CN114690758A - Self-driven equipment system and charging station - Google Patents
Self-driven equipment system and charging station Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a self-driven equipment system and a charging station, comprising: a boundary line for planning a working area of the self-driven equipment; a self-driving device automatically walking in a working area to perform work; the charging station is electrically connected with the boundary line, generates a coding boundary signal and sends the coding boundary signal to the boundary line; the coding 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 by coding in a preset quadrature amplitude modulation coding mode; the self-driving device receives an 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 from the driving device is determined as a first magnetic field signal generated when the encoding boundary signal flows through the boundary line. The situation that other external magnetic field signals are mistakenly identified as the first magnetic field signal of the magnetic field signal is reduced, the misjudgment of the magnetic field signal 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-driving equipment system and a charging station.
Background
The intelligent mower can be applied to the sensing technology, the positioning technology, the boundary recognition technology, the whole-area coverage path planning technology, the autonomous recharging technology and the like to realize full-automatic lawn trimming and maintenance work, manual direct control and operation are not needed, the labor cost is greatly reduced, and the intelligent mower is a tool suitable for lawn trimming and maintenance in places such as family courtyards and public greenbelts.
The conventional intelligent lawn mower usually adopts a boundary line to define a working area, and when the intelligent lawn mower works, the intelligent lawn mower works only in the working area defined by the boundary line. However, when the boundary lines of the plurality of intelligent lawn mowers are adjacent to each other, the intelligent lawn mowers may receive a plurality of sets of magnetic field signals including the first magnetic field signal of their own intelligent lawn mowing system and the external magnetic field signals of other intelligent lawn mowing systems, and the intelligent lawn mower sensing unit may not be able to distinguish the first magnetic field signal of the intelligent lawn mowing system, which may cause an error in the determination of the position information by the intelligent lawn mower. For example, if the adjacent external magnetic field signal is mistakenly recognized as the first magnetic field signal of the intelligent mower in the boundary line, the intelligent mower outside the boundary line can obtain the error information. Therefore, there is a need for a self-driven device system and a charging station that can reduce the erroneous determination of the magnetic field signal and obtain more accurate position information.
Disclosure of Invention
The invention provides a self-driving equipment system and a charging station, which can obtain more accurate position information and improve the reliability of the self-driving equipment system and the charging station.
In a first aspect, an embodiment of the present invention provides a self-driving device system, including:
the boundary line is used for planning a working area of the self-driven equipment;
a self-driving device automatically walking in the working area to perform work;
the charging station is electrically connected with the boundary line and used for generating a coding boundary signal and sending the coding boundary signal to the boundary line;
the coding 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 by coding in a preset quadrature amplitude modulation coding mode;
the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with 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: determining an encoding boundary signal based on a state of change of at least one of the amplitude and the phase of the boundary signal.
Further, the amplitude of the boundary signal comprises a first amplitude and a second amplitude, and the phase of the boundary signal comprises a first phase, a second phase, a third phase and a fourth phase.
Further, when the amplitude of the boundary signal includes a first amplitude, determining an encoding boundary signal according to a state of change of at least one of the amplitude and the phase of the boundary signal, including:
coding the boundary signal according to the first amplitude and the first phase to obtain a first coded boundary signal;
coding the boundary signal according to the first amplitude and the second phase to obtain a second coded boundary signal;
coding the boundary signal according to the first amplitude and the third phase to obtain a third coded boundary signal;
and coding the boundary signal according to the first amplitude and the fourth phase to obtain a fourth coded boundary signal.
Further, when the amplitude of the boundary signal includes the second amplitude, determining an encoding boundary signal according to a state of change of at least one of the amplitude and the phase of the boundary signal, including:
coding the boundary signal according to the second amplitude and the first phase to obtain a fifth coded boundary signal;
coding the boundary signal according to the second amplitude and the second phase to obtain a sixth coded boundary signal;
coding the boundary signal according to the second amplitude and the third phase to obtain a seventh coded boundary signal;
and coding the boundary signal according to the second amplitude and the fourth phase to obtain an eighth coded boundary signal.
Further, the self-driving apparatus includes:
at least one sensor for sensing a magnetic field variation generated when the encoded boundary signal flows through the boundary line to generate a boundary line sensing signal;
a control module to:
receiving the boundary line induction signal;
acquiring a decoding boundary signal in a preset quadrature amplitude modulation coding mode at least according to the boundary line induction signal;
determining that the self-propelled device is located within a working area when the decoding boundary signal matches the encoding boundary signal.
In a second aspect, an embodiment of the present invention further provides a charging station for a self-powered device system, where the charging station is electrically connected to the boundary line, and is configured to generate and send an encoded boundary signal to the boundary line; the coding 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 by coding in a preset quadrature amplitude modulation coding mode;
the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with 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 invention discloses a self-driven equipment system, comprising: the boundary line is used for planning a working area of the self-driven equipment; a self-driving device automatically walking in the working area to perform work; the charging station is electrically connected with the boundary line and used for generating a coding boundary signal and sending the coding boundary signal to the boundary line; the coded 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 by coding in a preset quadrature amplitude modulation coding mode; the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with 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 situation that other external magnetic field signals are mistakenly identified as the first magnetic field signal of the magnetic field signal is reduced, the magnetic field signal misjudgment 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 an embodiment of the present invention;
FIG. 2 is a schematic diagram of at least three magnetic field signals received by a receiving sensor of one of the self-propelled devices when three self-propelled device systems work together according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the magnetic field directions inside and outside the boundary line according to an embodiment of the present invention;
FIG. 4 is a diagram of a QAM encoding according to a second embodiment of the present invention;
fig. 5a is a schematic diagram of amplitude encoding and frequency encoding provided by the second embodiment of the present invention, fig. 5b is a schematic diagram of absolute phase encoding provided by the second embodiment of the present invention, and fig. 5c is a schematic diagram of relative phase encoding provided by the second embodiment of the present invention;
FIG. 6 is a schematic diagram of decoding pulse code modulation according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of codes in a preset coding protocol according to a second embodiment of the present invention;
fig. 8 is a schematic diagram of a transmission format of codes of adjacent charging stations according to a second embodiment of the present invention;
fig. 9 is a schematic diagram of relative phase shift keying encoding according to the second embodiment of the present invention.
Reference numerals: 110-boundary line, 120-self-propelled device, 130-charging station.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, subprograms, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a schematic structural diagram of a self-driving device system according to an embodiment of the present invention, where the 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-driven device 120;
a self-propelled device 120 that automatically walks within the work area to perform 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 by coding in a preset quadrature amplitude modulation coding mode;
the self-driving device 120 receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding manner; when the decoding boundary signal matches the encoding boundary signal, it is determined that the external magnetic field signal received from the driving device 120 is the first magnetic field signal generated when the encoding boundary signal flows through the boundary line 110.
The boundary line 110 is a closed wire, and both ends of the boundary line 110 can be respectively connected to the positive electrode and the negative electrode of the charging station 130. The area surrounded by the boundary line 110 is a working area of the self-driving apparatus 120.
In addition, the self-propelled device 120 may include at least one tire so that the self-propelled device 120 can walk on the lawn, and a receiving sensor may be disposed on the self-propelled device 120, and may 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-propelled device 120 may be an intelligent lawn mower, or may be a garden-type electric tool such as a snow sweeper, without limitation.
Fig. 2 is a schematic diagram of a receiving sensor of one self-propelled device capable of receiving at least three magnetic field signals when three self-propelled device systems provided by an embodiment of the present invention work together, as shown in fig. 2, the receiving sensor includes three self-propelled device systems, further includes three charging stations 130, three boundary lines 110 and three self-propelled devices 120, and the three self-propelled devices 120 can respectively receive magnetic field signals sent by at least three charging stations 130. Due to the fact that boundary lines of different self-driven devices are adjacent, one self-driven device can receive other external magnetic field signals, and therefore interference can be caused to the judgment of the current position. The receiving sensor cannot judge which magnetic field signal is the first magnetic field signal formed by the self-driving equipment system, at least three magnetic field signals can analyze at least three current positions, and misjudgment on the current position of the self-driving equipment can be caused. For example, if the self-propelled device 120 in the boundary line 110 erroneously recognizes the magnetic field signal of the adjacent self-propelled device system as its own, it may obtain an erroneous information outside the boundary line. It is necessary to correctly identify which magnetic field signals are emitted from the boundary line of the self-driven equipment system, so as to avoid erroneous judgment.
The encoding and decoding boundary signal is transmitted in the boundary line, and an electromagnetic field can be formed, thereby generating a first magnetic field signal. The voltage signal converted according to the first magnetic field signal may also be an encoded voltage signal, so that the current position of the self-driving device can be determined according to the voltage signal after decoding.
Various magnetic field signals may be present in the operating region of the self-propelled device 120, which may include, for example, magnetic field signals of neighboring self-propelled devices or other external magnetic field signals in the current environment. The self-driven device 120 can acquire all the magnetic field signals in the sensing area, but the position information of the self-driven device 120 can be determined only according to the first magnetic field signal corresponding to the current device.
If the magnetic field signal received by the self-driving device 120 includes other external magnetic field signals, the other external magnetic field signals may include other encoding methods, so that decoding cannot be performed or the decoded boundary signal is not matched with the encoded boundary signal, and a plurality of external magnetic field signals are not converted to obtain a plurality of voltage signals, thereby causing misjudgment of the current position of the self-driving device.
The decoding method corresponds to the encoding boundary signal, and the decoding boundary signal and the encoding boundary signal are matched with each other.
The self-propelled 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 detecting sensor that detects an alternating magnetic field and converts the alternating magnetic field into an electric signal to be 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 specifically be configured to generate the code boundary signal by coding in a preset qam coding scheme. Of course, in practical applications, the signal generator may also encode in other encoding manners to generate the encoding boundary signal, for example, the encoding boundary signal may also be generated by encoding in a preset digital modulation encoding manner, the encoding boundary signal may also be generated by encoding in a preset encoding protocol, and the encoding boundary signal may also be generated by encoding in a relative phase shift keying manner. The encoding modes of the adjacent self-driven equipment systems can be different, and the first magnetic field signals of the adjacent self-driven equipment systems are reduced from being received and decoded by the current self-driven equipment.
It should be noted that, in practical applications, if the self-driving device 120 can receive two magnetic field signals with relatively large intensity differences, it may trigger to generate a coding update instruction to change the current coding mode and decoding mode.
The self-driven device 120 may decode the first magnetic field signal to obtain a decoded boundary signal, and then determine the current position of the self-driven device 120 according to the decoded signal.
Fig. 3 is a schematic diagram of the directions of the magnetic fields inside and outside the boundary line according to an embodiment of the present invention, and as shown in fig. 3, since the directions of the magnetic field changes inside and outside the boundary line are completely opposite, the 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.
The invention provides a self-driven equipment system, comprising: the boundary line is used for planning a working area of the self-driven equipment; a self-driving device automatically walking in the working area to perform work; the charging station is electrically connected with the boundary line and used for generating a coding boundary signal and sending the coding boundary signal to the boundary line; the coding 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 by coding in a preset digital modulation coding mode; the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with 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 situation that other external magnetic field signals are mistakenly identified as the first magnetic field signal of the magnetic field signal is reduced, the magnetic field signal misjudgment is reduced, and more accurate position information is obtained.
Example two
The present embodiment is embodied on the basis of the above-described embodiments. In this embodiment, the self-driving apparatus includes:
the boundary line is used for planning a working area of the self-driven equipment;
a self-driving device automatically walking in the working area to perform work;
the charging station is electrically connected with the boundary line and is used for generating a coding boundary signal and sending the coding boundary signal to the boundary line;
the coded 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 by coding in a preset digital modulation coding mode;
the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with the encoding boundary signal, determining that the external magnetic field signal received by the self-driving device is a first magnetic field signal generated when the encoding boundary signal flows through the boundary line.
Further, the signal transmitter is specifically configured to: determining an encoding boundary signal based on a state of change of at least one of the amplitude and the phase of the boundary signal.
In particular, the amplitude of the boundary signal comprises a first amplitude and a second amplitude, and the phase of the boundary signal comprises a first phase, a second phase, a third phase and a fourth phase.
Fig. 4 is a schematic diagram of quadrature amplitude modulation coding according to a second embodiment of the present invention, and as shown in fig. 4, when the coding mode includes a quadrature amplitude modulation coding mode and the amplitude of the boundary signal includes a first amplitude, determining a mode of the coding boundary signal may include:
coding the boundary signal according to the first amplitude and the first phase to obtain a first coded boundary signal;
coding the boundary signal according to the first amplitude and the second phase to obtain a second coded boundary signal;
coding the boundary signal according to the first amplitude and the third phase to obtain a third coded boundary signal;
and coding the boundary signal according to the first amplitude and the fourth phase to obtain a fourth coded boundary signal.
When the encoding mode comprises a quadrature amplitude modulation encoding mode and the amplitude of the boundary signal comprises a second amplitude, determining the encoding boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal, comprising:
coding the boundary signal according to the second amplitude and the first phase to obtain a fifth coded boundary signal;
coding the boundary signal according to the second amplitude and the second phase to obtain a sixth coded boundary signal;
coding the boundary signal according to the second amplitude and the third phase to obtain a seventh coded boundary signal;
and coding the boundary signal according to the second amplitude and the fourth phase to obtain an eighth coded boundary signal.
In particular, the first amplitude may be a1The second amplitude may be A2The 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 a first amplitude A1And a first phase 0, a code 000 can be obtained; according to a second amplitude A2And a first phase 0, which can be encoded001; according to a first amplitude A1And a second phase pi/2, which can result in a code 010; according to the second amplitude A2And a second phase pi/2, a code 011 can be obtained; according to a first amplitude A1And a third phase, pi, to obtain a code 100; according to the second amplitude A2And a third phase pi, a code 101 can be obtained; according to a first amplitude A1And a fourth phase of 3 pi/2, a code 110 can be obtained; according to the second amplitude A2And a fourth phase of 3 pi/2, a code 111 can be obtained.
Of course, in practical applications, the amplitude may also include at least three amplitudes, and the phase may also include at least two phases, so as to encode the boundary signal. The more the amplitude and the more the phase, the more the code can be formed, and the more complex code can be carried out, so that the code and the decoding are more accurately corresponding, and the occurrence of signal misjudgment is further reduced.
Further, the signal transmitter is further configured to: and coding the boundary signal according to at least one of amplitude coding, frequency coding and phase coding to obtain a coded 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, so as 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. 5a is a schematic diagram of amplitude encoding and frequency encoding provided by the second embodiment of the present invention, fig. 5b is a schematic diagram of absolute phase encoding provided by the second embodiment of the present invention, and fig. 5c is a schematic diagram of relative phase encoding provided by the second embodiment of the present invention, as shown in fig. 5a, when the digital modulation encoding includes amplitude encoding, the encoding method includes:
encoding the boundary signal having a first amplitude as a first signal;
encoding the boundary signal having a second amplitude as 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 from the "1, 0" signals, the amplitude encoded signal as shown in fig. 5a may be obtained.
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 manner may be determined according to actual requirements.
As shown in fig. 5a, when the digital modulation code includes a frequency code, the encoding method 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 shown in fig. 5a may be obtained according to the "1, 0" signals.
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 manner may be determined according to practical requirements.
As shown in fig. 5b, when the digital modulation code includes an absolute phase code, the encoding method includes:
encoding the boundary signal having the first phase as a fifth signal;
encoding the boundary signal of which the phase is different from the first phase by a preset value into a sixth signal;
and obtaining a first phase coding signal according to the fifth signal and the sixth signal.
In particular, 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 from the "1, 0" signals, the first phase encoded signal as shown in fig. 5b may be obtained.
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 manner may be determined according to practical requirements.
As shown in fig. 5c, when the digital modulation code includes a relative phase code, the encoding method further includes:
encoding the boundary signal having the third phase as a seventh signal;
encoding an adjacent boundary signal into an eighth signal if the phase of the adjacent boundary signal is different from the third phase;
and obtaining a second phase coding 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. 5c may be obtained from the "1, 0" signals.
Of course, in practical applications, 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 manner may be determined according to practical requirements.
The digital modulation encoding further comprises: the pulse-code modulation is carried out by pulse-code modulation,
the encoding method comprises the following steps:
sampling the boundary signal at intervals of preset time to obtain a sampling signal;
after layering the sampling signals, rounding and quantizing to obtain quantized signals;
and representing the quantized signal by using a binary code to obtain the pulse coding 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 using a binary system, so as to obtain a pulse encoded signal.
Fig. 6 is a schematic decoding diagram of pulse code modulation according to the second embodiment of the present invention, and as shown in fig. 6, when the digital modulation coding includes pulse code modulation, the received magnetic field signal is an analog signal, and the magnetic field signal may be sampled, quantized, and encoded to obtain a decoded boundary signal, and 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 encoding boundary signal may be generated encoded in a preset encoding protocol.
In the preset encoding protocol, the encoding information may include a start code, a charge 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 requires a start code and an end code to be set for marking the start and end of the encoding. One charging station may include at least one charging station code, and the charging station code may mark a corresponding charging station, and different charging stations may correspond to different charging station codes, that is, different self-powered device systems may correspond to different charging station codes.
The start code and the end code may be encoded in the same manner or different manners, 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 charge station code may be located at the center, and a start code and an end code may be set before and after the charge station code, respectively, for marking the start and end of encoding the charge station code.
Fig. 7 is a schematic diagram of codes in a preset coding protocol according to a second embodiment of the present invention, and as shown in fig. 7, in this embodiment, a start code and an end code may be consistent, and a charge station code may be located between the start code and the end code.
Further, the coded information further comprises a model number and a check code, wherein the model number is used for conveying the 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 may include charging current, charging voltage, transmitted one-key regression command 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 number 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 can be set according to actual conditions. The check code may be located after the charge station code to check its integrity and accuracy.
Further, the charging station is electrically connected to the boundary line and is further configured to send the encoded boundary signal to the boundary line at different intervals. Thus, the magnetic field signals from adjacent boundary lines are prevented from overlapping and interfering with each other.
Fig. 8 is a schematic diagram of a coding boundary signal transmitted by a charging station according to a second embodiment of the present invention, where, as shown in fig. 8, the coding boundary signal includes a first coding boundary signal and a second coding boundary signal, the first coding boundary signal and the second coding boundary signal are alternately transmitted, and when the first coding boundary signal and the second coding boundary signal are transmitted at intervals, a first interval time T1 between the first coding boundary signal and the second coding boundary signal and a second interval time T2 between the second coding boundary signal and the first coding boundary signal may be different.
The first encoding boundary signal may be a complete boundary signal from the start code to the end code in fig. 7, and the second encoding boundary signal is sent at different time intervals, so that the magnetic field signals sent by adjacent boundary lines can be prevented from being overlapped and interfered.
The first encoding boundary signal and the second encoding boundary signal may be the same or different. The difference is represented by the fact that the model code within the code boundary signal may be different.
In this embodiment, the first interval time T1 and the second interval time T2 may be set according to actual situations, and in practical applications, if three encoding boundary signals need to be sent at the same time, the time intervals between the three encoding boundary signals may be different from each other, and certainly, the time intervals between the encoding boundary signals may also be different in pairs, so as to further increase the reliability of the encoding boundary signals.
Further, the encoded boundary signal may be encoded in a relative phase shift keying manner.
The obtaining of the decoded boundary signal at least according to the boundary line induction signal in a relative phase shift keying manner comprises:
translating the boundary line induction signal for a first preset period to obtain a comparison induction signal; multiplying the boundary line induction signal and the comparison induction signal to obtain a product induction signal; generating the decoding boundary signal according to the product induction signal.
In which the change in phase can be used as the information to be communicated when encoding in a relative phase shift keying manner.
Fig. 9 is a schematic diagram of relative phase shift keying mode encoding according to the second embodiment of the present invention, and as shown in fig. 9, the 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 subjected to multiplication operation to obtain a product induction signal; according to the relative phase, the product induction signal takes the values of 0 and 1 respectively to obtain the code boundary signal.
In this embodiment, the second preset period may include 2 pi.
Further, generating the decoding boundary signal according to the product-induced signal comprises: and generating the decoding boundary signal according to the waveform of the product induction signal.
In particular, the waveform of the product-induced signal may be generated from the demodulated data, i.e., the waveform of the product-induced signal may generate the decoded boundary signal.
Further, the first preset period comprises 8 pi.
Of course, in practical applications, both the first preset period and the second preset period may be set according to actual needs, and are not specifically limited herein.
Further, the self-driving apparatus includes: at least one sensor for sensing a magnetic field variation generated when the encoded boundary signal flows through the boundary line to generate a boundary line sensing signal; a control module to: receiving the boundary line induction signal; acquiring a decoding boundary signal in a preset quadrature amplitude modulation coding mode at least according to the boundary line induction signal; determining that the self-propelled device is located within a working area when the decoding boundary signal matches the encoding boundary signal.
Specifically, the controller may determine a current position of the self-driving device according to the processing signal, and the current position information may include information on a distance between the self-driving device and the boundary line, and a position of the self-driving device within the boundary line.
The sensor may comprise a receiving sensor.
The self-propelled device system provided by the embodiment comprises: the boundary line is used for planning a working area of the self-driven equipment; a self-driving device automatically walking in the working area to perform work; the charging station is electrically connected with the boundary line and used for generating a coding boundary signal and sending the coding boundary signal to the boundary line; the coding 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 by coding in a preset digital modulation coding mode; the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with 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 situation that other external magnetic field signals are mistakenly identified as the first magnetic field signal of the magnetic field signal is reduced, the magnetic field signal misjudgment is reduced, and more accurate position information is obtained.
In addition, the coded boundary signals obtained by coding in various digital coding modulation modes can be mutually distinguished, so that the coding modes of the boundary signals are richer, magnetic field signals of adjacent self-driven equipment systems are further less prone to conflict, misjudgment of the magnetic field signals is reduced, and more accurate position information is convenient to obtain.
EXAMPLE III
The charging station for the self-driving equipment system is electrically connected with the boundary line, and is used for generating a coding boundary signal and sending the coding boundary signal to the boundary line; the coding 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 by coding in a preset quadrature amplitude modulation coding mode;
the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with the encoding boundary signal, determining that the external magnetic field signal received by the self-driving device is a first magnetic field signal generated when the encoding boundary signal flows through the boundary line.
Further, the charging station is electrically connected to 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 as to generate the electromagnetic field.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. A self-propelled device system, comprising:
the boundary line is used for planning a working area of the self-driven equipment;
a self-driving device automatically walking in the working area to perform work;
the charging station is electrically connected with the boundary line and used for generating a coding boundary signal and sending the coding boundary signal to the boundary line;
the coding 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 by coding in a preset quadrature amplitude modulation coding mode;
the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with 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.
2. The self-propelled device system of claim 1, wherein the signal emitter is specifically configured to:
determining an encoding boundary signal based on a state of change of at least one of the amplitude and the phase of the boundary signal.
3. The self-propelled device system of claim 2, wherein the amplitude of the boundary signal comprises a first amplitude and a second amplitude and the phase of the boundary signal comprises a first phase, a second phase, a third phase, and a fourth phase.
4. The self-propelled device system of claim 3, wherein determining an encoded boundary signal based on a state of change in at least one of an amplitude and a phase of the boundary signal when the amplitude of the boundary signal comprises a first magnitude comprises:
coding the boundary signal according to the first amplitude and the first phase to obtain a first coded boundary signal;
coding the boundary signal according to the first amplitude and the second phase to obtain a second coded boundary signal;
coding the boundary signal according to the first amplitude and the third phase to obtain a third coded boundary signal;
and coding the boundary signal according to the first amplitude and the fourth phase to obtain a fourth coded boundary signal.
5. The self-propelled device system of claim 3, wherein determining an encoded boundary signal based on a state of change in at least one of an amplitude and a phase of the boundary signal when the amplitude of the boundary signal comprises the second magnitude comprises:
coding the boundary signal according to the second amplitude and the first phase to obtain a fifth coded boundary signal;
coding the boundary signal according to the second amplitude and the second phase to obtain a sixth coded boundary signal;
coding the boundary signal according to the second amplitude and the third phase to obtain a seventh coded boundary signal;
and coding the boundary signal according to the second amplitude and the fourth phase to obtain an eighth coded boundary signal.
6. The self-propelled device system of claim 1,
the self-driving apparatus includes:
at least one sensor for sensing a magnetic field variation generated when the encoded boundary signal flows through the boundary line to generate a boundary line sensing signal;
a control module to:
receiving the boundary line induction signal;
acquiring a decoding boundary signal in a preset quadrature amplitude modulation coding mode at least according to the boundary line induction signal;
determining that the self-propelled device is located within a working area when the decoding boundary signal matches the encoding boundary signal.
7. A charging station for a self-propelled device system, wherein the charging station is electrically connected to the boundary line for generating and transmitting a coded boundary signal to the boundary line; the coding 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 by coding in a preset quadrature amplitude modulation coding mode;
the self-driven equipment receives an external magnetic field signal and acquires a decoding boundary signal in a preset decoding mode; when the decoding boundary signal is matched with 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.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011613380.8A CN114690758A (en) | 2020-12-30 | 2020-12-30 | Self-driven equipment system and charging station |
| EP21905454.1A EP4226756A4 (en) | 2020-12-14 | 2021-11-22 | Self-driving device system and charging station |
| PCT/CN2021/132087 WO2022127525A1 (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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| CN202011613380.8A CN114690758A (en) | 2020-12-30 | 2020-12-30 | Self-driven equipment system and charging station |
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| CN114690758A true CN114690758A (en) | 2022-07-01 |
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