CN114764237A - Self-driven equipment system and charging station - Google Patents
Self-driven equipment system and charging station Download PDFInfo
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Abstract
The invention discloses a self-driven equipment system and a charging station, comprising: the boundary line is used for planning a working area of the self-driven equipment; a self-driving device which automatically travels within a work 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 with a preset coding protocol; 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, the salesman technology and the like to realize the full-automatic lawn trimming and maintenance work, does not need manual direct control and operation, greatly reduces the labor cost, and is a tool suitable for lawn trimming and maintenance in places such as family courtyards and public greenbelts.
The existing intelligent mower usually adopts a boundary line to define the working area, and when the intelligent mower works, the intelligent mower only works in the working area defined by the boundary line. However, due to the fact that boundary lines of a plurality of intelligent lawn mowers are adjacent to each other, the intelligent lawn mowers can receive a plurality of sets of magnetic field signals including their own first magnetic field signal and external magnetic field signals of other intelligent lawn mowers, and the transmission length and interval time of the magnetic field signals are uncertain, so that the intelligent lawn mower sensing unit cannot distinguish their own first magnetic field signal, and further, the intelligent lawn mower may generate an error in determining the position information. 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-driving device system and a charging station, which can reduce the misjudgment 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 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 according to a preset coding protocol;
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, in the preset encoding protocol, the encoding information includes a start code, a charging station code and an end code,
the start code is used for marking the beginning of the coding 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.
Further, the coding information also comprises a model number and a check code,
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.
Further, the information of the charging station includes a charging current, a charging voltage, and a transmitted regression command.
Further, the check code is specifically configured to: and checking the integrity and the accuracy of the coding boundary signal.
Further, the model code and the check code are both located between the start code and the charging station code.
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.
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 by a preset coding protocol 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 according to a preset coding protocol;
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-propelled device that automatically travels within the work 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 magnetic field signal; the charging station includes: the signal transmitter is used for generating a coding boundary signal by coding according to a preset coding protocol; 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 signals 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 schematic diagram of codes in a preset coding protocol according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of a transmission format of codes of adjacent charging stations according to a second embodiment of the present invention;
fig. 6a is a schematic diagram of amplitude encoding and frequency encoding provided by the second embodiment of the present invention, fig. 6b is a schematic diagram of absolute phase encoding provided by the second embodiment of the present invention, and fig. 6c is a schematic diagram of relative phase encoding provided by the second embodiment of the present invention;
FIG. 7 is a schematic diagram of decoding pulse code modulation according to a second embodiment of the present invention;
fig. 8 is a schematic diagram of qam coding 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 numbers: 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 drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting 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, 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 according to a preset coding protocol;
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 device 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 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-driving device 120 in the boundary line 110 erroneously recognizes the magnetic field signal of the adjacent self-driving device system as its own, an error message outside the boundary line may be obtained. Therefore, 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 generating misjudgment.
The encoded boundary signal propagates in the boundary line, and an electromagnetic field is 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 and the encoding boundary signal correspond to each other, the decoding boundary signal and the encoding boundary signal match with each other, and the encoding protocol can be set in advance.
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 be specifically configured to generate the code boundary signal by encoding according to a predetermined encoding protocol.
The signal generator can generate the code boundary signal by coding in a preset digital coding mode, a quadrature amplitude modulation coding mode and a relative phase shift keying mode. 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.
In this embodiment, the current position of the self-driving device may be obtained by decoding, and specifically, information of the self-driving device within the boundary line or outside the boundary line may be obtained.
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 fields 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.
Further, the self-driving device determines that the self-driving device is located outside the working area when the decoding boundary signal is opposite to the encoding boundary signal.
The embodiment discloses a self-driven 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 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 according to a preset coding protocol; 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. According to the technical scheme, the situation that other external magnetic field signals are mistakenly identified as the first magnetic field signals 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 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 according to a preset coding protocol;
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, in the preset encoding protocol, the encoding information includes a start code, a charge station code, and an end code, and the start code is used for marking 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 in 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. 4 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. 4, 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 a charging current, a charging voltage, a 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. 4, 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 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 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.
Fig. 5 is a schematic diagram of a transmission format of adjacent charging station codes according to a second embodiment of the present invention, and as shown in fig. 5, 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 transmitted at different time intervals, so as to prevent magnetic field signals emitted by adjacent boundary lines from overlapping and interfering.
The first charging station code and the second charging station code are the same, but the model codes of the first charging station code and the second charging station code may be the same or different. In this embodiment, T1 and T2 may be set according to actual conditions, and in practical applications, if three charging station codes need to be sent at the same time at intervals, time intervals between the three charging station codes may be different from each other, and certainly, the time intervals between the charging station codes may also be different from each other two by two, so as to further increase reliability of the coded boundary signal to the external magnetic field.
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 by a preset coding protocol 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 position of the self-driving device within the boundary line or within the boundary line and a distance between the self-driving device and the boundary line.
The sensor may comprise a receiving sensor.
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 the encoded boundary signal.
Fig. 6a is a schematic diagram of amplitude encoding and frequency encoding provided by the second embodiment of the present invention, fig. 6b is a schematic diagram of absolute phase encoding provided by the second embodiment of the present invention, and fig. 6c is a schematic diagram of relative phase encoding provided by the second embodiment of the present invention, as shown in fig. 6a, when the digital modulation encoding includes amplitude encoding, the encoding method includes:
if the frequency and the phase of the boundary signal are the same, encoding the boundary signal with the amplitude of 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 amplitude of 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 from the "1, 0" signals, the amplitude encoded signal as shown in fig. 6a 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. 6a, 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 as shown in fig. 6a may be obtained from 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. 6b, 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. 6b 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. 6c, 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.
In particular, 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 from the "1, 0" signals, the second phase encoded signal as shown in fig. 6c may be obtained.
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 the 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. 7 is a schematic decoding diagram of pulse code modulation according to the second embodiment of the present invention, and as shown in fig. 7, 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, if the coding mode includes a predetermined quadrature amplitude modulation coding mode, the coding boundary signal may be determined according to a change state 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.
Determining an encoding boundary signal based on a state of change of at least one of amplitude and phase of the boundary signal when the amplitude of the boundary signal includes a first amplitude, including:
according to the first amplitude and the first phase, the boundary signal is coded 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;
and coding the boundary signal according to the first amplitude and the third phase to obtain a third coded boundary signal.
Determining an encoding boundary signal based on a state of change of at least one of an amplitude and a phase of the boundary signal when the amplitude of the boundary signal includes a second amplitude, comprising:
coding the boundary signal according to the second amplitude and the first phase to obtain a fourth coded boundary signal;
coding the boundary signal according to the second amplitude and the second phase to obtain a fifth coded boundary signal;
and coding the boundary signal according to the second amplitude and the third phase to obtain a sixth coded boundary signal.
Further, the signal transmitter is further 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. 8 is a schematic diagram of an qam coding according to a second embodiment of the present invention, and as shown in fig. 8, when the coding scheme includes an qam coding scheme and the amplitude of the boundary signal includes the first amplitude, the determining the coding boundary signal mode 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, a code 001 may be obtained; 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 a 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 a 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 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 includes:
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 manner encoding according to a second embodiment of the present invention, and as shown in fig. 9, the boundary line sensing signal is translated 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.
The embodiment discloses a self-driven device system, including: the boundary line is used for planning a working area of the self-driven equipment; a self-propelled device that automatically travels within the work 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 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 according to a preset coding protocol; the self-driving equipment receives an external magnetic field signal generated when the coding boundary signal flows through the boundary line, 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 start code, the end code, the charging station code, the model number and the check code can jointly realize the coding boundary signal, so that the coding boundary signal is more reliable.
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 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 with a preset coding protocol;
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 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 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 or portions thereof contributing to the prior art 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 description is only exemplary of the invention and that the principles of the technology may be employed. 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, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
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 according to a preset coding protocol;
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.
2. The self-driven device system according to claim 1, wherein the predetermined encoding protocol includes a start code, a charge station code and an end code,
the start code is used for marking the beginning of the coding 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.
3. The self-propelled device system of claim 2, wherein the encoded information further comprises a model number and a check code,
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.
4. The self-propelled device system of claim 3, wherein the information of the charging station comprises a charging current, a charging voltage, and a transmitted return command.
5. The self-propelled device system of claim 3, wherein the check code is specifically configured to: and checking the integrity and the accuracy of the coding boundary signal.
6. The self-propelled device system of claim 3, wherein said model code and said verification code are both located between said start code and said charge station code.
7. The self-propelled device system of claim 1, wherein said charging station, in electrical communication with said boundary line, is further configured to transmit said encoded boundary signal to said boundary line at different intervals.
8. 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 by a preset coding protocol 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.
9. 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 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 with a preset coding protocol;
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.
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| CN202011613606.4A CN114764237A (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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| CN202011613606.4A CN114764237A (en) | 2020-12-30 | 2020-12-30 | Self-driven equipment system and charging station |
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