CN114764237A - Self-driven equipment system and charging station - Google Patents

Abstract

The invention discloses a self-driving equipment system and a charging station, comprising: a boundary line for planning the working area of the self-driving equipment; the self-driving equipment, which automatically walks in the working area to perform operations; a charging station, which is electrically connected to the boundary line The sexual connection is used to generate the coded boundary signal and send the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate the first magnetic field signal; the charging station includes: a signal transmitter for coding and generating with a preset coding protocol Encoding the boundary signal; the self-driving device receives the external magnetic field signal, and obtains the decoding boundary signal in a preset decoding method; when the decoding boundary signal matches the encoding boundary signal, it is determined that the external magnetic field signal received by the self-driving device is the encoding boundary signal stream The first magnetic field signal generated when passing the boundary line. It reduces the occurrence of misidentifying other external magnetic field signals as its own first magnetic field signal, reduces the misjudgment of magnetic field signals, and obtains more accurate position information.

Description

A self-propelled device system and charging station

technical field

Embodiments of the present invention relate to garden-type electric tools, and in particular, to a self-propelled equipment system and a charging station.

Background technique

The intelligent lawn mower can use sensing technology, positioning technology, boundary recognition technology, full-area coverage path planning technology, autonomous recharging technology and clerk technology to realize fully automatic lawn mowing and maintenance work, without direct human control and operation, and greatly It reduces labor costs and is a tool suitable for lawn mowing and maintenance in home gardens and public green spaces.

Existing smart lawn mowers usually use boundary lines to define their working areas. When the intelligent lawn mowers work, they only work within the working area defined by the boundary lines. However, since the boundary lines of multiple smart lawn mowers are adjacent to each other, the smart lawn mower can receive multiple sets of magnetic field signals including its own first magnetic field signal and the external magnetic field signals of other smart lawn mowers. The transmission length and interval time are uncertain, and the sensing unit of the intelligent lawnmower cannot identify its own first magnetic field signal, which will lead to errors in the intelligent lawnmower's judgment of the position information. For example, if the intelligent lawnmower within the boundary line misidentifies the adjacent external magnetic field signal as its own first magnetic field signal, it can obtain the error information of the intelligent lawnmower outside the boundary line. Therefore, there is an urgent need for a self-driving equipment system and a charging station to reduce misjudgment of magnetic field signals and obtain more accurate position information.

SUMMARY OF THE 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, characterized in that it includes:

a boundary line for planning the working area of the self-propelled device;

Self-propelled equipment that automatically travels within the work area to perform operations;

a charging station, electrically connected to the border line, for generating an encoded border signal and sending the encoded border signal to the border line;

the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;

The charging station includes:

a signal transmitter, used to encode and generate an encoded boundary signal with a preset encoding protocol;

The self-driving device receives an external magnetic field signal, and obtains a decoding boundary signal in a preset decoding manner; when the decoding boundary signal matches the encoding boundary signal, determine the external magnetic field received by the self-driving device The signal is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line.

Further, in the preset coding protocol, the coding information includes a start code, a charging station code and an end code,

The start code is used to mark the beginning of the coding boundary signal;

The charging station code is used to identify the charging station;

The end code is used to mark the end of the coding boundary signal.

Further, the encoded information also includes a model number and a check code,

the model number is used to convey information about the charging station;

The check code is used to check whether the coded boundary signal is complete.

Further, the information of the charging station includes charging current, charging voltage and the sent return instruction.

Further, the check code is specifically used for: checking the integrity and accuracy of the encoded boundary signal.

Further, both the model code and the check code are located between the start code and the charging station code.

Further, the charging station, which is electrically connected to the boundary line, is further configured to send the encoded boundary signal to the boundary line at different intervals.

Further, the self-driving device includes:

at least one sensor for sensing a change in the magnetic field generated when the encoded boundary signal flows through the boundary to generate a boundary sensing signal;

control module for:

receiving the boundary line sensing signal;

Obtaining a decoded boundary signal with a preset coding protocol at least according to the boundary line sensing signal;

When the decoded boundary signal matches the encoded boundary signal, it is determined that the self-driven device is within an operating area.

In a second aspect, an embodiment of the present invention further provides a charging station for a self-driving device system, the charging station is electrically connected to the boundary line, and is used for generating a coded boundary signal and converting the coded boundary signal to the charging station. sending to the boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;

The charging station includes:

a signal transmitter, used to encode and generate an encoded boundary signal with a preset encoding protocol;

The self-driving device receives an external magnetic field signal, and obtains a decoding boundary signal in a preset decoding manner; when the decoding boundary signal matches the encoding boundary signal, determine the external magnetic field received by the self-driving device The signal is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line.

The invention discloses a self-driving equipment system, comprising: a boundary line for planning a working area of the self-driving equipment; a self-driving equipment, which automatically walks in the working area to perform operations; a charging station, which is connected with the self-driving equipment. The boundary lines are electrically connected for generating a coded boundary signal and sending the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate a magnetic field signal; the charging station includes: a signal transmitter The device is used to encode and generate a coding boundary signal with a preset coding protocol; the self-driving device receives an external magnetic field signal, and obtains the decoding boundary signal in a preset decoding manner; when the decoding boundary signal matches the coding boundary signal , it is determined that the external magnetic field signal received by the self-driving device is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line. The above technical solution reduces the occurrence of misidentifying other external magnetic field signals as the first magnetic field signal of the self, reduces the misjudgment of the magnetic field signals, and obtains more accurate position information.

Description of drawings

FIG. 1 is a schematic structural diagram of a self-driving device system according to Embodiment 1 of the present invention;

2 is a schematic diagram of at least three magnetic field signals that can be received by a receiving sensor of one of the self-driving device systems when the three self-driving device systems work together according to Embodiment 1 of the present invention;

3 is a schematic diagram of the magnetic field directions inside and outside the boundary line according to Embodiment 1 of the present invention;

4 is a schematic diagram of encoding in a preset encoding protocol provided by Embodiment 2 of the present invention;

FIG. 5 is a schematic diagram of a sending format of an adjacent charging station code according to Embodiment 2 of the present invention;

FIG. 6a is a schematic diagram of amplitude encoding and frequency encoding provided by Embodiment 2 of the present invention, FIG. 6b is a schematic diagram of absolute phase encoding provided by Embodiment 2 of the present invention, and FIG. 6c is a schematic diagram of relative phase encoding provided by Embodiment 2 of the present invention ;

7 is a schematic diagram of decoding of pulse code modulation according to Embodiment 2 of the present invention;

8 is a schematic diagram of quadrature amplitude modulation coding according to Embodiment 2 of the present invention;

FIG. 9 is a schematic diagram of encoding in a relative phase shift keying manner according to Embodiment 2 of the present invention.

Reference numerals: 110-boundary line, 120-self-propelled device, 130-charging station.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all structures related to the present invention.

Before discussing the exemplary embodiments in greater detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts various operations (or steps) as a sequential process, many of the operations may be performed in parallel, concurrently, or concurrently. Additionally, the order of operations can be rearranged. The process may be terminated when its operation is complete, but may also have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, subroutines, and the like. Furthermore, the embodiments of the invention and the features of the embodiments may be combined with each other without conflict.

Example 1

FIG. 1 is a schematic structural diagram of a self-driving device system provided in Embodiment 1 of the present invention. This embodiment is applicable to a situation where at least two self-driving device systems work together, and the self-driving device includes:

a boundary line 110 for planning the working area of the self-propelled device 120;

Self-propelled equipment 120, which automatically travels in the work area to perform operations;

a charging station 130, electrically connected to the boundary line 110, for generating a coded boundary signal and sending the coded boundary signal to the boundary line 110;

The encoded boundary signal flows through the boundary line 110 to generate a first magnetic field signal;

The charging station 130 includes:

a signal transmitter, used to encode and generate an encoded boundary signal with a preset encoding protocol;

The self-driving device 120 receives the external magnetic field signal, and obtains the decoding boundary signal in a preset decoding manner; when the decoding boundary signal matches the encoding boundary signal, it determines the The external magnetic field signal is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line 110 .

The boundary line 110 is a closed wire, and two ends of the boundary line 110 can be connected to the positive electrode and the negative electrode of the charging station 130 respectively. The area formed around the boundary line 110 is the working area of the self-driving device 120 .

In addition, the self-driving device 120 may include at least one tire so that the self-driving device 120 can walk on the lawn, and a receiving sensor is also provided on the self-driving device 120, which can receive the first magnetic field signal in the sensing area and convert it into a corresponding electrical signal . The receiving sensor may further include a resonant LC frequency selection circuit, and the LC frequency selection circuit may convert the first magnetic field signal into a voltage signal.

The self-propelled device 120 may be an intelligent lawn mower, or may also be a garden-style electric tool such as a snow blower, which is not limited herein.

Fig. 2 is a schematic diagram showing that a receiving sensor of one of the self-driven devices can receive at least three magnetic field signals when the three self-driven device systems work together according to the first embodiment of the present invention, as shown in Fig. 2, including three self-driven devices The system further includes three charging stations 130 , three boundary lines 110 and three self-driving devices 120 , and the three self-driving devices 120 can respectively receive magnetic field signals from at least three charging stations 130 . Due to the adjacent boundary lines of different self-driving devices, one self-driving device can receive signals from other external magnetic fields, which will interfere with the current position judgment. The receiving sensor cannot determine which magnetic field signal is the first magnetic field signal formed by the self-driving device system. At least three magnetic field signals may resolve at least three current positions, which may cause misjudgment of the current position of the self-driving device. For example, if the self-driven device 120 within the boundary line 110 misidentifies the magnetic field signal of the adjacent self-driven device system as its own, an error message outside the boundary line will be obtained. Therefore, it must be able to correctly identify which magnetic field signals are issued by the boundary line of the self-driven equipment system where one is located to avoid misjudgment.

The encoded 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 the current position of the self-driving device can be determined according to the voltage signal only after decoding.

There may be various magnetic field signals in the working area of the self-driven device 120 , for example, the magnetic field signals of adjacent self-driven devices or other external magnetic field signals in the current environment may be included. The self-driving device 120 can acquire all the magnetic field signals in its sensing area, but the position information of the self-driving device 120 can only be determined 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 decoding cannot be performed or the decoding boundary signal does not match the encoding boundary signal, and multiple external magnetic field signals will not be converted. A plurality of voltage signals are obtained, thereby causing misjudgment of the current position of the self-driven device.

The decoding method and the coding boundary signal correspond to each other, the decoding boundary signal and the coding boundary signal match each other, and the coding protocol can be set in advance.

The self-driving device may include a receiving sensor for sensing the first magnetic field signal and converting it into a corresponding electrical signal. The receiving sensor may include a magnetic field detection sensor, which may detect the alternating magnetic field and convert it into an electrical signal output. In some embodiments, the receiving sensor includes an inductance, the inductance induces a magnetic field, and generates a corresponding electromotive force, thereby converting the first magnetic field signal into an electrical signal for output.

Specifically, the signal transmitter may be used to encode and generate an encoded boundary signal with a preset encoding protocol.

The signal generator can encode and generate the coded boundary signal in the preset digital coding mode, quadrature amplitude modulation coding mode and relative phase shift keying mode. The encoding manners of the adjacent self-driving device systems may be different, which reduces the current self-driving device receiving and decoding the first magnetic field signal of the adjacent self-driving device systems.

It should be noted that, in practical applications, if the self-driving device 120 can receive two magnetic field signals with large intensities, it can trigger the generation of an encoding update instruction to replace the current encoding mode and decoding mode.

The self-driving device 120 may decode the first magnetic field signal to obtain a decoded boundary signal, and then determine the current position of the self-driving device 120 according to the decoded signal.

In this embodiment, the current position of the self-driving device can be obtained by decoding, and specifically, the information of the self-driving device within the boundary line or outside the boundary line can be obtained.

FIG. 3 is a schematic diagram of the magnetic field directions inside the boundary line and outside the boundary line according to Embodiment 1 of the present invention. As shown in FIG. 3 , since the changing directions of the magnetic fields inside the boundary line and outside the boundary line are completely opposite, the received waveform phase difference 180°. In this embodiment, the current position of the self-driving device 120 can be obtained by decoding the boundary signal, and specifically the information that the self-driving device 120 is inside the boundary line 110 or outside the boundary line 110 can be obtained.

Further, the self-driven device determines that the self-driven device is located outside the working area when the decoded boundary signal is opposite to the encoded boundary signal.

The present embodiment discloses a self-propelled equipment system, including: a boundary line for planning a working area of the self-driven equipment; a self-driven equipment for automatically walking in the working area to perform operations; a charging station, which is connected to the working area. The boundary line is electrically connected for generating a coded boundary signal and sending the 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 : a signal transmitter, used to encode and generate a coded boundary signal with a preset coding protocol; the self-driving device receives an external magnetic field signal, and obtains a decoded boundary signal in a preset decoding manner; between the decoded boundary signal and the code When the boundary signals match, it is determined that the external magnetic field signal received by the self-driving device is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line. The above technical solution reduces the occurrence of misidentification of other external magnetic field signals as the first magnetic field signal of the self, reduces the misjudgment of the magnetic field signal, and obtains more accurate position information.

Embodiment 2

This embodiment is embodied on the basis of the above-mentioned embodiment. In this embodiment, the self-driving device includes:

a boundary line for planning the working area of the self-propelled device;

Self-propelled equipment that automatically travels within the work area to perform operations;

a charging station, electrically connected to the border line, for generating an encoded border signal and sending the encoded border signal to the border line;

the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;

The charging station includes:

a signal transmitter, used to encode and generate an encoded boundary signal with a preset encoding protocol;

The self-driving device receives an external magnetic field signal, and obtains a decoding boundary signal in a preset decoding manner; when the decoding boundary signal matches the encoding boundary signal, determine the external magnetic field received by the self-driving device The signal is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line.

Further, in the preset coding protocol, the coding information includes a start code, a charging station code and an end code, the start code is used to mark the start of the coding boundary signal; the charging station code is used to identify the charging station; The end code is used to mark the end of the coding boundary signal.

Among them, each charging station code needs to set a start code and an end code, which are used to mark the start and end of the encoding. A charging station may include at least one charging station code, the charging station code may mark the corresponding charging station, and different charging stations may correspond to different charging station codes, that is, different self-driving equipment systems may correspond to different charging station codes.

The coding modes of the start code and the end code may be the same or different, and the start code and end code of the adjacent self-driven equipment systems may be different.

Specifically, in the process of encoding the boundary signal, the charging station code may be located at the center position, and a start code and an end code may be set before and after it to mark the start and end of encoding of the charging station code.

FIG. 4 is a schematic diagram of encoding in a preset encoding protocol provided by Embodiment 2 of the present invention. As shown in FIG. 4 , in this embodiment, the start code and the end code may be consistent, and the charging station code may be located in the start code and the end code. between.

Further, the encoded information further includes a model number and a check code, where the model number is used to convey the information of the charging station; the check code is used to check whether the encoded boundary signal is complete.

The information of the charging station conveyed by the model code may include charging current, charging voltage, and a one-key return instruction sent.

The check code is used to verify 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 code can also be located between the check code and the end code, and between the charging station code and the check code. The location of the model code is not specifically limited and can be set according to the actual situation. The verification code can be located after the charging station code to verify its integrity and accuracy.

Further, the charging station, which is electrically connected to the boundary line, is further configured to send the encoded boundary signal to the boundary line at different intervals.

FIG. 5 is a schematic diagram of a sending format of adjacent charging station codes provided in Embodiment 2 of the present invention. As shown in FIG. 5 , when the first charging station code and the second charging station code are sent at intervals, the first charging station code and the second charging station code are sent at intervals. T1 between the charging station codes, T2 between the second charging station code and the first charging station code may be different.

Among them, the first charging station code can be a complete boundary signal from the start code to the end code in FIG. 7, and the second charging station code is sent at different time intervals, which can prevent the magnetic field signals from adjacent boundary lines from overlapping and causing interference. .

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 can be set according to the actual situation. In practical applications, if three charging station codes need to be sent at intervals at the same time, the time interval between the three charging station codes can also be different. Of course, The time interval between the charging station codes can also be different in pairs, which further increases the reliability of the coded boundary signal to the external magnetic field.

Further, the self-driving device includes: at least one sensor for sensing a change in the magnetic field generated when the encoded boundary signal flows through the boundary line to generate a boundary line sensing signal;

a control module for: receiving the boundary line induction signal;

Obtaining a decoded boundary signal with a preset coding protocol at least according to the boundary line sensing signal;

When the decoded boundary signal matches the encoded boundary signal, the self-driven device is determined to be within an operating area.

Specifically, the controller may determine the current position of the self-driving device according to the processing signal, and the current position information may include information about whether the self-driving device is located within the boundary line or within the boundary line, and the distance information between the self-driving device and the boundary line.

The sensors may include receiving sensors.

Further, the signal transmitter is further configured to: encode the boundary signal according to at least one of amplitude coding, frequency coding and phase coding to obtain the coded boundary signal.

Specifically, when the coding mode includes a digital modulation coding mode, the boundary signal may be coded according to at least one of amplitude coding, frequency coding and phase coding to obtain the coded boundary signal.

When the coding mode includes other coding modes, the boundary signal may be coded according to other information to obtain the coded boundary signal.

6a is a schematic diagram of amplitude encoding and frequency encoding provided by Embodiment 2 of the present invention, FIG. 6b is a schematic diagram of absolute phase encoding provided by Embodiment 2 of the present invention, and FIG. 6c is a schematic diagram of relative phase encoding provided by Embodiment 2 of the present invention , as shown in Figure 6a, when the digital modulation coding includes amplitude coding, the coding mode includes:

If the frequency and phase of the boundary signal are the same, encoding the boundary signal whose amplitude is the first amplitude as the first signal;

If the frequency and phase of the boundary signal are the same, encoding the boundary signal whose amplitude is a second amplitude as a second signal;

An amplitude encoded signal is obtained from the first signal and the second signal.

Specifically, the boundary signal of the first amplitude can be coded as "1", and the boundary signal of the second amplitude can be coded as "0". According to the "1, 0" signal, the amplitude coded signal as shown in Fig. 6a can be obtained.

Of course, in practical applications, the boundary signal of the first amplitude can also be coded as "0", and the boundary signal of the second amplitude can be coded as "1", and the specific coding method can be determined according to actual requirements.

As shown in Figure 6a, when the digital modulation coding includes frequency coding, the coding manner includes:

encoding the boundary signal whose frequency is the first frequency into a third signal;

encoding the boundary signal having a frequency of the second frequency as a fourth signal;

A frequency encoded signal is obtained from the third signal and the fourth signal.

Specifically, the boundary signal of the first frequency can be coded as "1", and the boundary signal of the second frequency can be coded as "0". According to the "1, 0" signal, the frequency coded signal as shown in Fig. 6a can be obtained.

Of course, in practical applications, the boundary signal of the first frequency may be encoded as "0", and the boundary signal of the second frequency may be encoded as "1", and the specific encoding method may be determined according to actual requirements.

As shown in Figure 6b, when the digital modulation coding includes absolute phase coding, the coding manner includes:

encoding the boundary signal whose phase is the first phase into a fifth signal;

encoding the boundary signal whose phase differs from the first phase by a preset value as a sixth signal;

According to the fifth signal and the sixth signal, a first phase-encoded signal is obtained.

Specifically, the boundary signal of the first phase can be encoded as "0", and the boundary signal of the second phase can be encoded as "1". According to the "1, 0" signals, the first phase shown in Fig. 6b can be obtained encoded signal.

Of course, in practical applications, the boundary signal of the first phase may be encoded as "1", and the boundary signal of the second phase may be encoded as "0", and the specific encoding method may be determined according to actual requirements.

As shown in Figure 6c, when the digital modulation coding includes relative phase coding, the coding manner further includes:

encoding the boundary signal whose phase is the third phase as a seventh signal;

If the phase of the adjacent boundary signal is different from the third phase, encoding the adjacent boundary signal as an eighth signal;

According to the seventh signal and the eighth signal, a second phase-encoded signal is obtained.

Specifically, the boundary signal of the third phase can be encoded as "0", and the boundary signal of the fourth phase can be encoded as "1", and according to the "1, 0" signals, the second phase shown in Figure 6c can be obtained encoded signal.

Of course, in practical applications, the boundary signal of the third phase may be encoded as "1", and the boundary signal of the fourth phase may be encoded as "0", and the specific encoding method may be determined according to actual requirements.

The digital modulation coding also includes: pulse code modulation,

The encoding methods include:

sampling the boundary signal at a preset time interval to obtain a sampling signal;

After the sampling signal is layered, rounding and quantization are performed to obtain a quantized signal;

The quantized signal is represented by a binary code to obtain the pulse coded 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 may be encoded in binary to obtain a pulse coded signal.

FIG. 7 is a schematic diagram of the decoding of the pulse code modulation provided by the second embodiment of the present invention. 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 can be sampled and quantized and encoding processing 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 preset quadrature amplitude modulation coding mode, the coding boundary signal may be determined according to the change state of at least one of the amplitude and the phase of the boundary signal.

Specifically, the amplitude of the boundary signal includes a first amplitude and a second amplitude, and the phase of the boundary signal includes a first phase, a second phase, a third phase and a fourth phase.

When the amplitude of the boundary signal includes the first amplitude, determining the encoded boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal, including:

encoding the boundary signal according to the first amplitude and the first phase to obtain a first encoded boundary signal;

encoding the boundary signal according to the first amplitude and the second phase to obtain a second encoded boundary signal;

The boundary signal is encoded according to the first amplitude and the third phase to obtain a third encoded boundary signal.

When the amplitude of the boundary signal includes the second amplitude, determining the coding boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal, including:

encoding the boundary signal according to the second amplitude and the first phase to obtain a fourth encoded boundary signal;

encoding the boundary signal according to the second amplitude and the second phase to obtain a fifth encoded boundary signal;

The boundary signal is encoded according to the second amplitude and the third phase to obtain a sixth encoded boundary signal.

Further, the signal transmitter is further configured to: determine the coded boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal.

Specifically, the amplitude of the boundary signal includes a first amplitude and a second amplitude, and the phase of the boundary signal includes a first phase, a second phase, a third phase and a fourth phase.

FIG. 8 is a schematic diagram of the quadrature amplitude modulation coding provided by the second embodiment of the present invention. As shown in FIG. 8 , when the coding mode includes the quadrature amplitude modulation coding mode and the amplitude of the boundary signal includes the first amplitude, the coding boundary is determined Ways of signaling can include:

encoding the boundary signal according to the first amplitude and the first phase to obtain a first encoded boundary signal;

encoding the boundary signal according to the first amplitude and the second phase to obtain a second encoded boundary signal;

encoding the boundary signal according to the first amplitude and the third phase to obtain a third encoded boundary signal;

The boundary signal is encoded according to the first amplitude and the fourth phase to obtain a fourth encoded boundary signal.

When the coding scheme includes the quadrature amplitude modulation coding scheme and the amplitude of the boundary signal includes the second amplitude, determining the coding boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal, including:

encoding the boundary signal according to the second amplitude and the first phase to obtain a fifth encoded boundary signal;

encoding the boundary signal according to the second amplitude and the second phase to obtain a sixth encoded boundary signal;

encoding the boundary signal according to the second amplitude and the third phase to obtain a seventh encoded boundary signal;

The boundary signal is encoded according to the second amplitude and the fourth phase to obtain an eighth encoded boundary signal.

Specifically, the first amplitude may be A ₁ , the second amplitude may be A ₂ , the first phase may be 0, the second phase may be π/2, the third phase may be π, and the fourth phase may be 3π/2 .

According to the first amplitude value A ₁ and the first phase 0, the code 000 can be obtained; according to the second amplitude value A ₂ and the first phase 0, the code 001 can be obtained; according to the first amplitude value A ₁ and the second phase π/2 , the code 010 can be obtained; according to the second amplitude A ₂ and the second phase π/2, the code 011 can be obtained; according to the first amplitude A ₁ and the third phase π, the code 100 can be obtained; according to the second amplitude A ₂ and the third phase π, the code 101 can be obtained; according to the first amplitude A ₁ and the fourth phase 3π/2, the code 110 can be obtained; according to the second amplitude A ₂ and the fourth phase 3π/2, the code 110 can be obtained 111.

Of course, in practical applications, the amplitude may further include at least three amplitudes, and the phase may further include at least two phases, to encode the boundary signal. The greater the number of amplitudes and phases, the more codes that can be formed, and then more complex codes can be performed, so that the coding and decoding are more accurately corresponded, and the occurrence of signal misjudgment is further reduced.

Further, the encoded boundary signal can be generated by encoding in a relative phase shift keying manner.

The acquiring and decoding the boundary signal in a relative phase shift keying manner at least according to the boundary line sensing signal, comprising:

Translating the boundary line sensing signal by a first preset period to obtain a comparison sensing signal; multiplying the boundary line sensing signal and the comparison sensing signal to obtain a product sensing signal; and generating the product sensing signal according to the product sensing signal Decode the boundary signal.

Wherein, when encoding in a relative phase shift keying manner, the phase change can be used as the transmitted information.

FIG. 9 is a schematic diagram of relative phase shift keying coding according to Embodiment 2 of the present invention. As shown in FIG. 9 , the boundary line induction signal is shifted by a second preset period to obtain a comparison induction signal; the boundary signal and the comparison induction signal The multiplication operation is performed to obtain the product induction signal; according to its relative phase, the value of "0" and "1" are respectively taken for the product induction signal to obtain the encoded boundary signal.

In this embodiment, the second preset period may include 2π.

Further, generating the decoding boundary signal according to the product sensing signal includes: generating the decoding boundary signal according to the waveform of the product sensing signal.

Specifically, the waveform of the product induction signal can be generated from the demodulated data, that is, the waveform of the product induction signal can generate the decoding boundary signal.

Further, the first preset period includes 8π.

Of course, in practical applications, both the first preset period and the second preset period can be set according to actual needs, which are not specifically limited here.

The present embodiment discloses a self-propelled equipment system, including: a boundary line for planning a working area of the self-driven equipment; a self-driven equipment for automatically walking in the working area to perform operations; a charging station, which is connected to the working area. The boundary line is electrically connected for generating a coded boundary signal and sending the 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 : a signal transmitter, used to encode and generate a coded boundary signal with a preset coding protocol; the self-driving device receives an external magnetic field signal generated when the coded boundary signal flows through the boundary line, and obtains it by a preset decoding method Decode the boundary signal; when the decoded boundary signal matches the coded boundary signal, determine that the external magnetic field signal received by the self-driving device is the first generated when the coded boundary signal flows through the boundary line Magnetic field signal. The above technical solution reduces the occurrence of misidentification of other external magnetic field signals as the first magnetic field signal of the self, reduces the misjudgment of the magnetic field signal, and obtains more accurate position information.

In addition, the start code, end code, charging station code, model number and check code can jointly realize the coding boundary signal, which further makes the coding boundary signal more reliable.

Embodiment 3

Embodiment 3 of the present invention provides a charging station for a self-propelled equipment system, the charging station is electrically connected to the boundary line, and is used for generating an encoded boundary signal and sending the encoded boundary signal to the a boundary line; the encoded boundary signal flows through the boundary line to generate a first magnetic field signal;

The charging station includes:

a signal transmitter, used to encode and generate an encoded boundary signal with a preset encoding protocol;

The self-driving device receives an external magnetic field signal, and obtains a decoding boundary signal in a preset decoding manner; when the decoding boundary signal matches the encoding boundary signal, determine the external magnetic field received by the self-driving device The signal is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line. Further, the charging station, which is electrically connected to the boundary line, is further configured to send the encoded boundary signal to the boundary line at different intervals.

The charging station provided in this embodiment can generate a coded boundary signal and send it to the boundary line, thereby generating an electromagnetic field.

From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be realized by software and necessary general-purpose hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment . Based on such understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or CD, etc., including several instructions to make a computer device (which can be a personal computer, A server, or a network device, etc.) executes the methods described in the various embodiments of the present invention.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope 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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