WO2013102417A1 - 边界信号识别方法及其边界系统 - Google Patents

边界信号识别方法及其边界系统 Download PDF

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Publication number
WO2013102417A1
WO2013102417A1 PCT/CN2012/087724 CN2012087724W WO2013102417A1 WO 2013102417 A1 WO2013102417 A1 WO 2013102417A1 CN 2012087724 W CN2012087724 W CN 2012087724W WO 2013102417 A1 WO2013102417 A1 WO 2013102417A1
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Prior art keywords
signal
boundary
preset
state unit
unit
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PCT/CN2012/087724
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English (en)
French (fr)
Inventor
田角峰
周昶
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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 signal identification method, and more particularly to a boundary signal identification method for identifying whether a boundary signal is a boundary signal of the system.
  • the present invention relates to a boundary system, and more particularly to a boundary system for identifying whether a boundary signal is a boundary signal of the system.
  • the boundary system is usually used to control the walking path of the automatic walking device.
  • the boundary system includes: a signal generating unit that generates a preset boundary signal; a boundary line electrically connected to the signal generating unit, the preset boundary signal is transmitted along the boundary line, and generates a preset magnetic field signal; the signal detecting unit, setting In the automatic walking device, for detecting a magnetic field signal in the environment, and generating a detection signal; the signal processing unit is electrically connected to the signal detecting unit, receives the detection signal, processes the detection signal, and generates processing The control unit receives the processing signal, and confirms the position of the automatic walking device relative to the boundary line according to the information represented by the processing signal, and controls the automatic walking device to timely change the walking direction of the automatic walking device when crossing the boundary line to prevent automatic
  • the walking device travels outside the boundary line so that the autonomous walking device always works within the boundary line.
  • the preset boundary signal sent by the early boundary system is a pulse signal.
  • the advantage of this boundary signal is that the identification is easy, but the problem is that the boundary system cannot distinguish the pulse signal from the boundary signal with the interference pulse signal, so that the boundary system is When receiving the interfering pulse signal, it is mistaken to be the boundary signal and control the walking path of the autonomous walking device according to the information carried by it, so that the boundary system is easily interfered, and the wrong judgment is made, and the anti-interference of the boundary system is reduced. ability.
  • the way to solve the problem is to provide a way to include at least two positive
  • the boundary signal of the sine wave signal, the two sine wave signals are the first sine wave signal with a frequency of 8 K and the second sine wave signal with a frequency of 16 K, respectively.
  • the two signals are synchronized, and the phases of the two signals at the starting point differ by 90 degrees.
  • the signal detecting unit correspondingly detects the first detection signal corresponding to the first sine wave signal and the second detection signal corresponding to the second sine wave signal, wherein the first sine wave signal and the second sine wave signal are in the first sine wave
  • the control unit determines the automatic walking device according to whether the second detection signal is positive or negative according to the zero crossing point of the first detection signal. Whether it is within the boundary line or outside the boundary line, effectively controlling the walking path of the autonomous walking device so that it always remains in the boundary line.
  • the boundary system can effectively overcome the interference of external signals, but in the actual use process, there is still interference problem. Because in actual use, on two adjacent regions, there is the possibility of using the boundary system at the same time, that is, there are respectively a first boundary system and a second boundary system on two adjacent regions, and two boundaries
  • the system is composed of the above-described boundary system with a sine wave as a boundary signal. In this case, when the autonomous walking device of the first boundary system walks to a position where the first boundary line is close to the second boundary line, the autonomous walking device of the first boundary system can detect the signal of the first boundary line and can detect The signal to the second boundary line.
  • the autonomous walking device of the first boundary system is in the first boundary line at this time, its second boundary line is outside the second boundary line.
  • the automatic walking device detects both the first detection signal and the second detection signal from the first boundary line, and the second detection signal is positive when the first detection signal crosses the zero point; and the fork detects the second boundary line The first detection signal and the second detection signal, and the second detection signal is negative when the first detection signal crosses zero. Since the first boundary system is identical in composition to the second boundary system, the control unit cannot distinguish whether the detection signal and the second detection signal are from the first boundary line or the second boundary line when the first detection signal and the second detection signal are detected.
  • the control unit determines whether the automatic walking device is in the boundary line or outside when the second detection signal is positive or negative according to the zero crossing point of the first detection signal, and the judgment result is that the automatic walking device is both outside the boundary line and in the boundary line, resulting in automatic The walking equipment was confusing and even stopped working.
  • the signal detection unit detects A, and B, respectively, and at signal A, the zero crossing, signal B, is positive or negative.
  • the control unit determines whether the automatic walking device 2 is in the boundary line 3 according to the correspondence between the signals A' and B'. Outside the boundary line 3. The control unit does not distinguish whether the signals A and B are boundary signals according to the signals A 'and B ' it receives, so that even if the signals A and B are not boundary signals, the control unit will control the automatic walking device according to the information carried by the control unit. Walking paths lead to erroneous judgments.
  • U S 6 3007 37 B 1 announced that although the signal form can exclude some external interference, it can not completely solve the interference of the signal in the external environment to the boundary system.
  • the technical problem solved by the present invention is to provide a boundary signal identification method capable of identifying whether a boundary signal is a boundary signal of the system.
  • the technical solution of the present invention is: a boundary signal identification method, wherein the boundary signal identification method is used to identify whether a boundary signal received by an automatic walking device is a preset signal sent by a signal generating unit to a boundary line.
  • the preset boundary signal is transmitted along the boundary line to generate a preset magnetic field signal
  • the boundary signal identification method comprises the following steps: controlling an automatic walking device to start work; detecting a magnetic field signal within a boundary line range, and generating a detection signal; The detection signal generates a processing signal; comparing the processing signal with a preset storage signal; and when the processing signal is the same as the preset storage signal, confirming that the detected magnetic field signal is a preset magnetic field signal;
  • the preset boundary signal includes an intermittently generated coding group, where the coding group is combined by at least a first state unit and a second state unit according to a preset coding rule, and the preset storage signal is preset A signal that matches the encoding rules.
  • the first state unit is a basic signal appearing according to the first timing rule
  • the second state unit is a basic signal appearing according to the second timing rule.
  • the first state unit is a base signal having a first frequency and the second state unit is a base signal having a second frequency.
  • the first state unit is a base signal having a first magnitude and the second state unit is a base signal having a second magnitude.
  • the basic signal is one of a single cycle pulse signal, a sine wave signal, a triangular wave signal or a sawtooth wave signal.
  • the first state unit is a high level signal and the second state unit is a low level signal.
  • the processing signal is a pulse sequence signal corresponding to a timing of occurrence of the first state unit and the second state unit.
  • the processing signal includes a first pulse sequence signal and a second pulse sequence signal corresponding to a direction of the detection signal.
  • the first pulse sequence signal and the second pulse sequence signal are in opposite directions.
  • the first pulse sequence signal or the second pulse sequence signal is selected as a reference signal according to a timing at which the first pulse sequence signal and the second pulse sequence signal appear, and the reference signal is compared with a preset stored signal.
  • the technical problem also solved by the present invention is to provide a boundary system capable of identifying whether a boundary signal is a boundary signal of the system.
  • the technical solution provided by the present invention is: a boundary system, configured to identify whether a boundary signal received by an automatic walking device is a preset boundary signal sent by a signal generating unit to a boundary line, and a preset boundary The signal is transmitted along the boundary line to generate a preset magnetic field signal
  • the boundary system includes: a signal detecting unit disposed in the automatic walking device for detecting a magnetic field signal in a boundary line range and generating a detection signal; a signal processing unit, The device is electrically connected to the signal detecting unit, and receives the detection signal, and processes the detection signal to generate a processing signal.
  • the control unit stores a preset storage signal, and includes: a receiving device electrically connected to the signal processing unit.
  • the signal comparison device is electrically connected to the receiving device, and compares the processing signal received by the receiving device with a preset storage signal;
  • the main control device is electrically connected to the signal comparison device, when the processing signal Confirmation detection when it is the same as the preset stored signal
  • the magnetic field signal is a preset magnetic field signal;
  • the preset boundary signal includes an intermittently generated coding group, and the coding group is combined by at least a first state unit and a second state unit according to a preset coding rule,
  • the preset stored signal is a signal that matches the preset encoding rule.
  • the first state unit is a basic signal appearing according to the first timing rule
  • the second state unit is a basic signal appearing according to the second timing rule.
  • the first state unit is a base signal having a first frequency and the second state unit is a base signal having a second frequency.
  • the first state unit is a base signal having a first magnitude and the second state unit is a base signal having a second magnitude.
  • the basic signal is one of a single cycle pulse signal, a sine wave signal, a triangular wave signal or a sawtooth wave signal.
  • the first state unit is a high level signal and the second state unit is a low level signal.
  • the processing signal is a pulse sequence signal corresponding to a timing of occurrence of the first state unit and the second state unit.
  • the processing signal is a first pulse sequence signal and a second pulse sequence signal corresponding to a direction of the preset boundary signal.
  • the first pulse sequence signal and the second pulse sequence signal are in opposite directions.
  • control unit further includes signal selection means, the signal selection means receives the signal transmitted by the receiving means, and selects the first sequence of pulse signals according to the timing of the occurrence of the first pulse sequence signal and the second pulse sequence signal Or the second pulse sequence signal is used as a reference signal for comparison with the preset stored signal, and the selection result is transmitted to the signal comparison device.
  • signal selection means receives the signal transmitted by the receiving means, and selects the first sequence of pulse signals according to the timing of the occurrence of the first pulse sequence signal and the second pulse sequence signal Or the second pulse sequence signal is used as a reference signal for comparison with the preset stored signal, and the selection result is transmitted to the signal comparison device.
  • the invention provides the boundary signal identification method and the boundary system thereof, and determines whether the boundary signal received by the automatic walking device is preset by determining whether the magnetic field received by the automatic walking device is a preset magnetic field signal.
  • the boundary signal thereby eliminating the boundary signal of the system, and improving the anti-interference ability of the system.
  • Figure 2 is a circuit block diagram of the boundary system shown in Figure 1;
  • Figure 3 is a circuit block diagram further refined by the boundary system shown in Figure 2;
  • FIG. 4 is a schematic diagram of a first state unit and a second state unit of a preset boundary signal of the boundary system shown in FIG. 1;
  • FIG. 5 is a schematic diagram of a first state unit and a second state unit of another preset boundary signal of the boundary system shown in FIG. 1;
  • FIG. 6 is a schematic diagram of signals detected and recognized outside the boundary line by a boundary system according to a preferred embodiment of the present invention.
  • FIG. 7 is a schematic diagram of signals detected and recognized in a boundary line by a boundary system according to a preferred embodiment of the present invention.
  • Figure 8 is a flow chart of the control unit shown in Figure 1.
  • the boundary system shown in Fig. 1 includes a signal generating unit 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 outside the boundary line 3.
  • the signal generating unit 6 is electrically connected to the boundary line 3, and the signal generating unit 6 generates a preset boundary signal.
  • the SC is sent to the boundary line 3, and the preset boundary signal SC flows through the boundary line 3 to generate a preset magnetic field 7.
  • the automatic walking device 1 includes a signal detecting unit 8, a signal processing unit 9, and a control unit 11.
  • the signal detecting unit 8 is for detecting a magnetic field in the surrounding environment and generating a detection signal SC'.
  • the signal processing unit 9 is electrically connected to the signal detecting unit 8, receives the detection signal SC', and processes the detection signal SC' to generate a processing signal.
  • the control unit 11 stores a preset storage signal, and the preset storage signal matches the preset encoding rule.
  • the control unit 11 further includes a receiving device 111, a comparing device 113, and a main control device 115.
  • the receiving device 111 is for receiving a processing signal output from the signal processing unit 9.
  • the comparing means 113 is for comparing the processed signal with a preset stored signal, and outputs the comparison result to the master device 115.
  • the main control device 115 confirms that the detected magnetic field signal is a preset magnetic field signal, that is, the boundary signal in the environment is a preset boundary signal sent by the signal generation unit 6; the comparison device 113 When the comparison result of the output is different, the main control device 115 confirms that the detected magnetic field signal is not a preset magnetic field signal, that is, the boundary signal in the environment is not the preset boundary signal sent by the signal generating unit 6, and the processed signal is discarded. , do not deal with it.
  • the preset boundary signal SC includes an intermittently generated coding group, and the time interval between the coding group and the coding group may be a changed time value, or may be a fixed time value, as long as it is larger than a single coding group width and satisfies the control unit.
  • the arithmetic processing rate of 11 is sufficient.
  • the time value of the change is more complicated to implement, and the fixed time value is relatively easy to implement, so the time interval is preferably a fixed time value.
  • a code group includes a first state unit A and a second state unit B. The first state unit A is different from the second state unit B, and the two state signals are combined according to preset encoding rules stored in the signal generating unit 6. Coding group.
  • the preset encoding rule expresses the first state unit A and the second state included in one coding group.
  • the total number of cells B, and the combined relationship of the first state cell A and the second state cell B For example, when the preset encoding rule is AAB, it expresses that the total number of the first state unit A and the second state unit B included in one code group is 3, and the combination relationship is that two first state units A appear first. , then a second state unit appears: 8.
  • the preset encoding rule may also be ABBA. At this time, it is expressed that the total number of the first state unit A and the second state unit B included in one code group is 4, and the combination relationship is that a first state unit appears first.
  • the preset coding rules can be set according to actual needs.
  • the basic principle of setting is to balance the difficulty of recognition and avoid the boundary signal duplication with surrounding neighboring systems.
  • the total number of the first state unit A and the second state unit B included in one coding group in this embodiment is 2, and the preset coding rules stored in the signal generation unit may be AA, AB, BA, BB. one of.
  • the first state unit A and the second state unit B are both composed of basic signals, and the differences between them can be distinguished by timing rules, frequencies, and amplitudes.
  • the timing rule refers to the time point when the basic signal appears in a period of time.
  • the basic signal may be one of a single-cycle pulse signal, a sine wave signal, a triangular wave signal, or a sawtooth signal.
  • the first state unit A and the second state unit B are distinguished from each other by timing
  • the first state unit A is a basic signal appearing according to the first timing rule
  • the second state unit B is a basic signal appearing according to the second timing rule.
  • the first timing rule is different from the second timing rule, that is, the time points at which the basic signals of the first state unit A and the second state unit B appear are different.
  • the square wave signal is taken as an example to illustrate the difference between the first timing rule and the second timing rule, that is, the difference between the first state unit A and the second state unit B.
  • three time periods t1 are included in the preset time period T.
  • the square wave signal of the first state unit A appears according to the following first timing rule: During the first time period t1, a high level signal appears, and during the second time period t1 and the third time period t1, a low voltage signal appears.
  • the square wave signal of the second state unit B appears according to the following second timing rule: in the first time period t1, a low level signal appears, and in the second time period t1, a high level signal occurs, and the third time period t1 , a low level signal appears.
  • the duty ratios of the first state unit A and the second state unit B in the preset time period T are the same, and only the time points at which the high level signal appears are different.
  • the first state unit A and the second state unit B may also have different duty ratios.
  • the square wave signal of the first state unit A appears according to the first timing rule as follows: a high level signal occurs in the first time period t1 and the second time period t1, and a low level signal occurs in the third time period t1. .
  • Second The square wave signal of the state unit B appears according to the following second timing rule: During the first time period t1, a high level signal appears, and a low level signal occurs in the second time period t1 and the third time period t1.
  • FIG. 4 and FIG. 5 only the first state unit A and the second state unit B caused by the difference between the first timing rule and the second timing rule are differently illustrated, and the other variants are different.
  • a timing rule and a second timing rule are also within the scope of the invention.
  • the first state unit A and the second state unit B are distinguished from each other by frequency
  • the first state unit A is a basic signal having a first frequency
  • the second state unit B is a basic signal having a second frequency
  • the first frequency Different from the second frequency it may be in any proportional relationship with each other, and it is preferable that the frequency values of the two are different by one time or more.
  • the first state unit A and the second state unit B are distinguished from each other by the amplitude
  • the first state unit A is a basic signal having a first amplitude
  • the second state unit B is a basic signal having a second amplitude.
  • the first amplitude is different from the second amplitude, and may be in any proportional relationship with each other.
  • the amplitudes of the two are different by more than one time.
  • the above explains how to distinguish the first state unit A and the second state unit B from three different timings, different frequencies, and different amplitudes, and the final purpose is to make the first state unit A different from the second state unit B.
  • other methods may be used, such as the first state unit A being a high level signal and the second state unit B being a low level signal; for example, the first state unit A is a single period
  • the basic signal, the second state unit B is a signal having a magnitude of zero, and the like.
  • the signal detecting unit 8 detects the magnetic field in the surrounding environment, and A detection signal SC ' is generated.
  • the signal detecting unit 8 can have various forms as long as it can convert the magnetic field in the environment into a corresponding electrical signal.
  • the signal detecting unit 8 includes an inductor, the magnetic field in the inductor sensing environment, and generates a corresponding electromotive force. Thereby, the magnetic field in the environment is converted into the detection signal SC and transmitted to the signal processing unit 9.
  • the state unit A has a corresponding relationship first state unit A, and a second state unit B having a corresponding relationship with the second state unit B.
  • the signal processing unit 9 processes the received detection signal SC' into a processing signal.
  • the processing signal is a pulse sequence letter corresponding to the timing of occurrence of the first state unit A and the second state unit B. No., it is convenient for the control unit 1 1 to identify and process the processed signal.
  • the signal processing unit 9 is configured to recognize the timing of the included basic signals of the first state unit A and the second state unit B, thereby identifying The timings at which the first state unit A' and the second state unit B' appear, thereby identifying the timings at which the first state unit A and the second state unit B appear, and generating the first state unit A and the second state unit B The timing corresponds to the pulse sequence signal.
  • the signal processing unit 9 is arranged to identify the frequency of the basic signal included in the first state unit A and the second state unit B', thereby identifying The timing of occurrence of the first state unit A ' and the second state unit B', thereby identifying the timing of occurrence of the first state unit A and the second state unit B, generating the occurrence of the first state unit A and the second state unit B
  • the pulse sequence signal corresponding to the timing.
  • the signal processing unit 9 is arranged to identify the amplitude of the basic signal included in the first state unit A and the second state unit B', thereby Identifying the timing of the occurrence of the first state unit A and the second state unit B′, and further identifying the timing of occurrence of the first state unit A and the second state unit B, generating the first state unit A and the second state unit B The timing sequence corresponding to the pulse sequence signal that appears.
  • the signal processing unit 9 is correspondingly configured to identify the timing at which the basic signal having the parameter appears, thereby identifying the first state unit A' and the The two-state unit B, the timing of occurrence, further identifies the timing at which the first state unit A and the second state unit B appear, and generates a pulse sequence signal corresponding to the timing at which the first state unit A and the second state unit B appear.
  • the specific identification method may be an analog circuit, or a digital circuit, or a combination of a digital circuit and an analog circuit.
  • the first state unit A is a square wave signal having a first timing rule
  • the second state unit B is a square wave signal having a second timing rule as an example, and specific to the signal processing unit 9 .
  • the embodiments are illustrated by way of example.
  • the preset boundary signal SC shown in FIG. 6 and FIG. 7 includes a plurality of code groups intermittently appearing intermittently, and the time interval between the code group and the code group is 13 ms.
  • the total number of the first state unit A and the second state unit B included in each code group is 4, wherein the number of the first state unit A and the second state unit B are respectively two, and the first state unit A and two
  • the combined relationship of the second state units B is ABBA.
  • the first state unit A and the second state unit B each have a width of a time period T, T exemplarily takes a value of 300 us, the time period T includes three time periods t, and the time period t takes a value of 100 00 us .
  • the element A has a high level signal during the first time period t
  • the second state unit B has a high level signal during the second time period t.
  • the preset boundary signal SC generates a preset magnetic field having an opposite direction inside and outside the boundary line 3 after passing through the boundary line 3.
  • the magnetic field in the environment is generated by the signal detecting unit 8 to generate a detection signal SC having an opposite direction.
  • the signal SC' shown in Fig. 6 shows that the autonomous traveling apparatus 1 is outside the boundary line 3
  • the signal SC shown in Fig. 7 shows the detection signal SC' of the autonomous traveling apparatus 1 within the boundary line 3.
  • the signal processing unit 9 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 connected to the control unit 11.
  • the amplifier 12 is for amplifying the detection signal SC' transmitted from the signal detecting unit 8, and generates a signal SA as shown in Figs.
  • the signal SA is translated upwards as a whole with respect to the detection signal SC'.
  • the amplified signal SA is further passed to the first comparator 14 and the second comparator 16.
  • the first comparator 14 is set to a high level comparator
  • the second comparator 16 is set to a low level comparator.
  • the first comparator 14 has a first reference voltage RH
  • the second comparator 16 has a second reference voltage RL, which is higher than the second reference voltage RL.
  • the first comparator 14 when the amplitude of the signal SA is higher than the first reference voltage M, the first comparator 14 outputs a high level signal, and conversely, when the amplitude of the signal SA is lower than the first reference voltage RH At the time, the first comparator 14 outputs a low level signal.
  • the second comparator 16 when the amplitude of the signal SA is higher than the second reference voltage RL, the second comparator 16 outputs a high level signal, and conversely, when the amplitude of the signal SA is lower than the second reference voltage RL The second comparator 16 outputs a low level signal.
  • comparing the timings of the high level signal and the low level signal output by the first comparator 14 and the second comparator 16 can be used to know that the amplitude on the signal SA is RH and the amplitude.
  • the timing at which the two feature points of the RL appear it can be seen that the first comparator 14 and the second comparator 16 monitor the timing of occurrence of two feature points on the signal SA.
  • the signal SA is transmitted to the control unit 11 via the first comparator 14 and the signal SH is transmitted to the control unit 11 via the second comparator 16 to generate the signal SL.
  • the signals of the SH and the SL are as shown in FIGS. 6 and 7.
  • the signal SA in Fig. 6 first appears as a feature point of amplitude RH, and then appears as a feature point of amplitude RL, that is, the direction of the signal SA is first up and then down. Comparing the SH signal and the SL signal shown in FIG. 7, 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 is high level.
  • the processing signal may be a signal corresponding to each point of the detection signal SC', thereby causing the processing signal and the detection signal SC'
  • the waveform corresponds.
  • the manner in which two comparators are provided in the signal processing unit 9 is selected in the present embodiment.
  • the control unit 11 receives the output signal SH from the first comparator 14 and the output signal SL from the second comparator 16 through the receiving device 111.
  • the comparing means 113 compares the signal SH and the signal SL with a preset stored signal, and outputs the comparison result to the main control unit 115 in the form of a signal.
  • the main control device 115 confirms that the detected magnetic field signal is a preset magnetic field signal, that is, confirms that the boundary signal in the environment is the preset boundary signal sent by the signal generation unit 6;
  • the main control device 115 confirms that the detected magnetic field signal is not a preset magnetic field signal, that is, the boundary signal in the confirmation environment is not the preset boundary signal sent by the signal generating unit 6, and The signal is discarded and no processing is done.
  • the control unit 11 can set the signal selecting means 112 between the receiving means 111 and the signal comparing means 113.
  • the signal selecting means 112 is configured to receive a signal from the receiving device 111, select a signal SH or a signal SL as a signal compared with a preset stored signal according to the timing at which the signal SH and the signal SL appear, and pass the selection result to the signal comparison.
  • Device 113 the preset boundary signal is also a set of pulse sequence signals corresponding to the selected signal.
  • the signal comparison means 113 only needs to compare a group of signals, saving resources of the control unit 11.
  • step SO initializes the control unit 11. Proceeding to step S2, the processing signal transmitted by the signal processing unit 9 is received. Proceeding to step S4, it is judged whether or not a pair of processing signals are received, that is, a pulse signal of the signal SH upward and a pulse signal of the signal SL downward are received. In step S4, when the determination result is YES, the process proceeds to step S6. Otherwise, if the determination result is negative, the process returns to step S2. In step S6, the control unit 11 identifies, based on the timing at which the processing signals SH and SL appear, whether the automatic traveling device 2 is within the boundary line or outside the boundary line with respect to the boundary line 3.
  • step S7 the recognition result is recorded. Proceeding to step S8, the next pair of processing signals are awaited, i.e., waiting for the pulse signal up to the next signal SH and the pulse signal down to the signal SL. Going to step S10, it is determined whether the time difference between receiving the pair of processing signals and the previous reception of the pair of processing signals is less than the preset time value T1.
  • the preset time value T1 is set correspondingly according to the preset boundary signal.
  • T1 is set to lms.
  • step S10 it is judged whether the logarithm of the processed signal that has been received reaches the preset value n, that is, whether the up pulse signal appears in the judgment signal SH and the number of times the downward pulse signal appears in the signal SL reaches the preset value n.
  • the preset value n is set according to a preset encoding rule.
  • the preset encoding rule is: The total number of the first state unit A and the second state unit B included in one code group is 4, so Set the value n to 4.
  • step S12 if the determination result is no, it indicates that the received processing signal cannot be the same as the preset storage signal, so all the processed signals that have been received are discarded, so the process returns to step S2, and the received processing signal is restarted; If the result of the determination is YES, the process proceeds to step S14.
  • step S14 one of the received pair of processing signals SH and SL is selected as a reference signal for comparison with the preset stored signal based on the recorded recognition result.
  • step S7 if the recorded recognition result is that the automatic walking device 2 is in the boundary line 3, the selection signal SH is used as the reference signal; in step S7, if the recorded recognition result is that the automatic walking device 1 is When the boundary line 3 is outside, the signal SL is selected as a reference signal.
  • the recognition result recorded in step S7 is the result of the timing recognition of the occurrence of the pair of pulse sequence signals SH and SL included in the processing signal by the control unit 11, and therefore, the selection signal SH or SL as the reference signal according to the recorded recognition result is based on the pulse One of the timings at which the sequence signals SH and SL appear is selected as a reference signal for comparison with a preset stored signal.
  • step S16 the reference signal is compared with a preset stored signal. Go to step S18 to judge the reference signal Whether it is consistent with the preset storage signal, if the determination result is yes, the process proceeds to step S20, and if the determination result is no, the process proceeds to step S221.
  • step S20 the control unit 11 confirms that the magnetic field signal detected by the signal detecting unit 8 is a preset magnetic field signal, that is, the boundary signal in the environment is a preset boundary signal sent by the signal generating unit 6.
  • step S 2 2 2 the control unit 11 confirms that the magnetic field signal detected by the signal detecting unit 8 is not a preset magnetic field signal, that is, the boundary signal in the environment is not a preset boundary signal.
  • the control unit 1 1 when the boundary signal in the environment is a preset boundary signal, the control unit 1 1 further controls the automatic walking device 2 to perform corresponding work according to the information carried by the processing signal; when the boundary signal in the environment is not When the boundary signal is set, the control unit 1 1 ignores the processing signal, does not change any work being performed by the autonomous walking device 2 according to the information carried by the processing signal, but continues to wait for the occurrence of the next processing signal.
  • the preset boundary signal excludes the interference signal that is not the preset boundary signal, prevents the interference signal from interfering with the system, and improves the anti-interference ability of the system.
  • the automatic traveling device 2 may be in various forms such as a lawn mower, a vacuum cleaner, an industrial robot, and the like.
  • 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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Description

边界信号识别方法及其边界系统 技术领域
本发明涉及一种边界信号识别方法， 特别是一种识别边界信号是否为本系 统的边界信号的边界信号识别方法。
本发明涉及一种边界系统， 特别是一种识别边界信号是否为本系统的边界 信号的边界系统。
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， 通常釆用边界系统对 自动行走设备的行走路径进行控制。 所述边界系统包括： 信号发生单元， 产生 预设的边界信号； 边界线， 与信号发生单元电性连接， 预设的边界信号沿边界 线传导， 并生成预设的磁场信号； 信号检测单元， 设置在所述自动行走设备内， 用于检测环境中的磁场信号， 并生成检测信号； 信号处理单元， 与信号检测单 元电性连接， 接收所述检测信号， 对所述检测信号进行处理， 生成处理信号； 控制单元接收所述处理信号， 并根据所述处理信号代表的信息， 确认自动行走 设备相对边界线的位置， 控制自动行走设备的在跨越边界线时及时转换自动行 走设备行走方向， 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。 早期的边界系统发送的预设的边界信号为脉冲信号， 此种 边界信号的优势在于识别容易， 但存在的问题是边界系统无法区分来自边界信 号的脉冲信号与干扰的脉冲信号， 使得边界系统在接收到干扰的脉冲信号时， 误以为是边界信号而根据其携带的信息对自动行走设备的行走路径进行控制， 使得边界系统很容易受到干扰， 而做出错误判断， 降低了边界系统的抗干扰能 力。
2 001年 1 0月 9 日公告的美国专利 US 6 3007 37 B 1揭示的边界系统解决了上述 抗干扰能力弱的技术问题。 其解决问题的方式在于提供了一种包括至少两个正 弦波信号的边界信号，两个正弦波信号分别是频率为 8 K的第一正弦波信号和频 率为 1 6K的第二正弦波信号， 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 检测到与第一正弦波信号对应的第一检测信号和与第二正弦波信号对应的第二 检测信号， 由于第一正弦波信号和第二弦波信号在第一正弦波信号过零点时具 有固定的对应关系，因此第一检测信号和第二检测信号也具有相应的对应关系， 控制单元根据第一检测信号过零点时第二检测信号为正或者负来判断自动行走 设备处于边界线内还是边界线外， 从而有效地控制自动行走设备的行走路径， 使其始终保持在边界线内工作。 由于正弦波信号相较于脉冲信号具有抗千扰能 力强的优点， 使得该边界系统能有效克服外界信号的干扰， 但在实际使用过程 中， 依然存在干扰问题。 因为在实际使用过程中， 在相邻的两个区域上， 存在 同时使用该边界系统的可能性， 即在相邻的两个区域上分别存在第一边界系统 和第二边界系统， 两个边界系统的构成均为上述以正弦波作为边界信号的边界 系统。 此情况下当第一边界系统的自动行走设备行走至第一边界线与第二边界 线靠近的位置时， 第一边界系统的自动行走设备既可以检测到第一边界线的信 号， 又可以检测到第二边界线的信号。 若此时第一边界系统的自动行走设备处 于第一边界线内时， 其相对第二边界线则处于第二边界线的外侧。 此时， 自动 行走设备既检测到来自第一边界线的第一检测信号和第二检测信号， 且在第一 检测信号过零点时第二检测信号为正；同时叉检测到来自第二边界线的 第一检 测信号和第二检测信号， 且在 第一检测信号过零点时第二检测信号为负。 由于 第一边界系统与第二边界系统的构成相同， 因此控制单元检测到第一检测信号 和第二检测信号时无法区分 一检测信号和第二检测信号来自第一边界线还是 第二边界线，控制单元根据 第一检测信号过零点时第二检测信号为正或者负来 判断自动行走设备处于边界线内还是外时， 判断结果为自动行走设备既处于边 界线外又处于边界线内， 造成自动行走设备出现混乱， 甚至停止工作。 此外， 当环境中存在一个频率为 1 6 K的正弦波信号 A和一个频率为 32 K的正弦波信号 B , 且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度时， 信号检测单元相应地检测到 A，和 B，， 且在信号 A，过零点时， 信号 B，为正或负。 控制单元根据信号 A '与 B '的对应关系判断自动行走设备 2处于边界线 3内还是 边界线 3外。 控制单元不会根据其接收到的信号 A '与 B '来区分信号 A与 B是否 为边界信号， 导致即使信号 A与 B不是边界信号， 控制单元仍会根据其携带的 信息控制自动行走设备的行走路径， 从而导致出现错误判断。
基于上述分析可知， U S 6 3007 37 B 1公告专利虽然从信号形式上可以排除部分 外界干扰， 但无法彻底解决外界环境中的信号对边界系统的干扰。
发明内容
本发明解决的技术问题为： 提供一种能识别边界信号是否为本系统的边界 信号的边界信号识别方法。
为解决上述技术问题， 本发明的技术方案是： 一种边界信号识别方法， 所 述边界信号识别方法用于识别自动行走设备接收到的边界信号是否为信号发生 单元向边界线发送的预设的边界信号， 预设的边界信号沿边界线传导生成预设 的磁场信号， 所述边界信号识别方法包括如下步骤： 控制自动行走设备启动工 作； 检测边界线范围内的磁场信号， 并生成检测信号； 处理所述检测信号， 生 成处理信号； 将所述处理信号与预设的存储信号进行比较； 当所述处理信号与 预设的存储信号相同时， 确认检测到的磁场信号为预设的磁场信号； 所述预设 的边界信号包括间歇性出现的编码组， 所述编码组由至少第一状态单元和第二 状态单元按照预设的编码规则组合， 所述预设的存储信号为与预设的编码规则 相匹配的信号。
优选地， 第一状态单元为按照第一时序规则出现的基本信号， 第二状态单 元为按照第二时序规则出现的基本信号。
优选地， 第一状态单元为具有第一频率的基本信号， 第二状态单元为具有 第二频率的基本信号。
优选地， 第一状态单元为具有第一幅值的基本信号， 第二状态单元为具有 第二幅值的基本信号。
优选地， 所述基本信号为单周期的脉冲信号、 正弦波信号、 三角波信号或 锯齿波信号中的一种。
优选地， 第一状态单元为高电平信号， 第二状态单元为低电平信号。
优选地， 所述处理信号为与第一状态单元及第二状态单元出现的时序相对 应的脉冲序列信号。
优选地， 所述处理信号包括与所述检测信号的方向相对应的第一脉冲序列 信号和第二脉冲序列信号。 优选地， 第一脉冲序列信号和第二脉冲序列信号方向相反。
优选地， 根据第一脉冲序列信号和第二脉冲序列信号出现的时序， 选择第 一脉冲序列信号或第二脉冲序列信号作为参考信号， 将所述参考信号与预设的 存储信号进行比较。
本发明还解决的技术问题为： 提供一种能识别边界信号是否为本系统的边 界信号的边界系统。
为解决上述技术问题， 本发明提供的技术方案为： 一种边界系统， 用于识 别自动行走设备接收到的边界信号是否为信号发生单元向边界线发送的预设的 边界信号， 预设的边界信号沿边界线传导生成预设的磁场信号， 所述边界系统 包括： 信号检测单元， 设置在所述自动行走设备内， 用于检测边界线范围内的 磁场信号， 并生成检测信号； 信号处理单元， 与信号检测单元电性连接， 接收 所述检测信号， 对所述检测信号进行处理， 生成处理信号； 控制单元， 存储有 预设的存储信号， 包括： 接收装置， 与信号处理单元电性连接， 接收所述处理 信号； 信号比较装置， 与接收装置电性连接， 将接收装置接收的处理信号与预 设的存储信号进行比较； 主控装置， 与信号比较装置电性连接， 当所述处理信 号与预设的存储信号相同时， 确认检测到的磁场信号为预设的磁场信号； 所述 预设的边界信号包括间歇性出现的编码组， 所述编码组由至少第一状态单元和 第二状态单元按照预设的编码规则组合， 所述预设的存储信号为与预设的编码 规则相匹配的信号。
优选地， 第一状态单元为按照第一时序规则出现的基本信号， 第二状态单 元为按照第二时序规则出现的基本信号。
优选地， 第一状态单元为具有第一频率的基本信号， 第二状态单元为具有 第二频率的基本信号。
优选地， 第一状态单元为具有第一幅值的基本信号， 第二状态单元为具有 第二幅值的基本信号。
优选地， 所述基本信号为单周期的脉冲信号、 正弦波信号、 三角波信号或 锯齿波信号中的一种。
优选地， 第一状态单元为高电平信号， 第二状态单元为低电平信号。
优选地， 所述处理信号为与第一状态单元及第二状态单元出现的时序相对 应的脉冲序列信号。
优选地， 所述处理信号为与所述预设的边界信号的方向相对应的第一脉冲 序列信号和第二脉冲序列信号。 优选地， 第一脉冲序列信号和第二脉冲序列信号方向相反。
优选地， 所述控制单元还包括信号选择装置， 所述信号选择装置接收所述 接收装置传递的信号， 并根据第一脉冲序列信号和第二脉冲序列信号出现的时 序， 选择第一序列脉冲信号或第二脉冲序列信号作为与预设的存储信号进行比 较的参考信号， 并将选择结果传递给信号比较装置。
本发明的有益效果为： 本发明提供的边界信号识别方法及其边界系统， 通 过判断自动行走设备接收到的磁场是否为预设的磁场信号， 确认自动行走设备 接收到的边界信号是否为预设的边界信号， 从而将非本系统的边界信号排除， 提高系统的抗干扰能力。 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。 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所示边界系统进一步细化的电路模块图；
图 4是图 1所示边界系统的一种预设的边界信号的第一状态单元和第二状 态单元的示意图；
图 5是图 1所示边界系统的另一种预设的边界信号的第一状态单元和第二 状态单元的示意图；
图 6是本发明较佳实施方式的边界系统在边界线外检测和识别到的信号的 示意图；
图 7是本发明较佳实施方式的边界系统在边界线内检测和识别到的信号的 示意图；
图 8是图 1所示控制单元的流程图
2 自动行走设备 6 信号发生单元
3 边界线 7 预设的磁场
4 工作区域 8 信号检测单元
5 非工作区域 9 信号处理单元 11 控制单元 115 主控装置
111 接收装置 12 放大器
112 信号选择装置 14 第一比较器
113 信号比较装置 16 第二比较器
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单元 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。信号发生单元 6与边界线 3电性连接，信号发生单元 6产生预设的边界信号
SC发送给边界线 3， 预设的边界信号 SC流经边界线 3时产生预设的磁场 7。 自 动行走设备 1 包括信号检测单元 8、 信号处理单元 9和控制单元 11。 信号检测 单元 8用于检测周围环境中的磁场， 并生成检测信号 SC'。 信号处理单元 9与 信号检测单元 8 电性连接， 接收所述检测信号 SC', 对所述检测信号 SC'进行 处理， 生成处理信号。 控制单元 11 内存储有预设的存储信号， 该预设的存储信 号与预设的编码规则相匹配。
如图 2所示， 控制单元 11进一步包括接收装置 111、 比较装置 113、 主控装 置 115。 接收装置 111 用于接收来自信号处理单元 9输出的处理信号。 比较装 置 113用于将处理信号与预设的存储信号进行比较， 并将比较结果输出给主控 装置 115。 比较装置 113输出的比较结果为相同时， 主控装置 115确认检测到 的磁场信号为预设的磁场信号， 即环境中的边界信号为信号发生单元 6发送的 预设的边界信号； 比较装置 113输出的比较结果为不相同时， 主控装置 115确 认检测到的磁场信号并非预设的磁场信号， 即环境中的边界信号并非信号发生 单元 6发送的预设的边界信号， 并将处理信号丢弃， 不对其作任何处理。
预设的边界信号 SC包括间歇性出现的编码组，编码组与编码组之间的时间 间隔可以为变化的时间值， 也可以为固定的时间值， 只要大于单个编码组的宽 度及满足控制单元 11的运算处理速率即可。 变化的时间值实现较为复杂， 固定 的时间值实现相对容易， 因而时间间隔优选为固定的时间值。 一个编码组包括 第一状态单元 A和第二状态单元 B, 第一状态单元 A不同于第二状态单元 B, 该两个状态信号按照信号发生单元 6内存储的预设的编码规则组合形成一个编 码组。 预设的编码规则表达的是一个编码组包含的第一状态单元 A与第二状态 单元 B的总数， 以及第一状态单元 A与第二状态单元 B的组合关系。 例如， 预 设的编码规则为 AAB 时， 其表达的是一个编码组包含的第一状态单元 A与第 二状态单元 B 的总数为 3 , 且其组合关系为先出现两个第一状态单元 A , 然后 出现一个第二状态单元 ：8。 当然预设的编码规则也可以为 ABBA , 此时其表达 的是一个编码组包含的第一状态单元 A与第二状态单元 B的总数为 4 , 且其组 合关系为先出现一个第一状态单元 A , 然后出现两个第二状态单元 B , 再出现 一个第一状态单元 A。 预设的编码规则可以根据实际需要而设定， 设定的基本 原则是兼顾识别的难易程度和避免与周围的相邻系统的边界信号重复。优选地， 本实施例中一个编码组包含的第一状态单元 A与第二状态单元 B的总数为 2 , 存储在信号发生单元中的预设的编码规则可以为 AA、 AB、 BA、 BB 中的一个。
第一状态单元 A与第二状态单元 B均由基本信号组成， 相互之间的不同， 可以通过时序规则、 频率、 幅值来加以区分。 其中， 时序规则指在一段时间内， 基本信号出现的时间点。 基本信号可以为单周期的脉冲信号、 正弦波信号、 三 角波信号或锯齿波信号等信号形式中的一种。
当第一状态单元 A与第二状态单元 B通过时序来相互区分时， 第一状态单 元 A为按照第一时序规则出现的基本信号， 第二状态单元 B为按照第二时序规 则出现的基本信号， 第一时序规则不同于第二时序规则， 即第一状态单元 A与 第二状态单元 B的基本信号出现的时间点不同。 以下以方波信号为例， 示例性 地说明第一时序规则与第二时序规则的不同， 亦即第一状态单元 A与第二状态 单元 B的不同。 如图 4所示， 在预设的时间段 T 内 包含 3个时间段 tl。 第一状 态单元 A的方波信号按照如下的第一时序规则出现： 第一时间段 t l 内， 出现高 电平信号， 第二时间段 tl 及第三时间段 tl 内， 均出现低电压信号。 第二状态 单元 B的方波信号按照如下的第二时序规则出现： 第一时间段 tl 内， 出现低电 平信号， 第二时间段 tl 内， 出现高电平信号， 第三时间段 tl 内， 出现低电平 信号。 此状态下， 第一状态单元 A和第二状态单元 B在预设时间段 T 内的占空 比相同， 仅高电平信号出现的时间点不同。 第一状态单元 A和第二状态单元 B 也可以占空比不同， 如图 5所示， 在预设的时间段 T 内包含 3个时间段 t l。 第 一状态单元 A的方波信号按照如下的第一时序规则出现：第一时间段 t l和第二 时间段 tl 内， 均出现高电平信号， 第三时间段 t l 内， 出现低电平信号。 第二 状态单元 B的方波信号按照如下的第二时序规则出现： 第一时间段 t l 内， 出现 高电平信号， 第二时间段 t l 和第三时间段 tl 内， 均出现低电平信号。 在图 4 及图 5中， 仅示例性地说明了， 第一时序规则与第二时序规则的不同导致的第 一状态单元 A与第二状态单元 B的不同，其他变形方式得到的不同的第一时序 规则与第二时序规则也属于本发明的范围。
当第一状态单元 A与第二状态单元 B通过频率来相互区分时，第一状态单 元 A为具有第一频率的基本信号，第二状态单元 B为具有第二频率的基本信号， 第一频率不同于第二频率， 相互间可以成任意比例关系， 优选为两者的频率值 相差 1倍以上。
当第一状态单元 A与第二状态单元 B通过幅值来相互区分时，第一状态单 元 A为具有第一幅值的基本信号，第二状态单元 B为具有第二幅值的基本信号， 第一幅值不同于第二幅值， 相互间可以成任意比例关系， 优选为两者的幅值相 差 1倍以上。
以上从时序不同、 频率不同、 幅值不同三个角度说明了如何区分第一状态 单元 A和第二状态单元 B , 最终目的是为了使得第一状态单元 A与第二状态单 元 B不同。 为了达到该目的， 也可以通过其他一些筒单的方式， 如第一状态单 元 A为高电平信号， 第二状态单元 B 为低电平信号； 再如， 第一状态单元 A 为单周期的基本信号， 第二状态单元 B为幅值为零的信号等。
信号发生单元 6按照预设的编码规则生成预设的边界信号 SC后，预设的边 界信号 S C流经边界线 3时产生预设的磁场 7，信号检测单元 8检测周围环境中 的磁场， 并生成检测信号 SC '。 信号检测单元 8 可以有多种形式， 只要其能将 环境中的磁场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， 电感感应环境中的磁场， 并产生相应的电动势， 从而将环境中的磁场转换为检 测信号 S C，传递给信号处理单元 9。 本领域技术人员可以理解的是， 预设的边界 信号经边界线 3的传导及信号检测单元 8的接收并不会改变预设边界信号的属 性， 因此， 检测信号 SC '中必然包含与第一状态单元 A具有对应关系第一状态 单元 A，， 以及与第二状态单元 B具有对应关系的第二状态单元 B，。
信号处理单元 9 将接收到的检测信号 S C '处理成处理信号， 优选地， 处理 信号为与第一状态单元 A 及第二状态单元 B 出现的时序相对应的脉冲序列信 号， 便于控制单元 1 1 对处理信号的识别与处理。 当第一状态单元 A与第二状 态单元 B在时序规则上不相同时， 信号处理单元 9设置为识别第一状态单元 A， 及第二状态单元 B，的包含的基本信号的时序， 从而识别出第一状态单元 A '及第 二状态单元 B '出现的时序， 进而识别出第一状态单元 A与第二状态单元 B出现 的时序， 生成与第一状态单元 A及第二状态单元 B 出现的时序相对应的脉冲序 列信号。 当第一状态单元 A与第二状态单元 B在频率上不相同时， 信号处理单 元 9设置为识别第一状态单元 A，及第二状态单元 B '的包含的基本信号的频率， 从而识别出第一状态单元 A '及第二状态单元 B '出现的时序， 进而识别出第一状 态单元 A与第二状态单元 B 出现的时序， 生成与第一状态单元 A及第二状态 单元 B 出现的时序相对应的脉冲序列信号。 当第一状态单元 A与第二状态单元 B在幅值上不相同时， 信号处理单元 9设置为识别第一状态单元 A，及第二状态 单元 B '的包含的基本信号的幅值， 从而识别出第一状态单元 A，及第二状态单元 B '出现的时序， 进而识别出第一状态单元 A与第二状态单元 B 出现的时序， 生 成与第一状态单元 A及第二状态单元 B 出现的时序相对应的脉冲序列信号。 当 第一状态单元 A与第二状态单元 B在其他参数上有所不同时， 信号处理单元 9 相应设置为识别具有该参数的基本信号出现的时序， 从而识别出第一状态单元 A '及第二状态单元 B，出现的时序， 进而识别出第一状态单元 A与第二状态单元 B 出现的时序， 生成与第一状态单元 A及第二状态单元 B 出现的时序相对应的 脉冲序列信号。 具体的识别方式可以为模拟电路， 或数字电路， 或数字电路与 模拟电路的组合等。
下面结合图 6及图 7 ,以第一状态单元 A为具有第一时序规则的方波信号， 第二状态单元 B为具有第二时序规则的方波信号为例， 对信号处理单元 9的具 体实施方式进行举例说明。
如图 6及图 7所示的预设的边界信号 S C， 其包括周期性间歇出现的多个编 码组， 编码组与编码组之间的时间间隔为 1 3 m s。 每个编码组包括的第一状态单 元 A和第二状态单元 B的总数为 4 , 其中第一状态单元 A和第二状态单元 B的 个数分别为两个，且第一状态单元 A和两个第二状态单元 B的组合关系为 ABBA。 第一状态单元 A和第二状态单元 B均具有时间段为 T 的宽度， T示例性地取值 为 300 u s , 时间段 T 包含 3个时间段 t， 时间段 t 的取值为 1 00 u s。 第一状态单 元 A在第一个时间段 t 内出现高电平信号， 第二状态单元 B在第二个时间段 t 内出现高电平信号。预设的边界信号 SC经边界线 3后在边界线 3的内外生成具 有相反方向的预设的磁场。 环境中的磁场经信号检测单元 8后生成具有相反方 向的检测信号 SC，。图 6所示的信号 SC'示出了 自动行走设备 1在边界线 3以外， 图 7所示的信号 SC，示出了 自动行走设备 1在边界线 3以内的检测信号 SC'。
如图 3所示， 信号处理单元 9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的输出电性连接至控制单元 11。 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， 并生成如图 6和图 7 中所示的信 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进一步传 递给第一比较器 14和第二比较器 16。 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, 第二 比较器 16具有第二基准电压 RL, 第一基准电压 RH高于第二基准电压 RL。对第 一比较器 14 而言， 当信号 SA的幅值高于第一基准电压 M时， 第一比较器 14 输出高电平信号， 反之， 当信号 SA的幅值低于第一基准电压 RH时， 第一比较 器 14输出低电平信号。对第二比较器 16而言， 当信号 SA的幅值高于第二基准 电压 RL时， 第二比较器 16输出高电平信号， 反之， 当信号 SA的幅值低于第二 基准电压 RL时， 第二比较器 16输出低电平信号。 本领域技术人员可以理解的 是， 比较第一比较器 14和第二比较器 16输出的高电平信号和低电平信号的时 序即可得知信号 SA上的幅值为 RH和幅值为 RL的两个特征点出现的时序，由此 可见第一比较器 14 和第二比较器 16监测了信号 SA上的两个特征点出现的时 序。 信号 SA经第一比较器 14后生成信号 SH传递给控制单元 11, 信号 SA经第 二比较器 16后生成信号 SL传递给控制单元 11, SH及 SL的信号如图 6和图 7 中所示的信号 SH和 SL。 比较图 6中所示的 SH信号和 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。 相应地， 图 6 中的信号 SA先出现幅值为 RH的特征点， 后出现幅值为 RL的特征点， 即信号 SA的方向 为先上后下。 比较图 7中所示的 SH信号和 SL信号可知，信号 SL出现低电平的 时间点先于信号 SH高电平出现的时间点。 相应地， 图 7 中的信号 SA先出现幅 值为 RL的特征点， 后出现幅值为 RH的特征点， 即信号 SA的方向为先下后上。 由此可见， 通过比较信号 SH和信号 SL 的时序即可得知检测信号 SC'的方向， 即处理信号 SH和 SL与检测信号 SC'的方向具有对应关系。 本领域技术人员可 以理解的是， 当信号处理单元 9中的比较器设置得足够多时， 处理信号可以是 与检测信号 SC'的每一点相对应的信号， 从而使得处理信号与检测信号 SC'的波 形相对应。 但为简便起见， 本实施方式中选择了信号处理单元 9中设置两个比 较器的方式。
如图 3所示， 控制单元 11通过接收装置 111接收来自第一比较器 14的输 出信号 SH和来自第二比较器 16的输出信号 SL。比较装置 113将信号 SH和信 号 SL 与预设的存储信号进行比较， 并将比较结果以信号的形式输出给主控装 置 115。 比较装置 113输出的比较结果为相同时， 主控装置 115确认检测到的 磁场信号为预设的磁场信号， 即确认环境中的边界信号为信号发生单元 6发送 的预设的边界信号； 比较装置 113输出的比较结果为不相同时， 主控装置 115 确认检测到的磁场信号并非预设的磁场信号， 即确认环境中的边界信号并非为 信号发生单元 6发送的预设的边界信号， 并将处理信号丢弃， 不对其作任何处 理。 为简化信号比较装置 113 的结构和预设的存储信号的形式， 控制单元 11 可以在接收装置 111 与信号比较装置 113之间设置信号选择装置 112。 信号选 择装置 112用于接收来自接收装置 111的信号，根据信号 SH和信号 SL出现的 时序， 选择信号 SH或信号 SL作为与预设的存储信号进行比较的信号， 并将选 择结果传递给信号比较装置 113。 相应的， 预设的边界信号也为与被选择的信 号相对应的一组脉冲序列信号。 由此， 信号比较装置 113仅需对一组信号进行 比较， 节省了控制单元 11的资源。
以下，结合图 8,对自动行走设备 1的控制单元 11识别预设的边界信号 SC 的过程进行详细说明。
步驟 SO对控制单元 11进行初始化。 进入步骤 S2, 接收信号处理单元 9传 递的处理信号。 进入步骤 S4, 判断是否接收一对处理信号， 即接收到信号 SH 向上的脉冲信号和信号 SL向下的脉冲信号。 步骤 S4 中， 当判断结果为是时， 进入步骤 S6, 反之， 当判断结果为否时， 返回步驟 S2。 步驟 S6 中， 控制单元 11根据处理信号 SH和 SL出现的时序识别自动行走设备 2相对边界线 3处于边 界线内还是边界线外。 当信号 SH 出现向上的脉冲信号的时间点先于信号 SL出 现向下的脉冲信号的时间点时， 判断自动行走设备 2处于边界线 3夕卜； 当信号 SL出现向下的脉冲信号的时间点先于信号 SH出现向上的脉冲信号的时间点时， 判断自动行走设备 2处于边界线 3 内。 进入步驟 S7, 记录识别结果。 进入步骤 S8, 等待下一对处理信号， 即等待下一次接收到信号 SH向上的脉冲信号和信号 SL向下的脉冲信号。 进入步骤 S10, 判断再次接收到一对处理信号与前次接收 到一对处理信号的时间差是否小于预设时间值 Tl。 预设时间值 T1根据预设的 边界信号的形式进行相应设置。 本实施例中， T1设置为 lms。 步驟 S10中， 若 判断结果为是， 说明后一对处理信号属于前一对处理信号所属的特定编码组， 亦即属于一个编码组内的信号尚未全部接收完毕， 需要继续接收， 因此返回步 骤 S8继续等待下一对处理信号； 反之， 若步骤 S10中的判断结果为否， 说明后 一对处理信号并不属于前一对处理信号所属的特定编码组， 而是属于一个新的 编码组， 亦即属于一个编码组内的信号已经全部接收完毕， 接下来需要对已经 接收到的处理信号进行进一步处理， 因此进入步骤 S12。 步骤 S12 中， 判断已 经接收到的处理信号的对数是否达到预设值 n, 即判断信号 SH出现向上的脉冲 信号及信号 SL出现向下的脉冲信号的次数是否达到预设值 n。预设值 n根据预 设的编码规则进行相应设置， 本实施例中， 预设的编码规则为： 一个编码组所 包含的第一状态单元 A和第二状态单元 B的总数为 4, 因此预设值 n设置为 4。 步骤 S12 中， 若判断结果为否， 说明接收到的处理信号不可能与预设的存储信 号相同， 因此将已经接收到的所有处理信号均丢弃， 因此返回步骤 S2, 重新开 始接收处理信号； 反之， 若判断结果为是， 进入步驟 S14。 步骤 S14 中， 根据 记录的识别结果在接收到的一对处理信号 SH及 SL中， 选择其中的一个作为与 预设的存储信号进行比较的参考信号。 选择的依据为： 在步骤 S7 中， 若记录的 识别结果为自动行走设备 2处于边界线 3 内时，选择信号 SH作为参考信号； 在 步骤 S7 中， 若记录的识别结果为自动行走设备 1处于边界线 3外时， 选择信号 SL作为参考信号。 步骤 S7中记录的识别结果是控制单元 11根据处理信号包含 的一对脉冲序列信号 SH和 SL出现的时序识别的结果， 因此， 根据记录的识别 结果选择信号 SH或 SL作为参考信号即为根据脉冲序列信号 SH和 SL出现的时 序选择其中的一个作为与预设的存储信号进行比较的参考信号。 随后， 进入步 驟 S16， 将参考信号与预设的存储信号进行比较。 进入步驟 S18， 判断参考信号 与预设的存储信号是否一致， 若判断结果为是， 进入步驟 S 2 0 , 若判断结果为 否， 进入步骤 S 2 2。 步骤 S 2 0中， 控制单元 1 1确认信号检测单元 8检测到的磁 场信号即为预设的磁场信号， 亦即环境中的边界信号为信号发生单元 6发送的 预设的边界信号。 步驟 S 2 2 中， 控制单元 1 1确认信号检测单元 8检测到的磁场 信号并非预设的磁场信号， 亦即环境中的边界信号并非预设的边界信号。
通过上述过程的描述可知， 当环境中的边界信号是预设的边界信号时， 控 制单元 1 1 进一步根据处理信号携带的信息控制自动行走设备 2 执行相应的工 作；当环境中的边界信号不是预设的边界信号时，控制单元 1 1将处理信号忽略， 不会根据处理信号携带的信息改变自动行走设备 2正在执行的任何工作， 而是 继续等待下一个处理信号的出现。通过将处理信号与预设的存储信号进行比较， 判断环境中的边界信号是否为预设的边界信号 S C的步驟，使得自动行走设备 2 能识别出哪些信号是预设的边界信号， 哪些信号不是预设的边界信号， 从而将 不是预设的边界信号的干扰信号排除， 防止干扰信号对系统的干扰， 提高系统 的抗干扰能力。
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

权 利 要 求 书
1、 一种边界信号识别方法， 所述边界信号识别方法用于识别自动行走设备接收 到的边界信号是否为信号发生单元向边界线发送的预设的边界信号， 预设的边 界信号沿边界线传导生成预设的磁场信号， 其特征在于， 所述边界信号识别方 法包括如下步驟：
控制自动行走设备启动工作；
检测边界线范围内的磁场信号， 并生成检测信号；
处理所述检测信号， 生成处理信号；
将所述处理信号与预设的存储信号进行比较；
当所述处理信号与预设的存储信号相同时， 确认检测到的磁场信号为预设 的磁场信号；
所述预设的边界信号包括间歇性出现的编码组， 所述编码组由至少第一状 态单元和第二状态单元按照预设的编码规则组合， 所述预设的存储信号为与预 设的编码规则相匹配的信号。
2、 根据权利要求 1所述的边界信号识别方法， 其特征在于： 第一状态单元为按 照第一时序规则出现的基本信号， 第二状态单元为按照第二时序规则出现的基 本信号。
3、 根据权利要求 1所述的边界信号识别方法， 其特征在于： 第一状态单元为具 有第一频率的基本信号， 第二状态单元为具有第二频率的基本信号。
4、 根据权利要求 1所述的边界信号识别方法， 其特征在于： 第一状态单元为具 有第一幅值的基本信号， 第二状态单元为具有第二幅值的基本信号。
5、根据权利要求 2至 4中任一权利要求所述的边界信号识别方法，其特征在于： 所述基本信号为单周期的脉冲信号、 正弦波信号、 三角波信号或锯齿波信号中 的一种。
6、 根据权利要求 1所述的边界信号识别方法， 其特征在于： 第一状态单元为高 电平信号， 第二状态单元为低电平信号。
7、 根据权利要求 1所述的边界信号识别方法， 其特征在于： 所述处理信号为与 第一状态单元及第二状态单元出现的时序相对应的脉冲序列信号。
8、 根据权利要求 7所述的边界信号识别方法， 其特征在于： 所述处理信号包括 与所述检测信号的方向相对应的第一脉冲序列信号和第二脉冲序列信号。
9、 根据权利要求 8所述的边界信号识别方法， 其特征在于： 第一脉冲序列信号 和第二脉冲序列信号方向相反。
10、 根据权利要求 9所述的边界信号识别方法， 其特征在于： 根据第一脉冲序 列信号和第二脉冲序列信号出现的时序， 选择第一脉冲序列信号或第二脉冲序 列信号作为参考信号， 将所述参考信号与预设的存储信号进行比较。
1 1、 一种边界系统， 用于识别自动行走设备接收到的边界信号是否为信号发生 单元向边界线发送的预设的边界信号， 预设的边界信号沿边界线传导生成预设 的磁场信号， 所述边界系统包括：
信号检测单元， 设置在所述自动行走设备内， 用于检测边界线范围内的磁 场信号， 并生成检测信号；
信号处理单元， 与信号检测单元电性连接， 接收所述检测信号， 对所述检 测信号进行处理， 生成处理信号；
控制单元， 存储有预设的存储信号， 包括：
接收装置， 与信号处理单元电性连接， 接收所述处理信号；
信号比较装置， 与接收装置电性连接， 将接收装置接收的处理信号与预设 的存储信号进行比较；
主控装置， 与信号比较装置电性连接， 当所述处理信号与预设的存储信号 相同时， 确认检测到的磁场信号为预设的磁场信号；
其特征在于： 所述预设的边界信号包括间歇性出现的编码组， 所述编码组 由至少第一状态单元和第二状态单元按照预设的编码规则组合， 所述预设的存 储信号为与预设的编码规则相匹配的信号。
12、 根据权利要求 1 1所述的边界系统， 其特征在于： 第一状态单元为按照第一 时序规则出现的基本信号，第二状态单元为按照第二时序规则出现的基本信号。
13、 根据权利要求 1 1所述的边界系统， 其特征在于： 第一状态单元为具有第一 频率的基本信号， 第二状态单元为具有第二频率的基本信号。
14、 根据权利要求 1 1所述的边界系统， 其特征在于： 第一状态单元为具有第一 幅值的基本信号， 第二状态单元为具有第二幅值的基本信号。
15、 根据权利要求 12至 14中任一所述的边界系统， 其特征在于： 所述基本信 号为单周期的脉冲信号、 正弦波信号、 三角波信号或锯齿波信号中的一种。
16、 根据权利要求 1 1所述的边界系统， 其特征在于： 第一状态单元为高电平信 号， 第二状态单元为低电平信号。
17、 根据权利要求 1 1所述的边界系统， 其特征在于： 所述处理信号为与第一状 态单元及第二状态单元出现的时序相对应的脉冲序列信号。
18、 根据权利要求 17所述的边界系统， 其特征在于： 所述处理信号为与所述预 设的边界信号的方向相对应的第一脉冲序列信号和第二脉冲序列信号。
19、 根据权利要求 18所述的边界系统， 其特征在于： 第一脉冲序列信号和第二 脉冲序列信号方向相反。
20、 根据权利要求 19所述的边界系统， 其特征在于： 所述控制单元还包括信号 选择装置， 所述信号选择装置接收所述接收装置传递的信号， 并根据第一脉冲 序列信号和第二脉冲序列信号出现的时序， 选择第一序列脉冲信号或第二脉冲 序列信号作为与预设的存储信号进行比较的参考信号， 并将选择结果传递给信 号比较装置。
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