WO2013102417A1

WO2013102417A1 - Method for identifying boundary signal and boundary system thereof

Info

Publication number: WO2013102417A1
Application number: PCT/CN2012/087724
Authority: WO
Inventors: 田角峰; 周昶
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2012-01-05
Filing date: 2012-12-27
Publication date: 2013-07-11
Also published as: CN103197672A

Abstract

A method for identifying a boundary signal is used to identify whether a boundary signal received by an automatic walking device (2) is a preset boundary signal (SC) sent to a boundary line (3) by a signal generation unit (6). The method for identifying a boundary signal comprises the following steps: controlling the automatic walking device (2) to start working; detecting a magnetic field signal within the range of the boundary line (3) and generating a detection signal (SC'); processing the detection signal (SC') to generate a processed signal; comparing the processed signal with a preset stored signal; and when the processed signal is the same as the preset stored signal, confirming that the detected magnetic field signal is a preset magnetic field signal, the preset boundary signal comprising code groups that appear intermittently, and the code groups being combined by at least a first status unit (A) and a second status unit (B) based on a preset encoding rule. Further related is a boundary system for executing the method for identifying a boundary signal. The method for identifying a boundary signal and the boundary system are capable of effectively avoiding the interference of a signal in the ambient environment.

Description

Boundary signal identification method and its boundary system

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.

Background technique

With the development of science and technology, intelligent automatic walking equipment is well known. Since the automatic walking equipment can automatically perform pre-set tasks related to the program, it does not require manual operation and intervention, so it is used in industrial applications and household products. The application is very extensive. Industrial applications such as robots that perform various functions, applications on household products such as lawn mowers, vacuum cleaners, etc. These intelligent automatic walking devices greatly save people's time and bring extremes to industrial production and home life. Great convenience.

In order to ensure that the above-mentioned automatic walking device works within a preset working range, 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 boundary system disclosed in U.S. Patent No. 6,3007 37 B1, issued on Oct. 9, 2011, solves the above-mentioned technical problem of weak anti-interference 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. To ensure the stable relationship between the two signals, from the starting point 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 When the signal crosses zero, there is a fixed correspondence relationship, so the first detection signal and the second detection signal also have a corresponding correspondence relationship, and 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. Since the sinusoidal signal has the advantage of strong anti-interference ability compared with the pulse signal, 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. If 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. At this time, 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. In addition, when there is a sine wave signal A with a frequency of 16 K and a sine wave signal B with a frequency of 32 K, and the two signals are synchronized from the starting point, the phases of the two signals at the starting point are different. At 90 degrees, 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.

Based on the above analysis, 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.

Summary of the invention

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.

In order to solve the above technical problem, 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. a boundary signal, the preset boundary signal is transmitted along the boundary line to generate a preset magnetic field signal, and 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.

Preferably, the first state unit is a basic signal appearing according to the first timing rule, and the second state unit is a basic signal appearing according to the second timing rule.

Preferably, 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.

Preferably, 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.

Preferably, the basic signal is one of a single cycle pulse signal, a sine wave signal, a triangular wave signal or a sawtooth wave signal.

Preferably, the first state unit is a high level signal and the second state unit is a low level signal.

Preferably, the processing signal is a pulse sequence signal corresponding to a timing of occurrence of the first state unit and the second state unit.

Preferably, the processing signal includes a first pulse sequence signal and a second pulse sequence signal corresponding to a direction of the detection signal. Preferably, the first pulse sequence signal and the second pulse sequence signal are in opposite directions.

Preferably, 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.

In order to solve the above technical problem, 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, and 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. Receiving the processing signal; 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.

Preferably, the processing signal is a first pulse sequence signal and a second pulse sequence signal corresponding to a direction of the preset boundary signal. Preferably, the first pulse sequence signal and the second pulse sequence signal are in opposite directions.

Preferably, the 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.

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. The technical problems, the technical solutions, and the beneficial effects of the present invention described above can be clearly obtained by the following detailed description of the preferred embodiments of the present invention. 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 further refined by the boundary system shown in Figure 2;

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;

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;

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;

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.

2 Automatic walking equipment 6 Signal generating unit

3 boundary line 7 preset magnetic field

4 working area 8 signal detection unit

5 non-working area 9 signal processing unit 11 control unit 115 main control device

111 receiving device 12 amplifier

112 signal selection device 14 first comparator

113 signal comparison device 16 second comparator

detailed description

The detailed description and technical content of the present invention are set forth below with reference to the accompanying drawings.

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.

5. 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.

As shown in FIG. 2, 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. When the comparison result output by the comparison device 113 is the same, 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. Of course, 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. A, then two second state units B appear, and a first state unit A appears. 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. Preferably, 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. Among them, 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.

When 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, and 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. As shown in FIG. 4, 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. In this state, 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. As shown in FIG. 5, 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 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. In 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.

When 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, and 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.

When 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, and 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. Preferably, 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. In order to achieve this, 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.

After the signal generating unit 6 generates the preset boundary signal SC according to the preset encoding rule, the preset boundary signal SC flows through the boundary line 3 to generate a preset magnetic field 7, and 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. Preferably, 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. It can be understood by those skilled in the art that the conduction of the preset boundary signal through the boundary line 3 and the reception of the signal detecting unit 8 does not change the attribute of the preset boundary signal, and therefore, the detection signal SC 'is necessarily included and the first 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. Preferably, 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. When the first state unit A and the second state unit B are different in timing rules, 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. When the first state unit A and the second state unit B are not identical in frequency, 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. When the first state unit A and the second state unit B are different in amplitude, 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. When the first state unit A and the second state unit B are different in other parameters, 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.

Referring to FIG. 6 and FIG. 7 , the first state unit A is a square wave signal having a first timing rule, and 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 . First status list The element A has a high level signal during the first time period t, and 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, and the signal SC shown in Fig. 7 shows the detection signal SC' of the autonomous traveling apparatus 1 within the boundary line 3.

As shown in FIG. 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, and the second comparator 16 is set to a low level comparator. The first comparator 14 has a first reference voltage RH, and the second comparator 16 has a second reference voltage RL, which is higher than the second reference voltage RL. For 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. For 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. It can be understood by those skilled in the art that 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 signals SH and SL. Comparing the SH signal and the SL signal shown in FIG. 6, it can be seen that the time point at which the signal SH appears at a high level precedes the time point at which the signal SL appears at a low level. Correspondingly, 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. Correspondingly, the signal SA in Fig. 7 first appears as a feature point of amplitude RL, and then appears as a feature point of amplitude RH, that is, the direction of the signal SA is first down and then up. It can be seen that the direction of the detection signal SC' can be known by comparing the timings of the signal SH and the signal SL, that is, the processing signals SH and SL have a corresponding relationship with the direction of the detection signal SC'. It will be understood by those skilled in the art that when the comparator in the signal processing unit 9 is set sufficiently, 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. However, for the sake of simplicity, the manner in which two comparators are provided in the signal processing unit 9 is selected in the present embodiment.

As shown in FIG. 3, 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. When the comparison result output by the comparison device 113 is the same, 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; When the comparison result of the output of 113 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 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. To simplify the structure of the signal comparing means 113 and the form of the preset stored signal, 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. Correspondingly, the preset boundary signal is also a set of pulse sequence signals corresponding to the selected signal. Thus, the signal comparison means 113 only needs to compare a group of signals, saving resources of the control unit 11.

Hereinafter, the process of recognizing the preset boundary signal SC by the control unit 11 of the automatic traveling device 1 will be described in detail with reference to FIG.

The 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. When the signal SH appears an upward pulse signal, the time point is prior to the signal SL At the time point of the downward pulse signal, it is judged that the automatic walking device 2 is at the boundary line 3; when the signal SL appears the downward pulse signal at a time point before the signal SH appears at the time point of the upward pulse signal, it is judged The automatic walking device 2 is inside the boundary line 3. Proceeding to 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. In this embodiment, T1 is set to lms. In step S10, if the result of the determination is yes, the latter pair of processing signals belong to the specific coding group to which the previous pair of processing signals belong, that is, the signals belonging to one code group have not been completely received, and the reception needs to be continued, so the process returns to step S8. Waiting for the next pair of processing signals; otherwise, if the result of the determination in step S10 is no, it indicates that the latter pair of processing signals do not belong to the specific encoding group to which the previous pair of processing signals belong, but belong to a new encoding group, That is, the signals belonging to one code group have all been received, and then the processed signal that has been received needs to be further processed, so the process proceeds to step S12. In step S12, 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. In this embodiment, 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. In 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. In 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. The selection is based on: In 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. Then, proceeding to 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. In 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. In step S 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.

Through the description of the above process, 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. By comparing the processed signal with the preset stored signal, determining whether the boundary signal in the environment is a preset boundary signal SC, so that the autonomous walking device 2 can identify which signals are preset boundary signals, and which signals are not 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.

In the present invention, the automatic traveling device 2 may be in various forms such as a lawn mower, a vacuum cleaner, an industrial robot, and the like. When the automatic walking device 2 is a lawn mower, it further includes a cutting mechanism including a cutting motor and a cutting blade. When the lawn mower works in the working area 4 planned by the boundary line 3, the cutting motor drives the cutting blade to rotate, cutting the lawn .

Claims

Claim

A method for identifying a boundary signal, wherein the boundary signal identification method is 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 the preset boundary signal is transmitted along a boundary line. Generating a preset magnetic field signal, wherein the boundary signal identification method comprises the following steps:

Control the start of the automatic walking equipment;

Detecting a magnetic field signal within a boundary line and generating a detection signal;

Processing the detection signal to generate a processing signal;

Comparing the processed signal with a preset stored signal;

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.

2. The boundary signal identification method according to claim 1, wherein: the first state unit is a basic signal appearing according to the first timing rule, and the second state unit is a basic signal appearing according to the second timing rule.

3. The boundary signal identification method according to claim 1, wherein: the first state unit is a basic signal having a first frequency, and the second state unit is a basic signal having a second frequency.

4. The boundary signal identification method according to claim 1, wherein: the first state unit is a basic signal having a first amplitude, and the second state unit is a basic signal having a second amplitude.

The boundary signal identification method according to any one of claims 2 to 4, wherein: the basic signal is one of a single-cycle pulse signal, a sine wave signal, a triangular wave signal, or a sawtooth wave signal. .

6. The boundary signal identification method according to claim 1, wherein: the first state unit is a high level signal, and the second state unit is a low level signal.

The boundary signal identifying method according to claim 1, wherein the processing signal is a pulse sequence signal corresponding to a timing at which the first state unit and the second state unit appear.

The boundary signal identifying method according to claim 7, wherein the processing signal includes a first pulse sequence signal and a second pulse sequence signal corresponding to a direction of the detection signal.

9. The boundary signal identification method according to claim 8, wherein: the first pulse sequence signal and the second pulse sequence signal are in opposite directions.

The boundary signal identification method according to claim 9, wherein: the first pulse sequence signal or the second pulse sequence signal is selected as a reference signal according to timings of occurrence of the first pulse sequence signal and the second pulse sequence signal, The reference signal is compared to a preset stored signal.

1 1. A boundary system, configured to identify whether a boundary signal received by the automatic walking device is a preset boundary signal sent by the signal generating unit to the boundary line, and the preset boundary 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;

The signal processing unit is electrically connected to the signal detecting unit, receives the detection signal, and processes the detection signal to generate a processing signal;

The control unit stores a preset storage signal, including:

Receiving device, electrically connected to the signal processing unit, and receiving the processing signal;

The signal comparison device is electrically connected to the receiving device, and compares the processing signal received by the receiving device with the preset storage signal;

The main control device is electrically connected to the signal comparison device, 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, where the preset storage signal is A signal that matches the preset encoding rules.

12. The boundary system according to claim 11, wherein: the first state unit is a basic signal appearing according to the first timing rule, and the second state unit is a basic signal appearing according to the second timing rule.

13. The boundary system according to claim 11, wherein: the first state unit is a basic signal having a first frequency, and the second state unit is a basic signal having a second frequency.

14. The boundary system of claim 1 1 wherein: 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 boundary system according to any one of claims 12 to 14, wherein the basic signal is one of a single-cycle pulse signal, a sine wave signal, a triangular wave signal, or a sawtooth wave signal.

16. The boundary system of claim 1 1 wherein: the first state unit is a high level signal and the second state unit is a low level signal.

17. The boundary system according to claim 11, wherein: said processed signal is a pulse sequence signal corresponding to a timing at which said first state unit and said second state unit occur.

18. The boundary system according to claim 17, wherein: said processing signal is said The first pulse sequence signal and the second pulse sequence signal corresponding to the direction of the boundary signal are set.

19. A boundary system according to claim 18, wherein: the first pulse sequence signal and the second pulse sequence signal are in opposite directions.

20. The boundary system according to claim 19, wherein: said control unit further comprises signal selection means, said signal selection means receiving a signal transmitted by said receiving means, and based on said first pulse sequence signal and said second The timing at which the pulse sequence signal appears, the first sequence pulse signal or the second pulse sequence signal is selected as a reference signal for comparison with the preset stored signal, and the selection result is transmitted to the signal comparison device.