CN114679949B - Self-driven equipment system and charging station - Google Patents
Self-driven equipment system and charging station Download PDFInfo
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- CN114679949B CN114679949B CN202011613566.3A CN202011613566A CN114679949B CN 114679949 B CN114679949 B CN 114679949B CN 202011613566 A CN202011613566 A CN 202011613566A CN 114679949 B CN114679949 B CN 114679949B
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- 230000005540 biological transmission Effects 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Abstract
The invention discloses a self-driven equipment system and a charging station, comprising: boundary line, planning the working area of the self-driving device; the self-driving device automatically walks in the working area to perform work; the charging station is electrically connected with the boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal; the charging station includes: the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding; the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoded boundary signal matches the encoded boundary signal, the external magnetic field signal received from the driving apparatus is determined to be a first magnetic field signal generated when the encoded boundary signal flows through the boundary line. The occurrence of the situation that other external magnetic field signals are mistakenly identified as the first magnetic field signals is reduced, the erroneous judgment of the magnetic field signals is reduced, and more accurate position information is obtained.
Description
Technical Field
The embodiment of the invention relates to a garden type electric tool, in particular to a self-driven equipment system and a charging station.
Background
The self-driven equipment can be used for realizing full-automatic lawn trimming maintenance work by applying a sensing technology, a positioning technology, a boundary recognition technology, a full-area coverage path planning technology, an automatic recharging technology and the like, manual direct control and operation are not needed, the labor cost is greatly reduced, and the self-driven equipment is a tool suitable for lawn trimming maintenance in places such as a family courtyard, a public green land and the like.
In the conventional self-driving device, the operation area is generally defined by a boundary line, and when the self-driving device is operated, the self-driving device is operated only in the operation area defined by the boundary line. However, since there are cases where boundary lines of a plurality of self-driving devices are adjacent, the self-driving device may receive a plurality of sets of magnetic field signals including its own first magnetic field signal and external magnetic field signals of other self-driving devices, and the magnetic field signals may not be able to distinguish its own first magnetic field signal due to uncertainty of transmission length and interval time, thereby causing errors in determination of position information by the self-driving device. For example, if the self-driving device within the boundary line misrecognizes the adjacent external magnetic field signal as its own first magnetic field signal, error information of the self-driving device outside the boundary line may be obtained. Therefore, there is a need for a self-driven device system and a charging station that reduces erroneous determination of magnetic field signals and obtains more accurate position information.
Disclosure of Invention
The invention provides a self-driven equipment system and a charging station, which can obtain more accurate position information and improve the reliability of the self-driven equipment system and the charging station.
In a first aspect, an embodiment of the present invention provides a self-driving apparatus system, including:
a boundary line for planning a working area of the self-driving device;
a self-driving device automatically walking in the work area to perform work;
the charging station is electrically connected with the boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line;
the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;
the charging station includes:
the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding;
the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal matches the encoding boundary signal, the external magnetic field signal received by the self-driving device is determined to be a first magnetic field signal generated when the encoding boundary signal flows through the boundary line.
Further, the signal transmitter is specifically configured to:
and encoding the boundary signal according to at least one of amplitude encoding, frequency encoding and phase encoding to obtain an encoded boundary signal.
Further, according to at least one of amplitude coding, frequency coding and phase coding, the coding of the preset digital modulation coding mode to generate a coding boundary signal includes:
when the digital modulation code includes an amplitude code, the coding mode includes:
if the frequency and the phase of the boundary signal are the same, encoding the boundary signal with the first amplitude into a first signal;
if the frequency and the phase of the boundary signal are the same, encoding the boundary signal with the second amplitude into a second signal;
and obtaining an amplitude coding signal according to the first signal and the second signal.
Further, according to at least one of amplitude coding, frequency coding and phase coding, the coding of the preset digital modulation coding mode to generate a coding boundary signal includes:
when the digital modulation coding includes frequency coding, the coding mode includes:
if the amplitude and the phase of the boundary signal are the same, encoding the boundary signal with the first frequency into a third signal;
if the amplitude and the phase of the boundary signal are the same, encoding the boundary signal with the second frequency into a fourth signal;
and obtaining a frequency coding signal according to the third signal and the fourth signal.
Further, according to at least one of amplitude coding, frequency coding and phase coding, the coding of the preset digital modulation coding mode to generate a coding boundary signal includes:
when the digital modulation coding includes phase coding, the coding scheme includes:
if the amplitude and the frequency of the boundary signal are the same, encoding the boundary signal with the phase being the first phase into a fifth signal;
if the amplitude and the frequency of the boundary signal are the same, encoding the boundary signal with the phase different from the first phase by a preset value into a sixth signal;
and obtaining a first phase coded signal according to the fifth signal and the sixth signal.
Further, according to at least one of amplitude coding, frequency coding and phase coding, the coding of the preset digital modulation coding mode to generate a coding boundary signal includes:
when the digital modulation coding includes phase coding, the coding scheme includes:
if the amplitude and the frequency of the adjacent boundary signals are the same, encoding the boundary signal with the phase being the third phase into a seventh signal;
if the amplitude and the frequency of the adjacent boundary signals are the same, and the boundary signals with different phases from the third phase are encoded into eighth signals;
and obtaining a second phase coded signal according to the seventh signal and the eighth signal.
Further, the digital modulation coding further includes: the modulation of the pulse code is carried out,
the coding mode comprises the following steps:
sampling the boundary signal at intervals of preset time to obtain a sampling signal;
layering the sampling signals, and then rounding and quantizing to obtain quantized signals;
and representing the quantized signal by adopting a binary code to obtain the pulse code signal.
Further, the self-driving apparatus includes:
at least one sensor for sensing a change in a magnetic field generated when the encoded boundary signal flows through the boundary line to generate a boundary line sensing signal;
a control module for:
receiving the boundary line induction signal;
obtaining a decoding boundary signal in a preset digital modulation decoding mode at least according to the boundary line induction signal;
and determining that the self-driven device is located in a working area when the decoding boundary signal is matched with the encoding boundary signal.
In a second aspect, an embodiment of the present invention further provides a charging station for a self-driven device system, where the charging station is electrically connected to the boundary line, and is configured to generate a coded boundary signal and send the coded boundary signal to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;
the charging station includes:
the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding;
the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal matches the encoding boundary signal, the external magnetic field signal received by the self-driving device is determined to be a first magnetic field signal generated when the encoding boundary signal flows through the boundary line.
The present invention provides a self-driving device system including: a boundary line for planning a working area of the self-driving device; a self-driving device automatically walking in the work area to perform work; the charging station is electrically connected with the boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal; the charging station includes: the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding; the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal matches the encoding boundary signal, the external magnetic field signal received by the self-driving device is determined to be a first magnetic field signal generated when the encoding boundary signal flows through the boundary line. According to the technical scheme, the occurrence of the situation that other external magnetic field signals are mistakenly recognized as the first magnetic field signals is reduced, the erroneous judgment of the magnetic field signals is reduced, and more accurate position information is obtained.
Drawings
Fig. 1 is a schematic structural diagram of a self-driving device system according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram showing that when three self-driven device systems provided in the first embodiment of the present invention work together, a receiving sensor of one of the self-driven devices can receive at least three magnetic field signals;
FIG. 3 is a schematic diagram of the magnetic field directions inside and outside the boundary line according to the first embodiment of the present invention;
fig. 4a is a schematic diagram of amplitude encoding and frequency encoding according to a second embodiment of the present invention, fig. 4b is a schematic diagram of absolute phase encoding according to a second embodiment of the present invention, and fig. 4c is a schematic diagram of relative phase according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of decoding a pulse code modulation according to a second embodiment of the present invention;
FIG. 6 is a diagram of quadrature amplitude modulation encoding according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of encoding in a preset encoding protocol according to a second embodiment of the present invention;
fig. 8 is a schematic diagram of a transmission format of an adjacent charging station code according to a second embodiment of the present invention;
fig. 9 is a schematic diagram of a relative phase shift keying coding according to a second embodiment of the present invention.
Reference numerals: 110-boundary line, 120-self-driven device, 130-charging station.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
Fig. 1 is a schematic structural diagram of a self-driving device system according to a first embodiment of the present invention, where the present embodiment is applicable to a case where at least two self-driving device systems work together, and the self-driving device includes:
a boundary line 110 for planning a working area of the self-driving device 120;
a self-driving device 120 automatically walking in the work area to perform a work;
a charging station 130 electrically connected to the boundary line 110, for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line 110;
the encoded boundary signal flows through the boundary line 110, generating a first magnetic field signal;
the charging station 130 includes: the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding;
the self-driving device 120 receives the external magnetic field signal and obtains a decoding boundary signal in a preset decoding manner; when the decoded boundary signal matches the encoded boundary signal, the external magnetic field signal received by the self-driving device 120 is determined to be a first magnetic field signal generated when the encoded boundary signal flows through the boundary line 110.
The border line 110 is a closed wire, and two ends of the border line 110 may be connected to the positive electrode and the negative electrode of the charging station 130, respectively. The area around which the boundary line 110 is formed is the operation area of the self-driving device 120.
In addition, the self-driving device 120 may include at least one tire such that the self-driving device 120 can walk on a lawn, and a receiving sensor is further disposed on the self-driving device 120 and can receive the first magnetic field signal in the sensing area and convert the first magnetic field signal into a corresponding electrical signal. The receiving sensor may further comprise a resonant LC frequency selective circuit, which may convert the first magnetic field signal into a voltage signal.
The self-driving device 120 may be an intelligent mower, or may be a garden-type electric tool such as a snowplow, without limitation.
Fig. 2 is a schematic diagram of a receiving sensor of one of the three self-driven devices capable of receiving at least three magnetic field signals when the three self-driven device systems provided in the first embodiment of the present invention work together, as shown in fig. 2, including three self-driven device systems, further including three charging stations 130, three boundary lines 110 and three self-driven devices 120, where the three self-driven devices 120 can respectively receive the magnetic field signals sent by the at least three charging stations 130. Because of the adjacent boundary lines of different self-driving devices, one self-driving device can receive other external magnetic field signals, and accordingly interference can be caused to current position judgment. The receiving sensor cannot distinguish which magnetic field signal is the first magnetic field signal formed by the self-driven equipment system, at least three magnetic field signals can analyze at least three current positions, and misjudgment on the current position of the self-driven equipment can be caused. For example, if the self-driving device 120 within the boundary line 110 erroneously recognizes the magnetic field signal of the adjacent self-driving device system as itself, an erroneous information outside the boundary line is obtained. Therefore, it is necessary to correctly identify which magnetic field signals are emitted from the boundary line of the driving device system where the magnetic field signals are located, so as to avoid erroneous judgment.
The encoded boundary signal is transmitted in the boundary line, which may form an electromagnetic field, thereby generating a first magnetic field signal. The voltage signal obtained by converting the first magnetic field signal can also be an encoded voltage signal, so that decoding is needed to determine the current position of the self-driving device according to the voltage signal.
There may be a variety of magnetic field signals in the working area of the self-driving device 120, which may include, for example, magnetic field signals of adjacent self-driving devices or other external magnetic field signals in the current environment. The self-driving device 120 may acquire all magnetic field signals within its sensing area, but may determine the position information of the self-driving device 120 only from the first magnetic field signal corresponding to the current device.
If the magnetic field signal received from the driving device 120 includes other external magnetic field signals, the other magnetic field signals may include other encoding modes, so that decoding cannot be performed or the decoding boundary signal is not matched with the encoding boundary signal, and a plurality of external magnetic field signals are not converted into a plurality of voltage signals, so that misjudgment on the current position of the driving device is caused.
The decoding mode corresponds to the coding boundary signal, and the decoding boundary signal and the coding boundary signal are matched with each other.
The self-driving device may comprise a receiving sensor for sensing the first magnetic field signal and converting it into a corresponding electrical signal. The receiving sensor may include a magnetic field detection sensor that can detect an alternating magnetic field and convert it into an electrical signal output. In some embodiments, the receiving sensor includes an inductor that induces a magnetic field and generates a corresponding electromotive force to convert the first magnetic field signal into an electrical signal output.
The signal transmitter may be specifically configured to generate the encoded boundary signal by encoding in a preset digital modulation encoding manner. Of course, in practical application, the signal generator may also generate the encoded boundary signal by encoding in other encoding modes, for example, may generate the encoded boundary signal by encoding in a quadrature amplitude modulation encoding mode, may generate the encoded boundary signal by encoding in a preset encoding protocol, and may generate the encoded boundary signal by encoding in a relative phase shift keying mode. The encoding modes of adjacent self-driving device systems can be different, so that the current self-driving device can be reduced to receive and decode the first magnetic field signals of the adjacent self-driving device systems.
In practical application, if the self-driving device 120 can receive two magnetic field signals with larger intensity difference, it can trigger to generate a code update instruction, and change the current coding mode and decoding mode.
The self-driving device 120 may decode the first magnetic field signal to obtain a decoded boundary signal, and then determine the current position of the self-driving device according to the decoded signal.
Fig. 3 is a schematic diagram of directions of magnetic fields inside and outside a boundary line according to a first embodiment of the present invention, and as shown in fig. 3, since directions of magnetic field changes inside and outside the boundary line are completely opposite, received waveforms are 180 ° out of phase. In this embodiment, the current position of the self-driving device 120 may be obtained by decoding the boundary signal, and specifically, information of the self-driving device 120 within the boundary line 110 or outside the boundary line 110 may be obtained.
In this embodiment, the current position of the self-driving device may be obtained by decoding, and in particular, information of the self-driving device within the boundary line or outside the boundary line may be obtained.
The present invention provides a self-driving device system including: a boundary line for planning a working area of the self-driving device; a self-driving device automatically walking in the work area to perform work; the charging station is electrically connected with the boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal; the charging station includes: the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding; the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal matches the encoding boundary signal, the external magnetic field signal received by the self-driving device is determined to be a magnetic field signal generated when the encoding boundary signal flows through the boundary line. According to the technical scheme, the occurrence of the situation that other external magnetic field signals are mistakenly recognized as the first magnetic field signals is reduced, the erroneous judgment of the magnetic field signals is reduced, and more accurate position information is obtained.
Example two
The present embodiment is embodied on the basis of the above embodiment. In this embodiment, the self-driving apparatus includes:
a boundary line for planning a working area of the self-driving device;
a self-driving device automatically walking in the work area to perform work;
the charging station is electrically connected with the boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line;
the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;
the charging station includes: the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding;
the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal matches the encoding boundary signal, the external magnetic field signal received by the self-driving device is determined to be a first magnetic field signal generated when the encoding boundary signal flows through the boundary line. Further, the signal transmitter is specifically configured to: and encoding the boundary signal according to at least one of amplitude encoding, frequency encoding and phase encoding to obtain an encoded boundary signal.
Specifically, when the encoding mode includes a digital modulation encoding mode, the boundary signal may be encoded according to at least one of amplitude encoding, frequency encoding, and phase encoding, to obtain an encoded boundary signal.
When the encoding mode includes other encoding modes, the boundary signal may be encoded according to other information to obtain an encoded boundary signal.
Fig. 4a is a schematic diagram of amplitude encoding and frequency encoding provided in the second embodiment of the present invention, fig. 4b is a schematic diagram of absolute phase encoding provided in the second embodiment of the present invention, and fig. 4c is a schematic diagram of relative phase encoding provided in the second embodiment of the present invention, as shown in fig. 4a, when the digital modulation encoding includes amplitude encoding, the encoding mode includes:
encoding the boundary signal having the first amplitude as a first signal;
encoding the boundary signal having the second amplitude into a second signal;
and obtaining an amplitude coding signal according to the first signal and the second signal.
Specifically, the boundary signal of the first amplitude may be encoded as "1", the boundary signal of the second amplitude may be encoded as "0", and the amplitude encoded signal as shown in fig. 4a may be obtained from the "1, 0" signal.
Of course, in practical applications, the boundary signal of the first amplitude may be encoded as "0", the boundary signal of the second amplitude may be encoded as "1", and the specific encoding mode may be determined according to the actual requirement.
As shown in fig. 4a, when the digital modulation code includes frequency code, the coding scheme includes:
encoding the boundary signal having the first frequency into a third signal;
encoding the boundary signal having the second frequency into a fourth signal;
and obtaining a frequency coding signal according to the third signal and the fourth signal.
Specifically, the boundary signal of the first frequency may be encoded as "1", the boundary signal of the second frequency may be encoded as "0", and the frequency encoded signal as shown in fig. 4a may be obtained from the "1, 0" signal.
Of course, in practical applications, the boundary signal of the first frequency may be encoded as "0", the boundary signal of the second frequency may be encoded as "1", and the specific encoding mode may be determined according to the actual requirement.
As shown in fig. 4b, when the digital modulation code includes absolute phase code, the coding scheme includes:
encoding the boundary signal having the first phase into a fifth signal;
encoding the boundary signal, the phase of which differs from the first phase by a preset value, into a sixth signal;
and obtaining a first phase coded signal according to the fifth signal and the sixth signal.
Specifically, the boundary signal of the first phase may be encoded as "0", the boundary signal of the second phase may be encoded as "1", and the first phase encoded signal as shown in fig. 4b may be obtained from the "1, 0" signals.
Of course, in practical applications, the boundary signal of the first phase may be encoded as "1", the boundary signal of the second phase may be encoded as "0", and the specific encoding mode may be determined according to the actual requirement.
As shown in fig. 4c, when the digital modulation code includes a relative phase code, the coding scheme further includes:
encoding the boundary signal having the third phase into a seventh signal;
if the phase of the adjacent boundary signal is different from the third phase, encoding the adjacent boundary signal into an eighth signal;
and obtaining a second phase coded signal according to the seventh signal and the eighth signal.
Specifically, the boundary signal of the third phase may be encoded as "0", the boundary signal of the fourth phase may be encoded as "1", and the second phase encoded signal as shown in fig. 4c may be obtained from the "1, 0" signals.
Of course, in practical application, the boundary signal of the third phase may be encoded as "1", the boundary signal of the fourth phase may be encoded as "0", and the specific encoding mode may be determined according to practical requirements.
The digital modulation encoding further includes: the modulation of the pulse code is carried out,
the coding mode comprises the following steps:
sampling the boundary signal at intervals of preset time to obtain a sampling signal;
layering the sampling signals, and then rounding and quantizing to obtain quantized signals;
and representing the quantized signal by adopting a binary code to obtain the pulse code signal.
Specifically, the boundary signal may be quantized according to the amplitude and time sequence of the boundary signal, and then the quantized boundary signal is encoded by binary system to obtain a pulse encoded signal.
Fig. 5 is a schematic diagram of decoding of pulse code modulation according to a second embodiment of the present invention, as shown in fig. 5, when the digital modulation coding includes pulse code modulation, the received magnetic field signal is an analog signal, and the magnetic field signal can be sampled, quantized and encoded to obtain a decoded boundary signal, and then when the decoded boundary signal is matched with the encoded boundary signal, it is determined that the self-driving device is located in the working area.
Further, the signal transmitter is further configured to: and determining the coding boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal.
Specifically, the amplitude of the boundary signal includes a first amplitude and a second amplitude, and the phase of the boundary signal includes a first phase, a second phase, a third phase, and a fourth phase.
Fig. 6 is a schematic diagram of quadrature amplitude modulation coding provided in the second embodiment of the present invention, as shown in fig. 6, when the coding mode includes a quadrature amplitude modulation coding mode and the amplitude of the boundary signal includes a first amplitude, the determining the mode of coding the boundary signal may include:
encoding the boundary signal according to the first amplitude and the first phase to obtain a first encoded boundary signal;
encoding the boundary signal according to the first amplitude and the second phase to obtain a second encoded boundary signal;
encoding the boundary signal according to the first amplitude and the third phase to obtain a third encoded boundary signal;
and encoding the boundary signal according to the first amplitude and the fourth phase to obtain a fourth encoded boundary signal.
When the encoding scheme includes a quadrature amplitude modulation encoding scheme and the amplitude of the boundary signal includes a second amplitude, determining an encoded boundary signal based on a state of change in at least one of the amplitude and the phase of the boundary signal, comprising:
encoding the boundary signal according to the second amplitude and the first phase to obtain a fifth encoded boundary signal;
encoding the boundary signal according to the second amplitude and the second phase to obtain a sixth encoded boundary signal;
encoding the boundary signal according to the second amplitude and the third phase to obtain a seventh encoded boundary signal;
and encoding the boundary signal according to the second amplitude and the fourth phase to obtain an eighth encoded boundary signal.
Specifically, the first amplitude may be A 1 The second amplitude may be A 2 The first phase may be 0, the second phase may be pi/2, the third phase may be pi, and the fourth phase may be 3 pi/2.
According to the first amplitude A 1 And a first phase 0, a code 000 can be obtained; according to the second amplitude A 2 And a first phase 0, code 001 can be obtained; according to the first amplitude A 1 And a second phase pi/2, code 010 can be obtained; according to the second amplitude A 2 And a second phase pi/2, a code 011 can be obtained; according to the first amplitude A 1 And a third phase pi, the code 100 can be obtained; according to the second amplitude A 2 And a third phase pi, the code 101 can be obtained; according to the first amplitude A 1 And a fourth phase 3 pi/2, code 110 may be obtained; according to the second amplitude A 2 And a fourth phase of 3 pi/2, code 111 may be obtained.
Of course, in practical applications the amplitude may also comprise at least three amplitudes and the phase may also comprise at least two phases, encoding the boundary signal. The more the number of amplitude and phase are, the more codes can be formed, and more complex codes can be performed, so that the codes and the decoding are more accurately corresponding, and the occurrence of signal misjudgment is further reduced.
Further, the encoded boundary signal may be encoded in a preset encoding protocol.
In the preset encoding protocol, the encoding information may include a start code, a charging station code, and an end code, where the start code is used to mark the start of the encoding boundary signal; the charging station code is used for identifying a charging station; the end code is used to mark the end of the encoded boundary signal.
Wherein each charging station code needs to be provided with a start code and an end code for marking the start and end of the code. One charging station may include at least one charging station code, which may be used to identify the corresponding charging station, and different charging stations may be used to correspond to different charging station codes, i.e., different self-propelled device systems may be used to correspond to different charging station codes.
The start code and the end code may be identical or different, and the start code and the end code of the adjacent self-driven device system may be different.
Specifically, in the process of encoding the boundary signal, the charging station code may be located at a central position, and a start code and an end code may be set before and after the charging station code, respectively, for marking the start and end of encoding the charging station code.
Fig. 7 is a schematic diagram of encoding in a preset encoding protocol according to a second embodiment of the present invention, as shown in fig. 7, in this embodiment, the start code and the end code may be identical, and the charging station code may be located between the start code and the end code.
Further, the coded information also comprises a model number and a check code, wherein the model number is used for conveying information of the charging station; the check code is used for checking whether the coding boundary signal is complete.
The information of the charging station conveyed by the model code can comprise charging current, charging voltage, sent one-key regression instructions and the like.
The check code is used to check the integrity and accuracy of the encoded boundary signal.
As shown in fig. 7, in this embodiment, the model code may be located between the start code and the charging station code, and the check code may be located between the charging station code and the end code.
Of course, in practical applications, the model code may also be located between the check code and the end code, and between the charging station code and the check code. The position of the model code is not particularly limited, and may be set according to actual conditions. The check code may be located after the charging station code to check its integrity and accuracy.
Further, the charging station is electrically connected with the boundary line, and is further configured to send the encoded boundary signal to the boundary line at different intervals. In this way, interference caused by superposition of magnetic field signals emitted by adjacent boundary lines can be prevented.
Fig. 8 is a schematic diagram of transmission formats of adjacent charging station codes according to the second embodiment of the present invention, as shown in fig. 8, when the first charging station code and the second charging station code are transmitted at intervals, T1 between the first charging station code and the second charging station code, and T2 between the second charging station code and the first charging station code may be different.
The first charging station code may be a complete boundary signal from the start code to the end code in fig. 7, and the second charging station code is sent at different intervals, so that the magnetic field signals sent by adjacent boundary lines are prevented from overlapping and interfering.
The first charging station code and the second charging station code are identical, but the model codes of the first charging station code and the second charging station code may be identical or different. In this embodiment, T1 and T2 may be set according to actual situations, in practical application, if three charging station codes need to be sent simultaneously, the time intervals between the three charging station codes may also be different, and of course, the time intervals between the charging station codes may also be different two by two, so as to further increase the reliability of the encoding boundary signal to the external magnetic field.
Further, the encoded boundary signal may be encoded in a relative phase shift keying manner.
The obtaining the decoding boundary signal in a relative phase shift keying mode at least according to the boundary line induction signal comprises the following steps:
translating the boundary line induction signal for a first preset period to obtain a comparison induction signal; multiplying the boundary line induction signal with the comparison induction signal to obtain a product induction signal; and generating the decoding boundary signal according to the product induction signal.
Wherein the change in phase can be used as the information transferred when encoded in a relative phase shift keying manner.
Fig. 9 is a schematic diagram of a relative phase shift keying coding method according to a second embodiment of the present invention, where, as shown in fig. 9, a boundary line sensing signal is shifted by a second preset period to obtain a comparison sensing signal; the boundary signal and the comparison induction signal are multiplied to obtain a product induction signal; and according to the relative phase, the product induction signals are respectively taken as '0' and '1', so that the coding boundary signals can be obtained.
In this embodiment, the second preset period may include 2pi.
Further, generating the decoding boundary signal according to the product sense signal includes: and generating the decoding boundary signal according to the waveform of the product sensing signal.
Specifically, the waveform of the product-sense signal may be generated from the demodulated data, i.e., the waveform of the product-sense signal may generate the decoding boundary signal.
Further, the first preset period includes 8pi.
Of course, in practical application, the first preset period and the second preset period may be set according to actual needs, which is not limited herein specifically.
Further, the self-driving apparatus includes: at least one sensor for sensing a change in a magnetic field generated when the encoded boundary signal flows through the boundary line to generate a boundary line sensing signal; a control module for: receiving the boundary line induction signal; obtaining a decoding boundary signal in a preset digital modulation decoding mode at least according to the boundary line induction signal; and determining that the self-driven device is located in a working area when the decoding boundary signal is matched with the encoding boundary signal.
Specifically, the controller may determine the current position of the self-driving device according to the processing signal, and the current position information may include information on the distance between the self-driving device and the boundary line or the distance between the self-driving device and the boundary line.
The sensor may comprise a receiving sensor.
The self-driving device system provided in this embodiment includes: a boundary line for planning a working area of the self-driving device; a self-driving device automatically walking in the work area to perform work; the charging station is electrically connected with the boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal; the charging station includes: the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding; the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal matches the encoding boundary signal, the external magnetic field signal received by the self-driving device is determined to be a first magnetic field signal generated when the encoding boundary signal flows through the boundary line. According to the technical scheme, the occurrence of the situation that other external magnetic field signals are mistakenly recognized as the first magnetic field signals is reduced, the erroneous judgment of the magnetic field signals is reduced, and more accurate position information is obtained.
In addition, the coding boundary signals obtained by coding in various digital coding modulation modes can be distinguished from each other, so that the coding modes of the boundary signals are richer, the magnetic field signals of adjacent self-driving equipment systems are less prone to collision, misjudgment of the magnetic field signals is reduced, and more accurate position information is convenient to obtain.
Example III
The third embodiment of the present invention provides a charging station for a self-driven device system, where the charging station is electrically connected to the boundary line and is configured to generate a coded boundary signal and send the coded boundary signal to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;
the charging station includes: the signal transmitter is used for generating a coding boundary signal in a coding mode of preset digital modulation and coding;
the self-driving equipment receives the external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal matches the encoding boundary signal, the external magnetic field signal received by the self-driving device is determined to be a first magnetic field signal generated when the encoding boundary signal flows through the boundary line. Further, the charging station is electrically connected with the boundary line, and is further configured to send the encoded boundary signal to the boundary line at different intervals.
The charging station provided by the embodiment can generate the coded boundary signal and send the coded boundary signal to the boundary line, so that an electromagnetic field is generated.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A self-driven equipment system, comprising:
a boundary line for planning a working area of the self-driving device;
a self-driving device automatically walking in the work area to perform work;
the charging station is electrically connected with the boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line;
the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;
the charging station includes: the signal transmitter is used for encoding the boundary signal in a preset digital modulation and coding mode to generate an encoded boundary signal, wherein the preset digital modulation and coding mode comprises amplitude coding, frequency coding and phase coding;
the self-driving equipment receives an external magnetic field signal, and decodes the external magnetic field signal in a preset decoding mode to obtain a decoding boundary signal; when the decoding boundary signal is determined to be matched with the coding boundary signal according to the coding mode, the external magnetic field signal received by the self-driving equipment is determined to be a first magnetic field signal generated when the coding boundary signal flows through the boundary line, and the current position of the self-driving equipment is determined according to the decoding boundary signal.
2. The self-driving device system according to claim 1, wherein when the preset digital modulation coding scheme is the amplitude coding, the signal transmitter is specifically configured to:
encoding the boundary signal having the first amplitude as a first signal;
encoding the boundary signal having the second amplitude into a second signal;
and obtaining an amplitude coding signal according to the first signal and the second signal.
3. The self-driving device system according to claim 1, wherein when the preset digital modulation coding scheme is the frequency coding, the signal transmitter is specifically configured to:
encoding the boundary signal having the first frequency into a third signal;
encoding the boundary signal having the second frequency into a fourth signal;
and obtaining a frequency coding signal according to the third signal and the fourth signal.
4. The self-driving device system according to claim 1, wherein when the preset digital modulation coding scheme is the phase coding, the signal transmitter is specifically configured to include:
encoding the boundary signal having the first phase into a fifth signal;
encoding the boundary signal, the phase of which differs from the first phase by a preset value, into a sixth signal;
and obtaining a first phase coded signal according to the fifth signal and the sixth signal.
5. The self-driving device system according to claim 1, wherein when the preset digital modulation coding scheme is the phase coding, the signal transmitter is specifically configured to include:
encoding the boundary signal having the third phase into a seventh signal;
if the phase of the adjacent boundary signal is different from the third phase, encoding the adjacent boundary signal into an eighth signal;
and obtaining a second phase coded signal according to the seventh signal and the eighth signal.
6. The self-driving device system according to claim 1, wherein the preset digital modulation coding scheme further comprises: pulse code modulation, correspondingly, the signal transmitter is further configured to:
sampling the boundary signal at intervals of preset time to obtain a sampling signal;
layering the sampling signals, and then rounding and quantizing to obtain quantized signals;
and representing the quantized signal by adopting a binary code to obtain a pulse code signal.
7. The self-driven equipment system according to claim 1, wherein,
the self-driving apparatus includes:
at least one sensor for sensing a change in a magnetic field generated when the encoded boundary signal flows through the boundary line to generate a boundary line sensing signal;
a control module for:
receiving the boundary line induction signal;
obtaining a decoding boundary signal in a preset digital modulation decoding mode at least according to the boundary line induction signal;
and when the decoding boundary signal is determined to be matched with the coding boundary signal according to the coding mode, determining that the self-driven equipment is positioned in a working area.
8. A charging station for a self-driven equipment system, characterized in that the charging station is electrically connected with a boundary line and is used for generating a coded boundary signal and transmitting the coded boundary signal to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;
the charging station includes:
the signal transmitter is used for encoding the boundary signal in a preset digital modulation and coding mode to generate an encoded boundary signal, wherein the preset digital modulation and coding mode comprises amplitude coding, frequency coding and phase coding;
the self-driving equipment receives an external magnetic field signal, and decodes the external magnetic field signal in a preset decoding mode to obtain a decoding boundary signal; when the decoding boundary signal is determined to be matched with the coding boundary signal according to the coding mode, the external magnetic field signal received by the self-driving equipment is determined to be a first magnetic field signal generated when the coding boundary signal flows through the boundary line, and the current position of the self-driving equipment is determined according to the decoding boundary signal.
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| CN202011613566.3A CN114679949B (en) | 2020-12-30 | 2020-12-30 | Self-driven equipment system and charging station |
| PCT/CN2021/132087 WO2022127525A1 (en) | 2020-12-14 | 2021-11-22 | Self-driving device system and charging station |
| EP21905454.1A EP4226756A4 (en) | 2020-12-14 | 2021-11-22 | Self-driving device system and charging station |
| US18/311,079 US11815901B2 (en) | 2020-12-14 | 2023-05-02 | Self-driving device system and charging station |
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