, the method for generating a boundary signal according to the embodiment of the present application includes the following steps:
step S30: the periodic characteristics of the interference signal in the preset space are determined.
Specifically, the preset space refers to a working space enclosed by the boundary cable, and various signals such as an alternating current power supply signal, a moving motor signal, a mowing motor signal or a magnetic field boundary signal generated by other charging devices can be included in the working space. The above signals are generally electromagnetic wave signals, and can be detected by an electromagnetic wave detection sensor built in the charging device. Some signals may cause interference to the boundary signal to be generated, and some signals may not cause interference to the boundary signal to be generated, so that a signal that may cause interference to the boundary signal to be generated needs to be acquired from the boundary signal to be generated.
And when a plurality of interference signals exist, the periodic characteristics of each interference signal are sequentially determined.
In one embodiment, the periodic characteristic of the interference signal may be determined according to characteristic information of the interference signal, wherein the characteristic information of the interference signal includes one or more of frequency information, waveform information, intensity information, and amplitude ratio information. That is, before determining the periodic characteristics of the interference signals, the above-mentioned characteristic information of each type of interference signals needs to be acquired.
Step S50: according to the periodic characteristic, the initial generation time of the boundary signal is determined.
After the periodic characteristics of the interference signals are determined, the time interval between two adjacent times of generation of each interference signal, the duration of each time, and the generation time and the end time of each interference signal can be obtained. And determining the generation time of the boundary signal on the basis, so that the initial generation time of the boundary signal avoids the interference signal, and further the boundary signal can be generated at the determined generation time of the boundary signal. In practical application, the initial generation time of the boundary signal can be directly determined according to the end time of each interference signal; or the time period between two adjacent interference signals can be determined, and then the initial generation time of the boundary signal can be determined according to the determined time period. Of course, there are other ways, not listed here, as long as the initial generation time of the boundary signal is ensured to avoid the interference signal.
The method for generating the boundary signal comprises the steps of firstly determining the periodic characteristic of the interference signal in the preset space, and then determining the initial generation time of the boundary signal according to the periodic characteristic of the interference signal, so that the boundary signal can be effectively prevented from being generated at the time when the interference signal exists or the interference signal is strong, and further the boundary signal is prevented from being influenced by the interference signal.
As an alternative embodiment, step S30, namely before the step of determining the periodic characteristic of the interference signal in the preset space, further includes:
acquiring all signals existing in a preset space;
and determining signals with frequencies outside a preset frequency range from all the acquired signals as interference signals.
Specifically, all signals existing in a preset space can be detected through a magnetic induction sensor, the signal types are generally electromagnetic wave signals, and the frequency information of the obtained various electromagnetic wave signals is often different; and then extracting signals with frequencies outside the preset frequency range from all the signals as interference signals. The frequency within the preset frequency range is often different from the frequency of the boundary signal by a relatively large amount, and the boundary signal is not easily interfered, that is, the signals are filtered in advance, which is helpful for providing the boundary signal generation efficiency.
As an optional implementation manner, the hardware filter circuit may filter out a high-frequency signal and a low-frequency signal, specifically, the hardware filter circuit filters out a signal whose frequency is greater than a first value and is less than a second value, and in practical application, the hardware filter circuit may filter out a high-frequency signal above 10KHZ and a low-frequency signal below 500HZ, that is, the preset frequency range is a high frequency above 10KHZ and a low frequency below 500 HZ. Generally, the frequency difference between the high-frequency signal and the low-frequency signal and the boundary signal is large, and interference on the boundary signal is not easily caused, so that the high-frequency electromagnetic wave signal and the low-frequency electromagnetic wave signal are firstly filtered out, so as to obtain an actual interference signal, and further determine the periodic characteristic of the interference signal.
The above interference signal is obtained in order to actually narrow the range of the interference signal, thereby reducing the amount of calculation for determining the generation time of the boundary signal.
As an alternative embodiment, as shown in fig. 3, the step S50 of determining the initial generation time of the boundary signal according to the periodic characteristic includes the following steps:
step S501: according to the periodic characteristics, an idle period is determined.
Specifically, when the periodic characteristic of the interference signal is determined, the time interval between two adjacent times of generation of the interference signal, the duration of each time, and the generation time and the end time of the interference signal are determined according to the periodic characteristic of the interference signal, so that the idle time period of the interference signal can be determined, wherein the idle time period is a time period in which the interference signal is not generated.
If various interference signals exist, respectively acquiring the idle time periods of each interference signal, and then taking intersection of the idle time periods of the various interference signals, so as to determine the final idle time period, namely the time period without any interference signal.
Step S502: and determining the initial generation time of the boundary signal according to the idle time period.
Specifically, the starting generation time of the boundary signal may be determined according to the starting time of the idle period, and an interval between the starting generation time of the boundary signal and the starting time of the idle period may be ensured to be less than or equal to a preset time interval. The starting time of the idle period may be an ending time of the interference signal, that is, the boundary signal is generated within a preset time interval after the interference signal ends. Therefore, on one hand, the interference of the interference signal to the boundary signal can be avoided, on the other hand, the boundary signal can be ensured to be sufficiently transmitted in a limited idle time period, and the transmitted boundary signal cannot be overlapped with the next interference signal.
As an alternative, when there are multiple types of interference signals, in step S501, the idle time periods of the multiple types of interference signals may not be intersected, as long as the idle time periods corresponding to the respective interference signals are determined. In step S502, a plurality of boundary signal initial generation times corresponding to different interference signals are determined according to the idle time periods corresponding to the interference signals, respectively, to form a time set, and then an intersection is taken for each time in the time set, so as to determine the final initial generation time of the boundary signal. Therefore, the determined initial generation time of the boundary signal can effectively avoid the interference of various interference signals.
The value of the preset time interval is not unique and should be determined by combining the periods of various interference signals and the period of the boundary signal, which is not limited herein. The preset time interval may be a single value or a range of values.
As an alternative embodiment, as shown in fig. 4, after step S50, that is, the step of determining the starting generation time of the boundary signal according to the periodic characteristics, the generation method of the boundary signal provided by the present application further includes the following steps:
step S70: and generating a boundary signal according to the initial generation time and a preset boundary signal generation period.
When the initial generation time of the boundary signal is determined, the boundary signal may be generated at a preset boundary signal generation period. The boundary signal is generated by first transmitting a pulse current to the boundary wire via the charging device and then generating a magnetic field boundary signal by an electromagnetic effect. The preset period referred to herein actually refers to a period of the pulse current, and may be set to transmit the pulse current of a preset width Y μ s every Xms, for example. Of course, other periods and preset widths may be set, and are not limited herein.
In one embodiment, before the step of generating the boundary signal in the preset boundary signal generation cycle according to the start generation time in step S70, the method for generating the boundary signal provided in this embodiment further includes the following steps:
judging whether an interference signal is received or not; when the interference signal is judged to be received, returning to the step S30, namely, determining the periodic characteristic of the interference signal in the preset space; when it is determined that the interference signal is not received, step S70 is executed.
That is, after the initial generation time of the boundary signal is determined and before the boundary signal is generated, whether an interference signal exists in the preset space is continuously detected, if the interference signal is detected, the sending of the boundary signal is stopped, and the initial generation time of the boundary is determined again according to the periodic characteristics of the interference signal existing in the preset space. This is because the interference signal has uncertainty, and although the initial generation time of the boundary signal determined in the foregoing step is away from the interference signal, it is not excluded that a new interference signal will occur at the time when the boundary signal is about to be generated, and therefore, the interference signal is detected again before the boundary signal is generated, which effectively improves the reliability of the present solution and ensures that the boundary signal is not interfered.
In one embodiment, after the step of generating the boundary signal in the preset boundary signal generation period according to the initial generation time in step S70, the method for generating the boundary signal provided by the present application further includes the following steps:
judging whether a received signal in a time period for generating a boundary signal meets preset characteristic information or not, wherein the preset characteristic information is the characteristic information of the boundary signal; if the signal is not matched, the process returns to step S30, i.e., the step of determining the periodic characteristic of the interference signal in the preset space.
That is, in the time period of generating the boundary signal, the signal existing in the preset space is continuously detected, after the signal is detected, whether the signal meets the feature information of the boundary signal is judged, if the signal does not meet the feature information of the boundary signal, the generated boundary signal is interfered by the interference signal, at this moment, the generation of the boundary signal is stopped, and the initial generation time of the boundary is determined again according to the periodic characteristic of the interference signal existing in the preset space.
The characteristic information of the boundary signal is one or more of signal strength information, amplitude ratio information, frequency information and the like of the boundary signal. Specifically, it may be determined whether the signal strength information, the amplitude ratio information, and the frequency information all match, only whether the signal strength information and the amplitude ratio information match, only whether the amplitude ratio information and the frequency information match, and the like.
And when the received signal in the time period of generating the boundary signal meets the preset characteristic information, namely the generated boundary signal is not interfered by the interference signal, continuously generating the boundary signal according to the preset boundary signal generation period.
As an optional implementation manner, after acquiring the interference signal, the method for generating the boundary signal provided by the present application further includes the following steps:
any one or more of frequency information, waveform information, intensity information, and amplitude scale information of the interference signal are detected. The difference of each interference signal can be analyzed according to the characteristic information of each detected interference signal, and the category of each interference signal, such as a periodic interference signal (an alternating current power interference signal), an instantaneous interference signal (a movement motor interference signal, a mowing motor interference signal) or a boundary magnetic field signal of other charging devices, can be counted.
Fig. 6 shows the waveform of the detected interference signal and the waveform generated by the boundary signal. The signal a is other boundary magnetic field signals, the signal b is a periodic interference signal, the signal c is an instantaneous interference signal, and the signal e is a generated boundary signal.
Example two
The embodiment of the application provides a boundary signal detection method which is executed by a mowing robot. As shown in fig. 5, the method for detecting a boundary signal provided in this embodiment includes the following steps:
step S40: and determining characteristic information of a first signal, wherein the first signal is a signal of which the difference value between the received signal and a preset frequency is within a preset difference value range, and the preset frequency is the frequency of the boundary signal.
Specifically, first, a plurality of signals in a preset space are obtained, including various interference signals mentioned in the first embodiment, which are not described herein, and also including a magnetic field boundary signal generated by a charging device corresponding to the mowing robot. Generally, the mowing robot acquires the above signals through a built-in magnetic induction sensor. And then screening out signals of which the difference value between the frequency of the signals and the frequency of the boundary signal is within a preset difference value range to form a first signal. The frequency of the boundary signal is stored in an internal memory of the mowing robot in advance, after a plurality of signals are obtained, the difference value between the frequency of each signal and the frequency of the boundary signal stored in advance is obtained, and the signal of which the difference value is within a preset difference value range is screened out to be used as a first signal.
The value of the preset difference range is not unique, but is set to 2KHZ ± 30% in this embodiment, and the signal in the range is easy to interfere with the boundary signal, so that the range is selected appropriately. Of course, the preset difference range may be set to other ranges, such as 2KHZ ± 25%, 30KHZ ± 10%, etc., and is not limited herein.
In one embodiment, before the first signal is screened out, high-frequency and low-frequency signals in the signals can be filtered out in a hardware filtering mode, and the high-frequency and low-frequency signals have small influence on the boundary signal and are not easy to interfere, so that the high-frequency and low-frequency signals are filtered out in advance, the acquisition difficulty and the internal operation amount of the first signal are effectively reduced, and the detection efficiency of the boundary signal is improved. The hardware filtering mode can adopt the existing filter circuit which is composed of a capacitor and a resistor.
When the first signal is determined, characteristic information of the first signal is obtained, wherein the characteristic information includes any one or more of edge (rising edge or falling edge) information, frequency information, period information, waveform information, signal strength information, and amplitude ratio information, and may further include other characteristic information, which is not listed here.
Step S60: and extracting a signal which is consistent with preset characteristic information from the first signal as a boundary signal according to the characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal.
The preset characteristic information is input into the mowing robot in advance by a user, and corresponds to the characteristic information of the boundary signal generated by the charging device. After the characteristic information of the first signal is determined, the first signal can be compared one by one according to the characteristic information of the boundary signal such as edge (rising edge or falling edge) information, frequency information, period information, waveform information, signal intensity information and amplitude proportion information, a signal which is in accordance with preset characteristic information is extracted from the first signal, namely the boundary signal, and then position information is analyzed according to the extracted boundary signal, so that the mowing robot is prevented from walking out of the boundary or entering a dangerous area.
As an alternative embodiment, at least two kinds of feature information may be selected from the above feature information to compare signals.
The method for detecting the boundary signal comprises the steps of firstly acquiring a received signal of which the difference value with the preset frequency is within the range of the preset difference value as a first signal, simultaneously determining the characteristic information of the first signal, and then extracting a signal which is consistent with the preset characteristic information from the first signal as the boundary signal. Because the signals with the difference value between the frequency and the frequency of the boundary signal within the preset difference value range are screened out before the boundary signal is extracted, the difficulty and the operation amount of extracting the boundary signal are reduced, and in addition, the boundary signal in the obtained signals is not interfered by the interference signal, so the boundary signal is easy to extract.
Fig. 7 shows waveforms of several detected signals. The signal a is another boundary magnetic field signal, the signal b is a periodic interference signal, the signal c is an instantaneous interference signal, and the signal d is a correct boundary signal.
EXAMPLE III
The embodiment of the application provides a boundary signal generating device, which corresponds to the boundary signal generating method provided in the first embodiment. As shown in fig. 8, the boundary signal generating apparatus provided in the present embodiment includes a first determining unit 30 and a second determining unit 31. The first determining unit 30 is configured to determine a periodic characteristic of an interference signal in a preset space; the second determination unit 31 is configured to determine a start generation timing of the boundary signal according to the periodic characteristic.
For details of the first determining unit 30 and the second determining unit 31, please refer to the description of the relevant parts of the method for generating the boundary signal provided in the first embodiment, which is not repeated herein.
The embodiment of the application also provides a boundary signal detection device, which corresponds to the boundary signal detection method provided in the second embodiment. As shown in fig. 9, the boundary signal generating apparatus provided in the present embodiment includes a third determining unit 32 and an extracting unit 33. The third determining unit 32 is configured to determine feature information of a first signal, where the first signal is a signal whose difference value from a preset frequency is within a preset difference value range, and the preset frequency is a frequency of a boundary signal; the extracting unit 33 is configured to extract a signal corresponding to preset feature information from the first signal as a boundary signal according to the feature information, where the preset feature information is feature information of the boundary signal.
For details of the third determining unit 32 and the extracting unit 33, please refer to the description of the relevant part of the boundary signal detecting method provided in the second embodiment, and details are not repeated herein.
Example four
Embodiments of the present application provide a boundary signal generating system that may be a charging device for use with a lawn mowing robot or other electronic device capable of generating a boundary signal for a lawn mowing robot.
The boundary signal generating system provided by the present embodiment includes a memory 40 and a processor 41. The memory 40 and the processor 41 are communicatively connected to each other through a bus or other means, and fig. 10 illustrates the connection through the bus as an example.
The processor 41 may be a Central Processing Unit (CPU). The Processor 41 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 40, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions corresponding to the boundary signal generating method in the embodiment of the present invention. The processor 41 executes various functional applications and data processing of the processor 41, i.e., implements a boundary signal generating method, by executing non-transitory software programs, instructions, and modules stored in the memory 40.
The memory 40 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 41, and the like. Further, the memory 40 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 40 optionally includes memory located remotely from processor 41, which may be connected to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
The embodiment of the application also provides a mowing robot which comprises a storage and a processor. For the description of the internal memory and processor of the mowing robot, reference is made to the description of the relevant parts of the boundary signal generating system, and the description is not repeated here.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for generating a boundary signal, the method comprising:
determining the periodic characteristics of interference signals in a preset space;
and determining the initial generation time of the boundary signal according to the periodic characteristic.
2. The method for generating a boundary signal according to claim 1, wherein after the step of determining a start generation timing of the boundary signal based on the periodic characteristic, the method further comprises:
and generating the boundary signal according to the initial generation moment and a preset boundary signal generation period.
3. The method for generating a boundary signal according to claim 1 or 2, wherein the step of determining the starting generation time of the boundary signal according to the periodic characteristic comprises:
determining an idle time period according to the periodic characteristics;
and determining the initial generation time of the boundary signal according to the idle time period.
4. The method for generating a boundary signal according to claim 3, further comprising:
before the step of generating the boundary signal, after judging that an interference signal is received, returning to the step of determining the periodic characteristic of the interference signal in the preset space; and/or
And judging whether the received signal in the time period of generating the boundary signal meets preset characteristic information or not, and returning to the step of determining the periodic characteristic of the interference signal in the preset space when the received signal does not meet the preset characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal.
Preferably, the step of determining the periodic characteristics of the interference signals in the preset space includes:
determining the periodic characteristics of the interference signal according to the characteristic information of the interference signal, wherein the characteristic information of the interference signal comprises: one or more of frequency information, waveform information, intensity information, amplitude scale information.
5. A method for detecting a boundary signal, the method comprising:
determining characteristic information of a first signal, wherein the first signal is a signal of which the difference value between the received signal and a preset frequency is within a preset difference value range, and the preset frequency is the frequency of a boundary signal;
and extracting a signal which is consistent with preset characteristic information from the first signal as a boundary signal according to the characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal.
6. The boundary signal detecting method according to claim 5, wherein before the step of determining the characteristic information of the first signal, the method further comprises:
determining the first signal from the received signals. Preferably, the characteristic information includes one or more of signal strength information, amplitude scale information, and frequency information.
7. A boundary signal generating apparatus, comprising:
a first determining unit, configured to determine a periodic characteristic of an interference signal in a preset space;
and the second determining unit is used for determining the initial generation time of the boundary signal according to the periodic characteristic.
8. A boundary signal detection device, comprising:
a third determining unit, configured to determine feature information of a first signal, where the first signal is a signal whose difference value between a received signal and a preset frequency is within a preset difference value range, and the preset frequency is a frequency of a boundary signal;
and the extraction unit is used for extracting a signal which accords with preset characteristic information from the first signal as a boundary signal according to the characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal.
9. A boundary signal generation system, comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the boundary signal generating method of any one of claims 1 to 4.
10. A mowing robot, comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the boundary signal detection method according to any one of claims 5 to 6.
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| CN202010598551.8A CN113852364A (en) | 2020-06-28 | 2020-06-28 | Boundary signal generation and detection method, boundary signal generation system and mowing robot |
| PCT/CN2020/137090 WO2022001022A1 (en) | 2020-06-28 | 2020-12-17 | Boundary signal generation and detection methods, generation system, and mowing robot |
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| CN202010598551.8A CN113852364A (en) | 2020-06-28 | 2020-06-28 | Boundary signal generation and detection method, boundary signal generation system and mowing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113805574A (en) * | 2020-06-01 | 2021-12-17 | 上海山科机器人有限公司 | Method for recognizing boundary signal and autonomous working apparatus |
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| SE510524C2 (en) * | 1997-09-19 | 1999-05-31 | Electrolux Ab | Electronic demarcation system |
| CN102692923B (en) * | 2011-03-21 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Guiding system with self-driven device |
| CN102687620B (en) * | 2011-03-21 | 2015-04-22 | 苏州宝时得电动工具有限公司 | Self-driving device |
| CN102692922B (en) * | 2011-03-21 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Control method of self-propelled device guidance system |
| CN103197672A (en) * | 2012-01-05 | 2013-07-10 | 苏州宝时得电动工具有限公司 | Boundary signal identification method and boundary system thereof |
| CN103809592A (en) * | 2012-11-09 | 2014-05-21 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN104252175B (en) * | 2013-06-28 | 2017-09-22 | 苏州宝时得电动工具有限公司 | Automatic working system and its method for antinoise signal interference |
| CN106168484B (en) * | 2015-05-19 | 2020-12-11 | 苏州宝时得电动工具有限公司 | Borderline pulse signal identification system and method and intelligent mowing system |
| CN107728217A (en) * | 2017-09-09 | 2018-02-23 | 浙江亚特电器有限公司 | Detect circuit and method in zone boundary for intelligent grass-removing |
| CN111324111B (en) * | 2018-12-13 | 2022-11-01 | 苏州科瓴精密机械科技有限公司 | Method for recognizing boundary signal and robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113805574A (en) * | 2020-06-01 | 2021-12-17 | 上海山科机器人有限公司 | Method for recognizing boundary signal and autonomous working apparatus |
| CN113805574B (en) * | 2020-06-01 | 2023-08-18 | 上海山科机器人有限公司 | Method for identifying boundary signal and autonomous working equipment |
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