WO2013010465A1 - 边界系统 - Google Patents

边界系统 Download PDF

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Publication number
WO2013010465A1
WO2013010465A1 PCT/CN2012/078670 CN2012078670W WO2013010465A1 WO 2013010465 A1 WO2013010465 A1 WO 2013010465A1 CN 2012078670 W CN2012078670 W CN 2012078670W WO 2013010465 A1 WO2013010465 A1 WO 2013010465A1
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WIPO (PCT)
Prior art keywords
signal
boundary
state
comparator
preset
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PCT/CN2012/078670
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English (en)
French (fr)
Inventor
鲍瑞那图·强尼
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Publication of WO2013010465A1 publication Critical patent/WO2013010465A1/zh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires

Definitions

  • the present invention relates to a boundary system, and more particularly to a boundary system for controlling the travel path of an autonomous walking device.
  • the boundary system is usually used to control the working range of the automatic walking equipment.
  • the boundary system includes a boundary line laid on the surface, a signal generator connected to the boundary line, a signal detecting unit on the autonomous walking device, and a control unit that processes the signal and controls the traveling path of the autonomous walking device.
  • a magnetic field is gradually weakened around the boundary line, that is, the magnetic field strength is strong near the boundary line, and the magnetic field strength is weak away from the boundary line, on the automatic walking device.
  • the signal detecting unit converts the magnetic field at the position where it is located into a corresponding electrical signal and transmits it to the control unit.
  • the control unit confirms the distance from the boundary line according to the electrical signal transmitted by the control unit, thereby controlling the automatic walking device to be close to the boundary line in time.
  • the automatic walking device is controlled to switch the walking direction to prevent the automatic walking device from walking outside the boundary line, so that the automatic walking device always works in the boundary line.
  • the control unit When judging that the automatic walking device is close to the boundary line, the automatic walking device is also controlled to travel away from the boundary line.
  • the automatic walking device walks to a position where the magnetic field is weak, the automatic walking device stops walking, and causes the permanent walking device to stay at the boundary forever. Out of line, it doesn't work.
  • the prior art has developed a function of recognizing that the autonomous walking device is inside and outside the boundary line based on the aforementioned system.
  • the boundary signal includes at least two sinusoidal signals, respectively The sine wave signal 14 with a frequency of 8 K and the sine wave signal 15 with a frequency of 16 K, in order to ensure the stable relationship between the two signals, the two signals are synchronized from the starting point, two signals at the starting point The phase difference is 90 degrees.
  • the signal detecting unit detects the signals 1 4, and 1 5 correspondingly, and since the signals 14 and 15 have a fixed correspondence relationship when the signal 1 4 crosses the zero point, the signals 1 4 and 15 have corresponding correspondences. Relationship, the control unit judges whether the automatic walking device 2 is in the boundary line 3 or the boundary line 3 according to the signal 1 4, the signal 1 5 at the zero crossing point, is positive or negative, effectively overcomes the fact that only the relative boundary line of the automatic walking device can be recognized.
  • the shortage of the boundary system of distance since the boundary signal contains a plurality of signals, there is a synchronization problem between the plurality of signals, and simultaneously processing and recognizing the plurality of signals increases the complexity of the entire boundary system, thereby lowering the boundary system. Reliability.
  • the prior art also has an attempt to use only one boundary signal, but it generates a reference signal synchronized with the boundary signal in the autonomous walking device, and judges whether the automatic walking device is in the boundary line by comparing the relative relationship between the boundary signal and the reference signal.
  • This type of system still has the problem of synchronizing multiple signals and synthesizing signal processing.
  • the technical problem solved by the present invention is to provide a tubular identification system in which the automatic walking equipment is inside and outside the boundary line.
  • the technical solution of the present invention is: a boundary system for controlling a walking path of an automatic walking device, the boundary system comprising: a boundary line disposed on the ground to plan a working area of the automatic walking device; a signal generating device, generating a preset boundary signal and transmitting the boundary signal to the boundary line, wherein the preset boundary signal generates a magnetic field when flowing through the boundary line; and a signal detecting unit disposed in the automatic walking device for detecting a magnetic field, and generating a detection signal; a control unit disposed in the automatic walking device, receiving the detection signal, and controlling the automatic walking device to walk in the working area according to the detection signal;
  • the boundary signal is a signal having alternating first and second states, with a sudden change at the junction of the first state and the second state.
  • the signal detecting unit comprises an inductance.
  • control unit includes a signal processing unit and a microprocessor
  • detection signal includes a first signal corresponding to a first state of the preset boundary signal and a second signal corresponding to a second state of the preset boundary signal
  • the signal processing unit determines a starting point of the second signal according to a change corresponding to the mutation between the first signal and the second signal, and generates a processing signal indicating the waveform of the second signal, the microprocessor root
  • the processing signal determines whether the autonomous walking device is within the work area.
  • the second signal comprises a first feature portion and a second feature portion, wherein the amplitude of the first feature portion is greater than a maximum amplitude of the first signal, and the amplitude of the second feature portion is smaller than the first signal
  • the processing signal carries information indicating a point in time at which the first feature portion and the second feature portion appear.
  • the signal processing unit comprises a first comparator and a second comparator, the processing signal comprising a signal output by the first comparator and a signal output by the second comparator, the first comparison when the first feature portion occurs
  • the device outputs a high level signal, otherwise the first comparator outputs a low level signal, and when the second characteristic portion appears, the second comparator outputs a low level signal, otherwise outputs a high level signal.
  • the microprocessor confirms that the autonomous walking device is located in the work area.
  • the preset boundary signal is a square wave signal.
  • the preset boundary signal is a sine wave signal.
  • the amplitude of the sinusoidal signal in the first state is greater than the magnitude of the sinusoidal signal in the second state.
  • the frequency of the sinusoidal signal in the first state is less than the frequency of the sinusoidal signal in the second state.
  • the sine wave signal is different from the phase of the sine wave signal in the second state by 1 to 80 degrees in the first state.
  • the microprocessor confirms that the autonomous walking device is located in the working area.
  • the control unit may receive the first state including the signal corresponding to the preset boundary signal.
  • Figure 1 is a schematic illustration of a boundary system in accordance with a preferred embodiment of the present invention.
  • Figure 2 is a circuit block diagram of the boundary system shown in Figure 1;
  • Figure 3 is a circuit block diagram of the boundary system shown in Figure 2;
  • FIG. 4 is a schematic diagram of a preset boundary signal form according to a first preferred embodiment of the present invention
  • FIG. 5 is a schematic diagram of a detection signal form of an automatic walking device in a boundary line in the embodiment shown in FIG.
  • FIG. 6 is a schematic diagram of the detection signal shown in FIG. 5 amplified by an amplifier
  • FIG. 7 is a schematic diagram of an output signal of a first comparator in the embodiment shown in FIG. 4;
  • FIG. 8 is a schematic diagram of an output signal of a second comparator in the embodiment shown in FIG. 4;
  • Figure 9 is a schematic view showing the form of the detection signal of the automatic walking device outside the boundary line in the embodiment shown in Figure 4;
  • Figure 10 is a schematic diagram of the detection signal shown in Figure 9 amplified by an amplifier
  • Figure 1 is a schematic diagram of the output signal of the first comparator in the embodiment shown in Figure 4;
  • Figure 12 is a schematic diagram of the output signal of the second comparator in the embodiment shown in Figure 4;
  • FIG. 13 is a schematic diagram of a preset boundary signal form according to a second preferred embodiment of the present invention
  • FIG. 14 is a schematic diagram of a preset boundary signal form according to a third preferred embodiment of the present invention
  • FIG. 16 is a schematic diagram of a detection signal form of an automatic walking device in a boundary line in the embodiment shown in FIG.
  • Figure 17 is a schematic diagram of the detection signal shown in Figure 16 amplified by an amplifier
  • Figure 18 is a schematic diagram of the output signal of the first comparator in the embodiment shown in Figure 15;
  • Figure 19 is a schematic diagram of the output signal of the second comparator in the embodiment shown in Figure 15;
  • Figure 20 is a schematic view showing the form of the detection signal of the automatic walking device in the boundary line in the embodiment shown in Figure 15;
  • 21 is a schematic diagram of the detection signal shown in FIG. 20 amplified by an amplifier;
  • Figure 22 is a schematic diagram showing the output signal of the first comparator in the embodiment shown in Figure 15;
  • FIG. 23 is a schematic diagram of an output signal of a second comparator in the embodiment shown in FIG. 15;
  • FIG. 24 is a schematic diagram of a preset boundary signal form according to a fifth preferred embodiment of the present invention.
  • FIG. 25 is a schematic diagram showing a form of a detection signal of the automatic walking device in a boundary line in the embodiment shown in FIG.
  • 26 is a schematic diagram of the detection signal shown in FIG. 25 amplified by an amplifier
  • Figure 27 is a schematic diagram showing the output signal of the first comparator in the embodiment shown in Figure 24;
  • FIG. 28 is a schematic diagram of an output signal of a second comparator in the embodiment shown in FIG. 24;
  • 29 is a schematic diagram showing the form of a detection signal of the automatic walking device in the boundary line in the embodiment shown in FIG. 24;
  • Figure 30 is a schematic diagram of the detection signal shown in Figure 29 amplified by an amplifier
  • Figure 31 is a schematic diagram showing the output signal of the first comparator in the embodiment shown in Figure 24;
  • Figure 32 is a diagram showing the output signal of the second comparator in the embodiment shown in Figure 24;
  • the boundary system shown in Fig. 1 includes a signal generating device 6, an autonomous walking device 2, and a boundary line 3.
  • the boundary line 3 is used to form a work area 4 located within the boundary line 3 and a non-work area 5 located outside the boundary line 3.
  • the signal generating means 6 is electrically connected to the boundary line 3, the signal generating means 6 generates a preset boundary signal SC which is sent to the boundary line 3, and the predetermined boundary signal SC flows through the boundary line 3 to generate the magnetic field 7.
  • the automatic walking device 2 further includes a signal detecting unit 8 and a control unit 11, and the signal detecting unit 8 is configured to detect the The magnetic field 7 generates a detection signal SC, and the control unit 11 receives the detection signal SC, and controls the automatic traveling device 2 to travel within the working area 4 according to the detection signal SC'.
  • the preset boundary signal SC is a signal having a first state and a second state that alternately appear.
  • the preset boundary signal SC has a first time function in the first state, and the preset boundary signal SC has a second state in the second state.
  • the time function, the first time function is different from the second time function, so when the preset boundary signal SC is in the first state or the second state, the waveform is based on a continuous change of the same time function, but due to the first state and the second
  • the state is based on different time functions, the waveform of the first state and the waveform of the second state are not continuously changed, resulting in a sudden change of the waveform at the boundary between the first state and the second state, and the performance of the mutation may be the preset boundary signal SC.
  • the parameters in one state and the second state are different, and at least one of the three parameters of amplitude, frequency and phase is different.
  • the signal detecting unit 8 detects the preset boundary signal SC and converts it into a detection signal SC′ which is transmitted to the control unit 1 1 , the detection signal SC′ includes a first signal corresponding to the first state, and corresponds to the second state The second signal, of course, the signal detection unit 8 also detects a sudden change between the first state and the second state to generate a change existing between the first signal and the second signal.
  • the control unit 1 1 further includes a signal processing unit 20 and a microprocessor 18.
  • the signal processing unit 20 receives the first signal and the second signal, and determines the first change according to the change between the first signal and the second signal. a starting point of the two signals, and generating a processing signal indicative of the second signal waveform is passed to the microprocessor 18, the microprocessor receives the processed signal, and the processing signal is stored with a preset stored in the microprocessor 18.
  • the storage signal comparison determines whether the autonomous walking device 2 is within the work area 4 based on the comparison result. When the preset storage signal stored in the microprocessor 18 is preset in the working area 4 and the non-working area 5 for the automatic walking device 2 preset according to the preset boundary signal of the second state, the microprocessor 18 should receive signal of.
  • the second signal includes a first characteristic portion having a magnitude greater than a maximum amplitude of the first signal, and a second characteristic portion having a magnitude smaller than a minimum amplitude of the first signal
  • the value, signal processing unit 20 monitors only the first feature portion and the second feature portion, and generates processing signals for the point in time at which the first feature portion and the second feature portion appear.
  • the signal processing unit 20 can also monitor all of the second signal to generate a processed signal representative of the complete waveform of the second signal.
  • the starting point of the second signal that is, the reference point compared with the preset storage signal
  • the reference point at which the signals are compared achieves the function of identifying whether the autonomous walking device 2 is in the working area 4 by means of a boundary signal, overcoming the disadvantages of having to pass two signals in the prior art to identify whether it is within the working area 4.
  • the preset boundary signal SC contains only one signal, which has only one signal form at any time, the structure of the signal transmitting portion is simple, since there is no need to add an additional reference signal generating unit in the autonomous walking device 2, so signal processing And identify the structural part of the part.
  • the signal processing unit 20 further includes an amplifier 12 electrically connected to the signal detecting unit 8, a first comparator 14 and a second comparator 16 electrically connected to the amplifier 12, wherein the first comparator 14 and The output of the second comparator 16 is electrically coupled to the microprocessor 18.
  • the signal detecting unit 8 can have various forms as long as it can convert the magnetic field 7 into a corresponding electrical signal.
  • the signal detecting unit 8 includes an inductor, the inductor induces a magnetic field 7, and generates a corresponding electromotive force, thereby the magnetic field 7 It is converted into a detection signal SC and transmitted to the control unit 11.
  • the amplifier 12 is configured to amplify the detection signal SC' transmitted by the signal detecting unit 8, and generate a signal SA, the signal SA includes a third signal corresponding to the first signal and a fourth signal corresponding to the second signal, of course, the fourth The signal includes a third feature portion corresponding to the first feature portion of the second signal and a fourth feature portion corresponding to the second feature portion of the second signal.
  • the signal SA is converted to a signal SH and a signal SL including a high level signal and a low level signal via the first comparator 14 and the second comparator 16 to the microprocessor 18.
  • the first comparator 14 is set as a high level comparator
  • the second comparator 16 is set as a low level comparator
  • the first comparator 14 has a first reference voltage RH which is a third characteristic portion.
  • the minimum amplitude, the second comparator 16 has a second reference voltage RL which is the maximum amplitude of the fourth characteristic portion.
  • the first comparator 14 when the third characteristic portion of the fourth signal appears, that is, the first characteristic portion of the second signal appears, the first comparator 14 outputs a high level signal, and when the fourth characteristic portion of the fourth signal appears When the second characteristic portion of the second signal appears, the second comparator 16 outputs a low level signal, and the microprocessor 18 compares the signals SH and SL with the preset stored signal stored therein to determine that the autonomous walking device 2 is
  • the work area 4 in the boundary line 3 is also the non-work area 5 outside the boundary line 3, thereby controlling the traveling direction of the autonomous traveling apparatus 2.
  • the signal processing unit 20 can filter out the third signal, that is, corresponding to the first state. Presetting the signal of the boundary signal; it is also possible to monitor the time point at which the amplitude of the fourth signal occurs RH and RL. By recording the time point at which the first amplitude of the signal of RH or RL occurs, the fourth signal can be known. Starting point, by comparing the time points of each time the signal having the amplitude of RH or RL is seen, the shape of the portion of the fourth signal between RH and RL can be known, specifically, the amplitude of the fourth signal is located.
  • the signal processing unit 20 obtains the fourth signal by amplifying the second signal, the starting point and waveform of the second boundary signal are corresponding to the starting point and waveform of the fourth signal. Therefore, the high-low level signal outputted by the signal processing unit 18 to the microprocessor 18 through the first comparator 14 and the second comparator 16 is a processing signal corresponding to the start point and waveform of the second signal, and the micro-processing Comparing the processed signal received by the device 18 with the preset storage signal stored therein, it can be determined whether the automatic walking device 2 is in the working area 4, wherein the preset storage signal stored in the microprocessor 18 is based on The preset boundary signal of the second state, the pre-set auto-traveling device 2 is in the working area 4 and the non-working area 5, and the SH and SL signals it should receive.
  • the signal processing unit 20 since the signal processing unit 20 includes only two comparators, only the waveforms at the four time points of the fourth signal can be monitored, so that only the waveform change of the fourth signal can be recognized, and those skilled in the art can recognize the waveform change of the fourth signal. It can be understood that when the comparator provided in the signal processing unit 20 is sufficiently large, the signal processing unit 20 can monitor the complete waveform of the fourth signal, and the complete waveform of the second signal can be monitored.
  • the following describes in detail how the boundary system uses the state transition of the preset boundary signal SC and the information carried by the preset boundary signal SC of the second state to identify the process in which the automatic walking device 2 is inside and outside the boundary line 3, in combination with the specific form of the preset boundary signal SC. .
  • the preset boundary signal SC being a sine wave signal including a first state having a first frequency and a second having a second frequency a state, the sine wave signal of the first frequency is converted into a sine wave signal having a second frequency every predetermined time interval, preferably, the second frequency is greater than the first frequency, and the second frequency is twice the first frequency, of course ,
  • the multiple of the second frequency and the first frequency may also be other values.
  • the signal detecting unit 8 detects the magnetic field 7 to generate the detection signal SC as shown in Fig. 5. Since the amplitude of the detection signal SC is proportional to the current-to-time derivative of the preset boundary signal SC, when the frequency of the preset boundary signal SC is converted from the first frequency to the second frequency of the first frequency, the current The derivative of time is increased by a factor of 1, that is, SC at the first frequency, the amplitude of the signal is SC at the second frequency, and the amplitude of the signal is 1/2.
  • the detection signal SC is amplified by the amplifier 12 to generate a signal SA as shown in Fig. 6, and the signal SA is shifted upward relative to the detection signal SC' as a whole.
  • the amplified signal SA is converted into a digital signal by the first comparator 14 and the second comparator 16 and transmitted to the microprocessor 18.
  • the reference voltage of the first comparator 14 is RH
  • the reference voltage of the second comparator 16 is RL.
  • the signal SA is transmitted to the microprocessor 18 via the first comparator 14
  • the signal SH is transmitted to the ECU 18 via the second comparator 16 to generate a signal SL.
  • the SH and SL signals are as shown in FIG. 8 and Figure 9 shows. Comparing the SH signal shown in Fig. 8 with the SL signal shown in Fig. 9, it can be seen that the time point at which the signal SH appears at a high level precedes the time at which the signal SL appears at a low level.
  • the microprocessor 18 receives the signals SH and SL and compares it with the preset stored signal stored therein to determine that the autonomous walking device 2 is in the working area 4 within the boundary line 3.
  • the signal detecting unit 8 detects the magnetic field 7 to generate the detection signal SC as shown in FIG. 9, and since the magnetic field 7 inside and outside the boundary line 3 is opposite in direction, when the automatic walking device 2 When it is outside the boundary line 3, the detection signal SC detected by the signal detecting unit 8 is opposite in phase to the detection signal SC detected when it is in the boundary line 3, and the other parameters are the same.
  • the detection signal SC is amplified by the amplifier 12 to generate a signal SA as shown in Fig. 10, and the signal SA is shifted upward as a whole with respect to the detection signal SC.
  • the amplified signal SA is converted into a digital signal by the first comparator 14 and the second comparator 16 and transmitted to the microprocessor 18.
  • the reference voltage of the first comparator 14 is RH
  • the reference voltage of the second comparator 16 is RL
  • the signal SA is transmitted to the processor 18 via the first comparator 14 and the signal SH is transmitted to the processor 18 via the second comparator 16 and the signal SL is transmitted to the processor 18, and the signals of SH and SL are as shown in FIG.
  • FIG. 12 comparing the SH signal shown in FIG. 11 with the SL signal shown in FIG. 12, it can be seen that the time point at which the signal SL appears low level precedes the time point at which the signal SH appears at a high level.
  • the microprocessor 18 receives the signals SH and SL and compares it with the preset stored signal stored therein to determine that the automatic walking device 2 is in the non-working area 5 outside the boundary line 3.
  • FIG. 13 is a form of a preset boundary signal SC of the second preferred embodiment, the preset boundary
  • the signal SC is a sinusoidal signal including a first state having a first amplitude and a second state having a second amplitude, the sinusoidal signal of the first magnitude being converted to a second amplitude every predetermined time interval a sinusoidal signal, preferably, the second amplitude is greater than the first amplitude, preferably, the second amplitude is twice the first amplitude, and of course, the second amplitude may be a multiple of the first amplitude For other values.
  • the detection signal SC generated by the signal detecting unit 8 detecting the magnetic field 7 is substantially the same as the detection signal SC in the first preferred embodiment, and therefore the determination process is the same as that of the first preferred embodiment. I will not repeat them here.
  • the preset boundary signal SC is a sine wave signal including a first state having a first phase and a second state having a second phase, the sine wave signal of the first phase being pre-interval
  • the duration is converted to a sine wave signal having a second phase.
  • the second phase is 180 degrees out of phase with the first phase.
  • the phase difference between the second phase and the first phase may also be other values.
  • the signal SC is converted from the first phase to the second phase at the zero crossing of the sine wave, and in the fourth preferred embodiment, the signal SC is at the peak of the sine wave by the first phase. Converting to the second phase, it will be understood by those skilled in the art that the phase transition point can also be selected as other locations of the sine wave.
  • control unit 11 recognizes the entire process of the position where the automatic traveling device 2 is located based on the signal transmitted from the signal detecting unit 8 in conjunction with Figs. 16 to 23 .
  • the identification process of the third preferred embodiment is the same as the identification process of the fourth preferred embodiment, and therefore will not be separately described.
  • the signal detecting unit 8 detects the magnetic field 7 to generate an SC signal as shown in FIG. Since the signal SC is converted from the peak of the sinusoidal signal to the valley of the sinusoidal signal in a very short time, the amplitude of the detection signal SC detected by the signal detecting unit 8 at the time point of the phase conversion is much higher than other time points. The magnitude of the place.
  • the detection signal SC is amplified by the amplifier 12 to generate a signal SA as shown in FIG. 17, and the signal SA is shifted upward relative to the detection signal SC' as a whole.
  • the amplified signal SA is converted into a digital signal by the first comparator 14 and the second comparator 16 and transmitted to the microprocessor 18.
  • the reference voltage of the first comparator 14 is RH
  • the reference voltage of the second comparator 16 is RL.
  • the signal SA is transmitted to the microprocessor 18 via the first comparator 14
  • the signal SH is transmitted to the microprocessor 18 via the second comparator 16 to generate the signal SL.
  • the signals of the SH and the SL are as shown in FIG. As shown in FIG. 19, the signal SH is a low level signal, and the signal SL has a low level signal every predetermined time interval.
  • the microprocessor 18 receives the signals SH and SL and compares it with a preset stored signal stored in the microprocessor 18 to determine that the autonomous walking device 2 is in the working area 4 within the boundary line 3.
  • the signal detecting unit 8 detects the magnetic field 7 to generate an SC as shown in FIG. 20, and the signal is reversed when the magnetic field 7 inside and outside the boundary line 3 is opposite, so that when the autonomous traveling device 2 is at When the boundary line 3 is outside, the detection signal SC detected by the signal detecting unit 8 is opposite in phase to the detection signal SC' detected when it is in the boundary line 3, and the other parameters are the same.
  • the detection signal SC is amplified by the amplifier 12 to generate a signal SA as shown in Fig. 21, and the signal SA is shifted upward as a whole with respect to the detection signal SC.
  • the amplified signal SA is converted into a digital signal by the first comparator 14 and the second comparator 16 and transmitted to the microprocessor 18.
  • the reference voltage of the first comparator 14 is RH
  • the reference voltage of the second comparator 16 is RL
  • the signal SA is transmitted to the processor 18 via the first comparator 14 and the signal SH is transmitted to the processor 18 via the second comparator 16 and the signal SL is transmitted to the processor 18, and the signals of SH and SL are as shown in FIG.
  • the signal SH has a high level signal every predetermined time interval
  • the signal SL is a high level signal.
  • the microprocessor 18 receives the signals SH and SL and compares it with the preset stored signal stored in the microprocessor 18 to determine that the autonomous walking device 2 is in the non-working area 5 outside the boundary line 3.
  • the preset boundary signal SC may be phase, in addition to setting the preset boundary signal SC to the above embodiment.
  • the sine wave signal of any two of the three parameters of amplitude and frequency changes every preset time.
  • the preset boundary signal SC can also be preset for the three parameters of phase, amplitude and frequency.
  • the above is an implementation manner in which the preset boundary signal SC is a sine wave signal.
  • the following describes an implementation manner in which the preset boundary signal SC is a square wave signal.
  • the signal detecting unit 8 detects the magnetic field 7 to generate an SC signal as shown in FIG. Since the amplitude of the detection signal SC is proportional to the current-to-time derivative of the preset boundary signal SC, the detection signal SC corresponding to the first state is zero, and the detection signal SC corresponding to the second state is a sine wave signal. .
  • the detection signal SC is amplified by the amplifier 12 to generate a signal SA as shown in FIG.
  • the amplified signal SA is converted into a digital signal by the first comparator 14 and the second comparator 16 and transmitted to the microprocessor 18.
  • the reference voltage of the first comparator 14 is RH
  • the reference voltage of the second comparator 16 is RL.
  • the signal SA is transmitted to the microprocessor 18 via the first comparator 14
  • the signal SH is transmitted to the microprocessor 18 via the second comparator 16 to generate a signal SL.
  • the SH and SL signals are as shown in FIG. 27 and As shown in Fig. 28, comparing the SH signal shown in Fig. 27 with the SL signal shown in Fig.
  • the microprocessor 18 receives the signals SH and SL and compares it with a preset stored signal stored in the microprocessor 18 to determine that the autonomous walking device 2 is in the working area 4 within the boundary line 3.
  • the signal detecting unit 8 detects the magnetic field 7 to generate an SC as shown in FIG. 29, and the signal is reversed when the magnetic field 7 inside and outside the boundary line 3 is opposite, so that when the autonomous traveling device 2 is at When the boundary line 3 is outside, the detection signal SC detected by the signal detecting unit 8 is opposite in phase to the detection signal SC' detected when it is in the boundary line 3, and the other parameters are the same.
  • the detection signal SC is amplified by the amplifier 12 to generate a signal SA as shown in Fig. 30, and the signal SA is shifted upward as a whole with respect to the detection signal SC.
  • the amplified signal SA is converted into a digital signal by the first comparator 14 and the second comparator 16 and transmitted to the microprocessor 18.
  • the reference voltage of the first comparator 14 is RH
  • the reference voltage of the second comparator 16 is RL
  • the signal SA is transmitted to the microprocessor 18 via the first comparator 14
  • the signal SH is transmitted to the ECU 18 via the second comparator 16 to generate the signal SL.
  • the signals of the SH and the SL are as shown in FIG. 31 and FIG. 32, comparing the SH signal shown in FIG. 31 with the SL signal shown in FIG. 32, it can be seen that the time point at which the signal SL appears low level precedes the time point at which the signal SH appears at the high level.
  • the microprocessor 18 receives the signals SH and SL and compares it with the preset stored signal stored in the microprocessor 18 to determine that the automatic walking device 2 is in the non-working area 5 outside the boundary line 3.
  • the preset boundary signal can also be any other signal including the first state and the second state, and only needs to satisfy the mutation between the first state and the second state, and the signal processing unit 28 can According to this mutation, the starting point and waveform of the second signal can be identified. In addition to identifying the starting point and waveform of the second signal by way of a comparator, the second signal starting point and waveform can be identified in a variety of other ways.
  • the control unit 1 1 in the automatic walking device 2 is synchronized with the working time of the signal generating device 6, and the control unit 1 1 also stores the preset boundary line number SC, and the control unit 1 1 can
  • the current second signal starting point and waveform are known by the time correspondence between the time recorded by the timer and the stored preset boundary signal SC.
  • the waveform of each time is acquired by the single chip microcomputer, and the starting point of the second signal is obtained by comparing the waveforms, and the waveform of the second signal can be obtained by reading the value after the time point. There are many other ways, no longer here - repeat.
  • the automatic traveling device 2 may be in various forms such as a lawn mower, a vacuum cleaner, and an industrial robot.
  • the automatic walking device 2 is a lawn mower, it further includes a cutting mechanism including a cutting motor and a cutting blade.
  • the cutting motor drives the cutting blade to rotate, cutting the lawn .

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种边界系统包括：边界线（3）；信号发生装置（6），产生预设边界信号（SC）并发送给边界线（3），边界信号（SC）流经边界线（3）时产生磁场（7）；信号检测单元（8），设置在自动行走设备（2）内，用于检测磁场（7），并生成检测信号（SC'）；控制单元（11），设置在自动行走设备（2）内，接收检测信号（SC'），并判断自动行走设备（2）是否位于工作区域内，预设边界信号（SC）为一个具有交替出现的第一状态和第二状态的信号，在第一状态和第二状态交界处存在突变。该边界系统结构简单、成本低。

Description

边界系统 技术领域
本发明涉及一种边界系统， 特别是一种用于控制自动行走设备行走路径的 边界系统。
背景技术
随着科学技术的发展， 智能的自动行走设备为人们所熟知， 由于自动行走 设备可以自动预先设置的程序执行预先设置的相关任务， 无须人为的操作与干 预， 因此在工业应用及家居产品上的应用非常广泛。 工业上的应用如执行各种 功能的机器人， 家居产品上的应用如割草机、 吸尘器等， 这些智能的自动行走 设备极大地节省了人们的时间， 给工业生产及家居生活都带来了极大的便利。
为保证上述自动行走设备在预设的工作范围内工作， 通常采用边界系统对 自动行走设备的工作范围进行控制。 边界系统包括铺设在地表的边界线， 与边 界线连接的信号发生器， 自动行走设备上的信号检测单元以及对信号进行处理 并控制自动行走设备行走路径的控制单元。 信号发生器发送的边界信号流经边 界线时， 产生以边界线为中心向四周逐渐减弱的磁场， 即靠近边界线的位置磁 场强度强， 远离边界线的位置磁场强度弱， 自动行走设备上的信号检测单元将 其所处位置处的磁场转换为相应的电信号传递给控制单元， 控制单元根据其传 递的电信号确认其离边界线的远近， 从而控制自动行走设备的在接近边界线时 及时控制自动行走设备转换行走方向， 防止自动行走设备行走至边界线外， 从 而使自动行走设备始终在边界线内工作。 虽然上述方案可以准确地判断自动行 走设备与边界线的距离，但无法判断自动行走设备处于边界线内还是边界线外， 当 自动行走设备由于意外， 导致其滑移到边界线外时， 控制单元判断自动行走 设备接近边界线时， 同样会控制自动行走设备向远离边界线的方向行走， 当 自 动行走设备行走至磁场很弱的位置时， 自动行走设备停止行走， 而使其永远停 留在了边界线外， 无法正常工作。
基于识别 自动行走设备处于边界线内外的重要性， 现有技术在前述系统的 基础上开发了识别自动行走设备处于边界线内外的功能。 如 2 001年 1 0月 9 日 公告的美国专利 US 6 3007 37 B1 , 其边界信号包括至少两个正弦波信号， 分别是 频率为 8 K的正弦波信号 1 4和频率为 1 6 K的正弦波信号 1 5 , 为保证两个信号稳 定的相对关系， 自起始点处对两个信号进行同步， 起始点处两个信号的相位相 差 9 0度。 信号检测单元相应地检测到信号 1 4，和 1 5，， 由于信号 1 4和 1 5在信 号 1 4 过零点时具有固定的对应关系， 因此信号 1 4，与 1 5，也具有相应的对应关 系， 控制单元根据信号 1 4，过零点时信号 1 5，为正或者负来判断自动行走设备 2 处于边界线 3 内还是边界线 3外， 有效克服了仅能识别 自动行走设备相对边界 线的距离的边界系统的不足。 但上述边界系统中， 由于边界信号包含多个信号， 因此存在多个信号之间的同步问题， 且同时对多个信号进行处理和识别增加了 整个边界系统的复杂程度， 因而也降低了边界系统的可靠性。
可以想象， 边界信号仅包含一个信号时， 可有效克服上述边界系统存在的 不足。 现有技术也存在仅使用一个边界信号的尝试， 但其会在自动行走设备内 生成一个与边界信号同步的基准信号， 通过对比边界信号与基准信号的相对关 系判断自动行走设备是否处于边界线内， 该类系统仍然会存在对多个信号进行 同步和信号处理复杂的问题。
发明内容
本发明解决的技术问题为： 提供一种筒易的识别 自动行走设备处于边界线 内外的边界系统。
为解决上述技术问题， 本发明的技术方案是： 一种边界系统， 用于控制自 动行走设备的行走路径， 所述边界系统包括： 边界线， 设置在地面， 规划出 自 动行走设备的工作区域； 信号发生装置， 产生预设边界信号并发送给所述边界 线， 所述预设边界信号流经所述边界线时产生磁场； 信号检测单元， 设置在所 述自动行走设备内， 用于检测所述磁场， 并生成检测信号； 控制单元， 设置在 所述自动行走设备内， 接收所述检测信号， 并根据所述检测信号控制所述自动 行走设备在所述工作区域内行走； 所述预设边界信号为一个具有交替出现的第 一状态和第二状态的信号， 在第一状态和第二状态交界处存在突变。
优选地， 所述信号检测单元包括电感。
优选地， 所述控制单元包括信号处理单元和微处理器， 检测信号包括对应 于预设边界信号的第一状态的第一信号和对应于预设边界信号的第二状态的第 二信号， 所述信号处理单元根据第一信号与第二信号之间对应于所述突变的变 化确定第二信号的起始点， 并生成表示第二信号波形的处理信号， 微处理器根 据所述处理信号确定自动行走设备是否在工作区域内。
优选地， 所述第二信号包括第一特征部分和第二特征部分， 所述第一特征 部分的幅值大于第一信号的最大幅值， 所述第二特征部分的幅值小于第一信号 的最小幅值， 所述处理信号携带表示第一特征部分和第二特征部分出现的时间 点的信息。
优选地， 所述信号处理单元包括第一比较器和第二比较器， 所述处理信号 包括第一比较器输出的信号和第二比较器输出的信号， 当第一特征部分出现时 第一比较器输出高电平信号， 否则第一比较器输出低电平信号， 当第二特征部 分出现时第二比较器输出低电平信号， 否则输出高电平信号。
优选地， 当第一比较器输出高电平信号的时间点先于第二比较器输出低电 平信号的时间点时， 微处理器确认自动行走设备位于工作区域内。
优选地， 所述预设边界信号为方波信号。
优选地， 所述预设边界信号为正弦波信号。
优选地， 所述正弦波信号在第一状态的幅值大于所述正弦波信号在第二状 态的幅值。
优选地， 所述正弦波信号在第一状态的频率小于所述正弦波信号在第二状 态的频率。
优选地， 所述正弦波信号在第一状态与所述正弦波信号在第二状态的相位 相差 1 80度
优选地， 当第一比较器始终输出低电平信号， 且第二比较器每间隔预设的 时长输出低电平信号时， 微处理器确认自动行走设备位于工作区域内。
本发明的有益效果为： 由于本边界系统中的预设边界信号为一个包含两种 状态的信号， 在任意时间点上， 仅存在一种信号， 因此不会增加信号发生装置 的复杂程度。 此外， 由于预设边界信号在第一状态和第二状态之间转换， 且第 一状态和第二状态的交界处存在突变， 控制单元可以接收到包括对应于预设边 界信号的第一状态的第一信号和对应于预设边界信号的第二状态的第二信号， 并根据第一信号与第二信号之间对应于所述突变的变化确定第二信号的起始 点， 并生成表示第二信号波形的处理信号， 将所述处理信号与控制单元内存储 的预设存储信号比较， 根据比较结果确定自动行走设备是否在工作区域内， 从 而无需在自动行走设备内增设额外的基准信号产生单元， 因此也不会增加信号 处理和识别的复杂程度。 因此本系统完全克服了现有技术中， 边界系统结构复 杂的问题， 有效地筒化了整个边界系统的结构， 同时提高了边界系统的可靠性。 附图说明
以上所述的本发明解决的技术问题、 技术方案以及有益效果可以通过下面 的能够实现本发明的较佳的具体实施例的详细描述， 同时结合附图描述而清楚 地获得。
附图以及说明书中的相同的标号和符号用于代表相同的或者等同的元件。 图 1是本发明较佳实施方式的边界系统的示意图；
图 2是图 1所示边界系统的电路模块图；
图 3是图 2所示边界系统的电路模块图；
图 4是本发明第一较佳实施方式的预设边界信号形式的示意图； 图 5是图 4所示实施方式下自动行走设备处于边界线内的检测信号形式的 示意图；
图 6是图 5所示检测信号经放大器放大后的示意图；
图 7是图 4所示实施方式下第一比较器的输出信号示意图；
图 8是图 4所示实施方式下第二比较器的输出信号示意图；
图 9是图 4所示实施方式下自动行走设备处于边界线外的检测信号形式的 示意图；
图 1 0是图 9所示检测信号经放大器放大后的示意图；
图 1 1是图 4所示实施方式下第一比较器的输出信号示意图；
图 1 2是图 4所示实施方式下第二比较器的输出信号示意图；
图 1 3是本发明第二较佳实施方式的预设边界信号形式的示意图； 图 14是本发明第三较佳实施方式的预设边界信号形式的示意图； 图 1 5是本发明第四较佳实施方式的预设边界信号形式的示意图； 图 1 6是图 1 5所示实施方式下自动行走设备处于边界线内的检测信号形式 的示意图；
图 1 7是图 1 6所示检测信号经放大器放大后的示意图；
图 1 8是图 1 5所示实施方式下第一比较器的输出信号示意图；
图 1 9是图 1 5所示实施方式下第二比较器的输出信号示意图；
图 2 0是图 1 5所示实施方式下自动行走设备处于边界线内的检测信号形式 的示意图； 图 21是图 20所示检测信号经放大器放大后的示意图；
图 22是图 15所示实施方式下第一比较器的输出信号示意图；
图 23是图 15所示实施方式下第二比较器的输出信号示意图；
图 24是本发明第五较佳实施方式的预设边界信号形式的示意图； 图 25是图 24所示实施方式下自动行走设备处于边界线内的检测信号形式 的示意图；
图 26是图 25所示检测信号经放大器放大后的示意图；
图 27是图 24所示实施方式下第一比较器的输出信号示意图；
图 28是图 24所示实施方式下第二比较器的输出信号示意图；
图 29是图 24所示实施方式下自动行走设备处于边界线内的检测信号形式 的示意图；
图 30是图 29所示检测信号经放大器放大后的示意图；
图 31是图 24所示实施方式下第一比较器的输出信号示意图；
图 32是图 24所示实施方式下第二比较器的输出信号示意图。
2 自动行走设备 11 控制单元
3 边界线 12 放大器
4 工作区域 14 第一比较器
5 非工作区域 16 第二比较器
6 信号发生装置 18 微处理器
7 磁场 20 信号处理单元
8 信号检测单元
具体实施方式
有关本发明的详细说明和技术内容， 配合附图说明如下， 然而所附附图仅 提供参考与说明， 并非用来对本发明加以限制。
图 1所示的边界系统包括信号发生装置 6、 自动行走设备 2、 边界线 3。 边 界线 3用于形成位于边界线 3 内的工作区域 4和位于边界线 3外的非工作区域 5。 信号发生装置 6 与边界线 3 电性连接， 信号发生装置 6 产生预设边界信号 SC发送给边界线 3, 预设边界信号 SC流经边界线 3时产生磁场 7。 自动行走设 备 2进一步包括信号检测单元 8和控制单元 11, 信号检测单元 8用于检测所述 磁场 7 , 并生成检测信号 SC，， 控制单元 1 1接收所述检测信号 SC，， 并根据所 述检测信号 SC '控制所述自动行走设备 2在所述工作区域 4 内行走。
预设边界信号 SC为一个具有交替出现的第一状态和第二状态的信号，预设 边界信号 SC在第一状态时具有第一时间函数，预设边界信号 SC在第二状态时 具有第二时间函数， 第一时间函数与第二时间函数不相同， 因此预设边界信号 SC在第一状态或第二状态时， 其波形是基于同一时间函数的连续变化， 但由于 第一状态和第二状态基于不同的时间函数， 第一状态的波形和第二状态的波形 不是连续变化的， 导致第一状态和第二状态交界处出现波形的突变， 突变的表 现可以为预设边界信号 SC 在第一状态和第二状态时的参数不相同， 如幅值、 频率、 相位三个参数中至少一个参数不相同。 信号检测单元 8检测预设边界信 号 S C并转换为检测信号 S C '传递给控制单元 1 1 , 检测信号 S C '包含对应于所述 第一状态的第一信号， 和对应于所述第二状态的第二信号， 当然信号检测单元 8 也会检测到存在于第一状态和第二状态之间的突变而生成存在于第一信号和 第二信号之间的变化。 如图 2所示， 控制单元 1 1 进一步包括信号处理单元 20 和微处理器 18 , 信号处理单元 20接收到第一信号和第二信号， 根据第一信号 与第二信号之间的变化确定第二信号的起始点， 并生成表示第二信号波形的处 理信号传递给微处理器 1 8 , 微处理器接收所述处理信号， 并将所述处理信号与 微处理器 1 8 内存储的预设存储信号比较， 根据比较结果确定自动行走设备 2 是否在工作区域 4 内。其中微处理器 1 8 内存储的预设存储信号为其根据第二状 态的预设边界信号预先设置的自动行走设备 2 处于工作区域 4和非工作区域 5 时， 微处理器 1 8应该接收到的信号。
所述第二信号包含第一特征部分和第二特征部分， 所述第一特征部分的幅 值大于第一信号的最大幅值， 所述第二特征部分的幅值小于第一信号的最小幅 值，信号处理单元 20仅对第一特征部分和第二特征部分进行监测， 并生成第一 特征部分和第二特征部分出现的时间点的处理信号。 当然， 信号处理单元 20 也可以对第二信号的全部进行监测， 从而生成表示第二信号完整波形的处理信 号。
采用一个包含交替出现的第一状态和第二状态的信号， 且在第一状态和第 二状态交界处存在突变的一个信号， 作为预设边界信号 SC的优点为： 通过第一 状态和第二状态交界处存在的突变，信号处理单元 20可以接收到包括对应于预 设边界信号的第一状态的第一信号和对应于预设边界信号的第二状态的第二信 号， 并根据第一信号与第二信号之间对应于所述突变的变化确定第二信号的起 始点， 然后进一步根据第二信号的波形即可确认自动行走设备 2是否在工作区 域 4 内。 由于通过第一信号与第二信号之间的变化确定了第二信号的起始点， 即与预设存储信号进行比较的基准点， 因此无需通过额外的参考信号来确定第 二信号与预设存储信号进行比较的基准点， 实现了通过一个边界信号识别出 自 动行走设备 2是否在工作区域 4 内的功能， 克服了现有技术中必须通过两个信 号才能识别是否在工作区域 4内的缺点。由于预设边界信号 SC仅包含一个信号， 其在任意时刻仅有一种信号形式， 因此信号发送部分的结构筒单， 由于也无需 在自动行走设备 2 内增设额外的基准信号产生单元， 因此信号处理和识别部分 的结构筒单。
如图 3所示，信号处理单元 20进一步包括与信号检测单元 8 电性连接的放 大器 12、 与放大器 12 电性连接的第一比较器 14和第二比较器 16, 其中第一比 较器 14和第二比较器 16的输出电性连接至微处理器 18。信号检测单元 8可以 有多种形式， 只要其能将磁场 7转换为相应的电信号即可， 优选地， 信号检测 单元 8 包括电感， 电感感应磁场 7, 并产生相应的电动势， 从而将磁场 7转换 为检测信号 SC，传递给控制单元 11。 本领域技术人员可以理解的是， 电感产生 的电动势正比于预设边界信号 SC的电流变化率， 即电流对时间的导数。 放大器 12用于对信号检测单元 8传递的检测信号 SC'进行放大， 并生成信号 SA, 信号 SA包含对应于第一信号的第三信号和对应于第二信号的第四信号， 当然， 第四 信号中包含了对应于第二信号的第一特征部分的第三特征部分和对应于第二信 号的第二特征部分的第四特征部分。信号 SA经第一比较器 14和第二比较器 16 转化为包含高电平信号和低电平信号的信号 SH和信号 SL传递给微处理器 18。 第一比较器 14设置为高电平比较器， 第二比较器 16设置为低电平比较器， 第 一比较器 14具有第一基准电压 RH, 该第一基准电压 RH为第三特征部分的最小 幅值， 第二比较器 16具有第二基准电压 RL, 该第二基准电压 RL为第四特征部 分的最大幅值。 因此当第四信号的第三特征部分出现即第二信号的第一特征部 分出现时， 第一比较器 14输出高电平信号， 当第四信号的第四特征部分出现即 第二信号的第二特征部分出现时， 第二比较器 16 输出低电平信号， 微处理器 1 8将信号 S H和 S L与其内存储的预设存储信号相比较， 从而判断自动行走设备 2处于边界线 3 内的工作区域 4还是边界线 3外的非工作区域 5 ,从而控制自动 行走设备 2 的行走方向。
通过上述对第一比较器 1 4的第一基准电压 RH和第二比较器 1 6的第二基准 电压 RL的设置， 信号处理单元 2 0可以滤掉第三信号， 即对应于第一状态的预 设边界信号的信号； 也可以监测到第四信号每次出现幅值 RH和 RL的时间点， 通过记录首次出现幅值为 RH或 RL的信号的时间点， 可以得知第四信号的起始 点， 通过比较每次出现幅值为 RH或 RL的信号的时间点的先后， 可以得知第四 信号的幅值位于 RH 和 RL 之间的部分的形状， 具体为第四信号的幅值位于 RH 和 RL之间的部分的波形变化方向。 由于信号处理单元 2 0通过对第二信号进行 放大而得到第四信号， 因此第二边界信号的起始点和波形与第四信号的起始点 和波形是——对应的。 因此， 信号处理单元 1 8通过第一比较器 1 4 以及第二比 较器 1 6 向微处理器 1 8输出的高低电平信号即为对应于第二信号起始点和波形 的处理信号，微处理器 1 8将其接收到的处理信号与其内存储的预设存储信号进 行比较， 即可判断自动行走设备 2是否在工作区域 4 , 其中微处理器 1 8 内存储 的预设存储信号为其根据第二状态的预设边界信号， 预先设置的自动行走设备 2处于工作区域 4和非工作区域 5 时， 其应该接收到的 S H和 S L信号。 本实施 方式中， 由于信号处理单元 2 0仅包含两个比较器， 仅可以监测到第四信号的 4 个时间点上的波形， 因此仅能识别第四信号的波形变化情况， 本领域技术人员 可以理解的是， 当信号处理单元 2 0 内设置的比较器足够多时， 信号处理单元 2 0可以监测到第四信号的完整波形， 即可监测到第二信号的完整波形。
以下结合预设边界信号 S C具体形式，详细介绍边界系统如何利用预设边界 信号 SC的状态转换以及第二状态的预设边界信号 SC本身携带的信息识别 自动 行走设备 2处于边界线 3 内外的过程。
如图 4所示为第一较佳实施方式的预设边界信号 SC的形式，该预设边界信 号 SC为正弦波信号，其包括具有第一频率的第一状态和具有第二频率的第二状 态， 第一频率的正弦波信号每间隔预设的时长转换为具有第二频率的正弦波信 号， 优选地， 第二频率大于第一频率， 且第二频率为第一频率的两倍， 当然， 第二频率与第一频率的倍数关系也可以为其它值。
当 自动行走设备 1处于边界线 3 内时， 信号检测单元 8检测到磁场 7 而生 成如图 5所示的检测信号 SC，。由于检测信号 SC，的幅值正比于预设边界信号 SC 的电流对时间的导数，因此当预设边界信号 SC的频率由第一频率变换为 2倍于 第一频率的第二频率时， 电流对时间的导数增大 1 倍， 即第一频率下 SC，信号 的幅值为第二频率下 SC，信号的幅值的 1/2。检测信号 SC，经放大器 12放大后生 成如图 6所示的信号 SA, 信号 SA相对于检测信号 SC'整体向上平移。 放大后的 信号 SA经第一比较器 14和第二比较器 16转换为数字信号传递给微处理器 18, 第一比较器 14 的基准电压为 RH, 第二比较器 16的基准电压为 RL, 对应的， 信 号 SA经第一比较器 14后生成信号 SH传递给微处理器 18, 信号 SA经第二比较 器 16后生成信号 SL传递给 ί处理器 18, SH及 SL的信号如图 8和图 9所示。 比较图 8所示的 SH信号和图 9所示的 SL信号可知，信号 SH 出现高电平的时间 点先于信号 SL 出现低电平的时间点。 微处理器 18接收到信号 SH及 SL, 且与 其内存储的预设存储信号相比较， 判断自动行走设备 2处于边界线 3 内的工作 区域 4。
当 自动行走设备 1处于边界线 3外时， 信号检测单元 8检测到磁场 7 而生 成如图 9 所示的检测信号 SC，, 由于边界线 3 内外的磁场 7 方向相反， 因此当 自动行走设备 2 处于边界线 3外时， 信号检测单元 8检测到的检测信号 SC，与 其在边界线 3 内时检测到的检测信号 SC，相位相反， 其它参数相同。 检测信号 SC，经放大器 12放大后生成如图 10所示的信号 SA,信号 SA相对于检测信号 SC， 整体向上平移。放大后的信号 SA经第一比较器 14和第二比较器 16转换为数字 信号传递给微处理器 18, 同样， 第一比较器 14的基准电压为 RH, 第二比较器 16的基准电压为 RL, 对应的， 信号 SA经第一比较器 14后生成信号 SH传递给 处理器 18, 信号 SA经第二比较器 16后生成信号 SL传递给 ί处理器 18, SH 及 SL的信号如图 11和图 12所示， 比较图 11所示的 SH信号和图 12所示的 SL 信号可知， 信号 SL 出现低电平的时间点先于信号 SH 出现高电平的时间点。 微 处理器 18接收到信号 SH及 SL, 且与其内存储的预设存储信号相比较， 判断自 动行走设备 2处于边界线 3外的非工作区域 5。
如图 13所示为第二较佳实施方式的预设边界信号 SC的形式， 该预设边界 信号 SC为正弦波信号，其包括具有第一幅值的第一状态和具有第二幅值的第二 状态， 第一幅值的正弦波信号每间隔预设的时长转换为具有第二幅值的正弦波 信号， 优选地， 第二幅值大于第一幅值， 优选地， 第二幅值为第一幅值的两倍， 当然， 第二幅值与第一幅值的倍数关系也可以为其它值。 在本实施方式中， 信 号检测单元 8检测到磁场 7 而生成的检测信号 SC，与第一较佳实施方式中的检 测信号 SC，基本相同， 因此其判断过程与第一较佳实施方式相同， 在此不再赘 述。
如图 14所示为第三较佳实施方式的预设边界信号 SC的形式，如图 15所示 为第四较佳实施方式的预设边界信号 SC的形式。 在该两种实施方式中， 该预设 边界信号 SC均为正弦波信号，其包括具有第一相位的第一状态和具有第二相位 的第二状态， 第一相位的正弦波信号每间隔预设的时长转换为具有第二相位的 正弦波信号， 优选地， 第二相位与第一相位相差 180度， 当然， 第二相位与第 一相位的相位差也可以为其它值。 在第三较佳实施方式中， 信号 SC在正弦波的 过零点处由第一相位转换为第二相位， 而在第四较佳实施方式中， 信号 SC在正 弦波的波峰处由第一相位转换为第二相位， 本领域技术人员可以理解的是， 相 位转换点也可以选择为正弦波的其它位置。
以下结合图 16至图 23详细说明第四较佳实施方式中，控制单元 11根据信 号检测单元 8传递的信号识别 自动行走设备 2所处的位置的全过程。 第三较佳 实施方式的识别过程与第四较佳实施方式的识别过程相同， 因此不再进行单独 说明。
当 自动行走设备 1处于边界线 3 内时， 信号检测单元 8检测到磁场 7 而生 成如图 16 所示的 SC，信号。 由于信号 SC在极短的时间内由正弦信号的波峰转 换为正弦信号的波谷， 因此在相位转换的时间点处， 信号检测单元 8检测到的 检测信号 SC，的幅值远高于其它时间点处的幅值。 检测信号 SC，经放大器 12放 大后生成如图 17所示的信号 SA, 信号 SA相对于检测信号 SC'整体向上平移。 放大后的信号 SA经第一比较器 14和第二比较器 16转换为数字信号传递给微处 理器 18, 第一比较器 14 的基准电压为 RH, 第二比较器 16 的基准电压为 RL, 对应的， 信号 SA经第一比较器 14后生成信号 SH传递给微处理器 18, 信号 SA 经第二比较器 16 后生成信号 SL传递给微处理器 18, SH及 SL 的信号如图 18 和图 19所示，信号 SH—直为低电平信号， 而信号 SL每间隔预设的时长出现低 电平信号。 微处理器 18接收到信号 SH及 SL, 且与微处理器 18 内存储的预设 存储信号进行比较， 判断自动行走设备 2处于边界线 3 内的工作区域 4。
当 自动行走设备 1处于边界线 3外时， 信号检测单元 8检测到磁场 7 而生 成如图 20所示的 SC，信号， 由于边界线 3 内外的磁场 7方向相反， 因此当 自动 行走设备 2 处于边界线 3 外时， 信号检测单元 8检测到的检测信号 SC，与其在 边界线 3 内时检测到的检测信号 SC'相位相反， 其它参数相同。 检测信号 SC， 经放大器 12放大后生成如图 21 所示的信号 SA, 信号 SA相对于检测信号 SC， 整体向上平移。放大后的信号 SA经第一比较器 14和第二比较器 16转换为数字 信号传递给微处理器 18, 同样， 第一比较器 14的基准电压为 RH, 第二比较器 16的基准电压为 RL, 对应的， 信号 SA经第一比较器 14后生成信号 SH传递给 处理器 18, 信号 SA经第二比较器 16后生成信号 SL传递给 ί处理器 18, SH 及 SL的信号如图 22和图 23所示，信号 SH每间隔预设的时长出现高电平信号， 而信号 SL—直为高电平信号。 微处理器 18接收到信号 SH及 SL, 且与微处理 器 18 内存储的预设存储信号相比较，判断自动行走设备 2处于边界线 3外的非 工作区域 5。
为判断自动行走设备 2处于边界线 3 内的工作区域 4还是边界线 3外的非 工作区域 5, 除将预设边界信号 SC设置为上述实施方式外， 预设边界信号 SC 也可以为相位、 幅值、 频率三个参数中的任意两个参数每隔预设的时长发生变 化的正弦波信号， 当然， 预设边界信号 SC也可以为相位、 幅值、 频率三个参数 每隔预设的时长均发生变化的正弦波信号。 当预设边界信号 SC为相位、 幅值、 频率等多个参数间歇性发生改变的信号时， 本领域技术人员根据本发明在前述 实施方式的说明， 可以判断自动行走设备 2相对于边界线 3的位置， 进而控制 自动行走设备的行走路径， 在此具体过程不再赘述。
以上为预设边界信号 SC为正弦波信号的实施方式，以下介绍预设边界信号 SC为方波信号的实施方式。
如图 24所示为第五较佳实施方式的预设边界信号 SC的形式， 该预设边界 信号 S C为方波信号，其包括具有第一幅值的第一状态和具有第二幅值的第二状 态， 且第一幅值为零， 第二幅值为非零。 当 自动行走设备 1处于边界线 3 内时， 信号检测单元 8检测到磁场 7 而生 成如图 25所示的 SC，信号。 由于检测信号 SC，的幅值正比于预设边界信号 SC的 电流对时间的导数， 因此对应于第一状态的检测信号 SC，为零， 对应于第二状 态的检测信号 SC，为正弦波信号。 检测信号 SC，经放大器 12放大后生成如图 26 所示的信号 SA, 信号 SA相对于检测信号 SC'整体向上平移。 放大后的信号 SA 经第一比较器 14和第二比较器 16转换为数字信号传递给微处理器 18, 第一比 较器 14 的基准电压为 RH, 第二比较器 16 的基准电压为 RL, 对应的， 信号 SA 经第一比较器 14后生成信号 SH传递给微处理器 18, 信号 SA经第二比较器 16 后生成信号 SL传递给微处理器 18, SH及 SL的信号如图 27和图 28所示， 比较 图 27所示的 SH信号和图 28所示的 SL信号可知，信号 SH 出现高电平的时间点 先于信号 SL 出现低电平的时间点。 微处理器 18接收到信号 SH及 SL, 且与微 处理器 18 内存储的预设存储信号进行比较， 判断自动行走设备 2处于边界线 3 内的工作区域 4。
当 自动行走设备 1处于边界线 3外时， 信号检测单元 8检测到磁场 7 而生 成如图 29所示的 SC，信号， 由于边界线 3 内外的磁场 7方向相反， 因此当 自动 行走设备 2 处于边界线 3 外时， 信号检测单元 8检测到的检测信号 SC，与其在 边界线 3 内时检测到的检测信号 SC'相位相反， 其它参数相同。 检测信号 SC， 经放大器 12放大后生成如图 30信号 SA,信号 SA相对于检测信号 SC，整体向上 平移。放大后的信号 SA经第一比较器 14和第二比较器 16转换为数字信号传递 给微处理器 18, 同样， 第一比较器 14 的基准电压为 RH, 第二比较器 16 的基准 电压为 RL, 对应的， 信号 SA经第一比较器 14后生成信号 SH传递给微处理器 18,信号 SA经第二比较器 16后生成信号 SL传递给 ί处理器 18, SH及 SL的信 号如图 31和图 32所示，比较图 31所示的 SH信号和图 32所示的 SL信号可知， 信号 SL 出现低电平的时间点先于信号 SH 出现高电平的时间点。 微处理器 18 接收到信号 SH及 SL, 且与微处理器 18 内存储的预设存储信号相比较， 判断自 动行走设备 2处于边界线 3外的非工作区域 5。
本领域技术人员可以理解的是， 预设边界信号也可以为一个其他任意包含 第一状态和第二状态的信号， 仅需满足第一状态和第二状态之间存在突变， 信 号处理单元 28可依此突变识别出第二信号的起始点及波形即可。 除通过比较器的方式识别第二信号的起始点及波形外， 还可以通过多种其 他方式识别第二信号起始点和波形。 如在自动行走设备 2启动工作前， 将自动 行走设备 2 内的控制单元 1 1 与信号发生装置 6的工作时间同步， 控制单元 1 1 内也存储预设边界线号 SC , 控制单元 1 1可以通过计时器记录的时间和存储的 预设边界信号 SC 的时间对应关系得知当前第二信号起始点和波形。 再如， 通 过单片机采集每一时刻的波形， 并通过波形的对比得知第二信号的起始点， 并 读取自此时刻点后的数值即可得知第二信号的波形。 还有其他多种方式， 在此 不再——赘述。
在本发明中， 自动行走设备 2 的可以为割草机、 吸尘器、 工业机器人等多 种形式。 自动行走设备 2为割草机时， 还进一步包括切割机构， 切割机构包括 切割电机和切割刀片， 割草机在边界线 3规划的工作区域 4 内工作时， 切割电 机驱动切割刀片旋转， 切割草坪。

Claims

1 . 一种边界系统， 用于控制自动行走设备的行走路径， 所述边界系统包括： 边界线， 设置在地面， 规划出 自动行走设备的工作区域；
信号发生装置， 产生预设边界信号并发送给所述边界线， 所述预设边界信 号流经所述边界线时产生磁场；
信号检测单元， 设置在所述自动行走设备内， 用于检测所述磁场， 并生成 检测信号；
控制单元， 设置在所述自动行走设备内， 接收所述检测信号， 并根据所述 检测信号控制所述自动行走设备在所述工作区域内行走；
其特征在于： 所述预设边界信号为一个具有交替出现的第一状态和第二状 态的信号， 在第一状态和第二状态交界处存在突变。
2. 根据权利要求 1所述的边界系统，其特征在于：所述信号检测单元包括电感。
3. 根据权利要求 1所述的边界系统， 其特征在于： 所述控制单元包括信号处理 单元和微处理器， 检测信号包括对应于预设边界信号的第一状态的第一信号和 对应于预设边界信号的第二状态的第二信号， 所述信号处理单元根据第一信号 与第二信号之间对应于所述突变的变化确定第二信号的起始点， 并生成表示第 二信号波形的处理信号， 微处理器根据所述处理信号确定自动行走设备是否在 工作区域内。
4. 根据权利要求 3所述的边界系统， 其特征在于： 所述第二信号包括第一特征 部分和第二特征部分， 所述第一特征部分的幅值大于第一信号的最大幅值， 所 述第二特征部分的幅值小于第一信号的最小幅值， 所述处理信号携带表示第一 特征部分和第二特征部分出现的时间点的信息。
5. 根据权利要求 4所述的边界系统， 其特征在于： 所述信号处理单元包括第一 比较器和第二比较器， 所述处理信号包括第一比较器输出的信号和第二比较器 输出的信号， 当第一特征部分出现时第一比较器输出高电平信号， 否则第一比 较器输出低电平信号， 当第二特征部分出现时第二比较器输出低电平信号， 否 则输出高电平信号。
6. 根据权利要求 5所述的边界系统， 其特征在于： 当第一比较器输出高电平信 号的时间点先于第二比较器输出低电平信号的时间点时， 微处理器确认自动行 走设备位于工作区域内。
7. 根据权利要求 5所述的边界系统， 其特征在于： 所述预设边界信号为方波信 号。
8. 根据权利要求 5所述的边界系统， 其特征在于： 所述预设边界信号为正弦波 信号。
9. 根据权利要求 8所述的边界系统， 其特征在于： 所述正弦波信号在第一状态 的幅值大于所述正弦波信号在第二状态的幅值。
10. 根据权利要求 8 所述的边界系统， 其特征在于： 所述正弦波信号在第一状 态的频率小于所述正弦波信号在第二状态的频率。
1 1 . 根据权利要求 8 所述的边界系统， 其特征在于： 所述正弦波信号在第一状 态与所述正弦波信号在第二状态的相位相差 1 80度。
12. 根据权利要求 1 1所述的边界系统， 其特征在于： 当第一比较器始终输出低 电平信号， 且第二比较器每间隔预设的时长输出低电平信号时， 微处理器确认 自动行走设备位于工作区域内。
PCT/CN2012/078670 2011-07-18 2012-07-16 边界系统 Ceased WO2013010465A1 (zh)

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