WO2014012473A1

WO2014012473A1 - Guidance system and control method thereof

Info

Publication number: WO2014012473A1
Application number: PCT/CN2013/079407
Authority: WO
Inventors: 鲍瑞那图·强尼
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2012-07-16
Filing date: 2013-07-15
Publication date: 2014-01-23
Also published as: CN103543745A; CN103543745B

Abstract

A guidance system and control method thereof, the guidance system comprising an automatic device capable of automatically moving, a signal generator, a cable connected with the signal generator, and a sensing module installed on the automatic device and capable of detecting an environmental signal in the surrounding environment; the sensing module has an adaptive mode and a sensing mode; in the adaptive mode, the sensing module identifies the strength of the environmental signal, and sets the working parameter of the sensing module according to the identified strength, such that the sensing module working under the working parameter can filter the signals below a specific strength; and in the sensing mode, the sensing module works under the set working parameter. The guidance system enables a sensing module in the sensing mode to detect only the signal having a specific strength corresponding to the boundary signal strength of the system, but to filter out the signals below a specific strength, thus filtering out the interference signal of a neighboring system, avoiding the interference of the neighboring system signal to the sensing module, and improving the anti-interference capability of the whole system.

Description

Guidance system and control method thereof

The present invention relates to a guidance system, and more particularly to a guidance system capable of extracting a signal of a particular intensity in an environmental signal.

The invention further relates to a control method for a guidance system, and more particularly to a control method for extracting a signal of a particular intensity in an environmental signal.

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 Signal

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 the automatic walking device from moving. Walk outside the boundary line so that the autonomous vehicle 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 a pulse signal of interference, it is mistaken for the boundary signal and according to the information carried by it to the automatic walking device The walking path is controlled so that the boundary system is easily interfered, and the wrong judgment is made, which reduces the anti-interference ability of the boundary system.

The boundary system disclosed in U.S. Patent No. 6,300,737 B1, issued Oct. 9, 2001, addresses the aforementioned technical problem of weak anti-interference capability. The solution to the problem is to provide a boundary signal comprising at least two sinusoidal signals, which are a sine wave signal 14 having a frequency of 8K and a sine wave signal 15 having a frequency of 16K, respectively, to ensure two The relative relationship of signal stability, the two signals are synchronized from the starting point, and the phases of the two signals at the starting point are 90 degrees out of phase. The signal detecting unit detects the signals 14 and 15, respectively, and since the signals 14 and 15 have a fixed correspondence relationship when the signal 14 crosses the zero point, the signals 14 and 15 also have corresponding correspondences, and the control unit according to the signal 14 When the zero-crossing signal 15 is positive or negative, it is judged whether the automatic traveling device 2 is inside the boundary line 3 or outside the boundary line 3, thereby effectively controlling the walking path of the automatic walking device so that it always keeps working 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 autonomous walking device detects both the signal 14 from the first boundary line, and 15, and at 14, the zero crossing, the signal 15 is positive; at the same time, the signal 14 from the second boundary line is detected, and 15 , and at 14, the signal 15 is negative when crossing zero. Since the first boundary system is identical in composition to the second boundary system, the control unit detects the signals 14, and 15, when it is impossible to distinguish 14, and 15, from the first boundary line or the second boundary line, and the control unit passes the signal 14 When the signal 15 at zero is positive or negative to judge whether the automatic walking equipment is in the boundary line or outside, the judgment result is that the automatic walking equipment is both outside the boundary line and in the boundary line, causing chaos or even stopping the operation of the automatic walking equipment. In addition, when there is a 16K sine wave signal A and a 32K sine wave signal B in the environment, and from the starting point The two signals are synchronized. When the phases of the two signals at the starting point are different by 90 degrees, the signal detecting unit detects A, and B, respectively, and at the signal A, the zero crossing, the signal B is positive or negative. The control unit determines whether the automatic traveling device 2 is inside the boundary line 3 or outside the boundary line 3 based on the correspondence between the signals A' and B'. The control unit does not distinguish whether the signals A and B are boundary signals according to the signals A and B received by the control unit, so that even if the signals A and B are not boundary signals, the control unit controls the automatic walking device according to the information carried by the control unit. Walking paths lead to erroneous judgments.

Based on the above analysis, it can be seen that although the US 6 3 007 37 B 1 announcement patent can exclude part of the external interference from the signal form, it cannot completely solve the interference of the signal in the external environment to the boundary system.

Summary of the invention

The technical problem to be solved by the present invention is to provide a control method for a guidance system, which can extract a signal of a corresponding intensity according to a signal strength at a position where the automatic device is located, and filter out a signal under the corresponding intensity.

In order to solve the above technical problem, the technical solution of the present invention is: a control method of a guiding system, the guiding system includes an automatic device capable of automatically walking, a signal generator, and a cable connected to the signal generator, installed in an automatic a sensing module on the device and capable of detecting an environmental signal in the surrounding environment, the sensing module having an adaptation mode and a sensing mode, wherein in the adaptation mode, the sensing module identifies the intensity value of the environmental signal, according to the identified The intensity value sets an operating parameter of the sensing module, such that the sensing module operating under the operating parameter can filter out a signal below a specific intensity value; in the sensing mode, the sensing module is in the set Work under working parameters.

Preferably, the sensing module comprises a detection unit having an adjustable magnification and a control unit capable of adjusting the amplification factor of the detection unit; in the adaptation mode, the control unit selectively causes the detection unit to be at different amplification detection signals, By judging the signal receiving condition of the control unit under different magnifications, identifying the intensity value of the environmental signal, setting the amplification factor of the detecting unit according to the identified intensity value, so that the detecting unit works under the set magnification factor The control unit can only receive signals above a certain intensity value; in the sensing mode, the detection unit operates at the set magnification.

Preferably, the sensing module has a detection unit with a fixed magnification and a control unit with an adjustable threshold; in the adaptation mode, the control unit identifies the intensity value of the signal transmitted by the detection unit, and sets the control unit according to the identified intensity value. Threshold, enabling the control unit with the set threshold to filter In addition to the signal below a certain intensity value; in the sensing mode, the control unit operates at the set threshold.

Preferably, in the adaptation mode, when the control unit can receive the signal, the detection unit has the lowest amplification factor, which is set to the amplification factor of the detection unit.

Preferably, in the adaptation mode, when the control unit does not receive the signal, the amplification factor of the detection unit is increased step by step, and the amplification factor of the detection unit is determined to be the lowest amplification factor when the control unit first receives the signal; when the control unit receives When the signal is received, the amplification factor of the detection unit is gradually decreased, and the amplification factor of the detection unit when the control unit receives the signal for the last time is determined as the lowest magnification.

Preferably, the detecting unit comprises a first detecting unit and a second detecting unit, wherein the first detecting unit and the second detecting unit respectively have an adjustable magnification, and in the adaptation mode, the first detecting unit is not higher than the amplification factor The magnification of the second detecting unit, when the control unit does not receive the signal transmitted by the second detecting unit, adjust the amplification factor of the second detecting unit, and when the control unit receives the signal transmitted by the second detecting unit, the second The minimum magnification of the detecting unit is set to the magnification of the second detecting unit; when the first detecting unit detects the signal, adjusting the amplification factor of the first detecting unit, when the control unit receives the signal transmitted by the first detecting unit, The lowest magnification of the first detecting unit is set to the magnification of the first detecting unit.

Preferably, in the adaptation mode, when the control unit does not receive the signal transmitted by the second detecting unit, the amplification factor of the second detecting unit is increased step by step, and the second time when the control unit first receives the signal transmitted by the second detecting unit The magnification of the detecting unit is determined to be the lowest magnification; when the control unit receives the signal transmitted by the first detecting unit, the first detecting unit is reduced in steps, and the control unit receives the signal transmitted by the first detecting unit for the last time. The magnification of the first detecting unit is determined to be the lowest magnification.

Preferably, in the adaptation mode, when the amplification factor of the second detecting unit is increased, the amplification factor of the first detecting unit is increased according to the increasing amplitude of the amplification factor of the second detecting unit, and when the amplification factor of the first detecting unit is decreased, according to the first The decrease in the magnification of the detection unit reduces the amplification factor of the second detection unit.

Preferably, in the sensing mode, when the control unit receives the signal transmitted by the first detecting unit or the second detecting unit, the sensing module enters the adaptation mode.

The technical problem also solved by the present invention is: providing a guiding system, the guiding system capable of rooting A signal of a corresponding intensity is extracted according to the signal strength at the position where the automatic device is located, and the signal under the corresponding intensity is filtered out.

In order to solve the above technical problem, the technical solution of the present invention is: a guiding system, the guiding system includes an automatic device capable of automatically walking, a signal generator for generating a preset boundary signal, and a cable connected to the signal generator a sensing module mounted on the automatic device and capable of detecting an environmental signal in the surrounding environment, the sensing module having an adaptation mode and a sensing mode, wherein in the adaptation mode, the sensing module identifies the intensity value of the environmental signal And setting an operating parameter of the sensing module according to the identified intensity value, so that the sensing module working under the working parameter can filter out a signal below a specific intensity value; in the sensing mode, the sensing module is in the Work under the set working parameters.

Preferably, the sensing module has a detection unit with a fixed magnification and a control unit with an adjustable threshold; in the adaptation mode, the control unit identifies the intensity value of the signal transmitted by the detection unit, and sets the control unit according to the identified intensity value. The threshold value enables the control unit having the set threshold to filter out signals below a certain intensity value; in the sensing mode, the control unit operates at the set threshold.

Preferably, in the adaptation mode, when the control unit does not receive the signal, the amplification factor of the detection unit is increased step by step, and the amplification factor of the detection unit is determined to be the lowest amplification factor when the control unit first receives the signal; when the control unit receives When the signal is received, the amplification factor of the detection unit is gradually decreased, and the amplification factor of the detection unit when the control unit receives the signal for the last time is determined as the lowest magnification. Preferably, the detecting unit comprises a first detecting unit and a second detecting unit, wherein the first detecting unit and the second detecting unit respectively have an adjustable magnification, and in the adaptation mode, the first detecting unit is not higher than the amplification factor The magnification of the second detecting unit, when the control unit does not receive the signal transmitted by the second detecting unit, adjust the amplification factor of the second detecting unit, and when the control unit receives the signal transmitted by the second detecting unit, the second The minimum magnification of the detecting unit is set to the magnification of the second detecting unit; when the first detecting unit detects the signal, adjusting the amplification factor of the first detecting unit, when the control unit receives the signal transmitted by the first detecting unit, The lowest magnification of the first detecting unit is set to the magnification of the first detecting unit.

Preferably, the sensing module further comprises a filter disposed between the detecting unit and the control unit, and the filter can filter out signals of frequencies other than the frequency of the preset boundary signal.

Preferably, the preset boundary signal has an intensity of 3. 6 A or more.

The invention has the beneficial effects that since the automatic device works in the working area enclosed by the cable of the guiding system, the automatic device is always close to the cable of the guiding system, and is far away from the cable of the adjacent guiding system, so that Within the entire working range of the automatic device, the boundary signal strength of the guiding system received by the automatic device is stronger than the strength of the boundary signal of the adjacent guiding system. By causing the sensing module of the guiding system to recognize the signal strength at the current position of the automatic device, the sensing module is set in an appropriate sensing mode according to the identified signal strength, so that the sensing module can extract the corresponding intensity in the sensing mode. Signal In the sensing mode, the sensing module can only detect the signal of a specific intensity corresponding to the boundary signal strength of the system, and filter out the signal below the specific intensity, thereby filtering the interference signal of the adjacent system to avoid the adjacent system. The interference of the signal on the sensing module improves the overall anti-interference ability of the system.

DRAWINGS

The above described technical problems, technical solutions, and advantageous effects of the present invention can be clearly obtained by the following detailed description of the preferred embodiments of the present invention.

The same reference numerals and symbols in the drawings and the drawings are used to represent the same or the same. FIG. 1 is a schematic diagram of a guidance system according to an embodiment of the present invention;

2 is a circuit block diagram of the sensing module shown in FIG. 1;

Figure 3 is a specific circuit block diagram of the sensing module shown in Figure 2;

Figure 4 is a flow chart showing the workflow of the embodiment shown in Figure 3;

FIG. 5 is a flow chart of a workflow in the adaptation mode of the embodiment shown in FIG. 3. FIG. 6 is a flow chart of another workflow in the adaptation mode of the embodiment shown in FIG.

2 Automatic device 1 2 'Control unit

3 cable 1 3 sensor

4 working area 1 4 first detection unit

5 non-working area 1 5 amplifier

6 signal generator 1 6 second detection unit

8 drive 2 2 first sensor

1 0 sensing module 2 4 first amplifier

1 1 detection unit 3 2 second sensor

1 2 Control unit 3 4 Second amplifier

detailed description

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

Figure 1 is a schematic illustration of a guidance system in accordance with an embodiment of the present invention. The guidance system comprises an automatic device 2, a signal generator 6 for generating a preset boundary signal, and a cable 3 connected to the signal generator 6. The guiding system is enclosed by a cable 3 The area divides the environmental area into a work area 4 and a non-work area 5, the work area 4 is a part of the closed area, and the non-work area 5 is a part outside the closed area. The preset boundary signal sent by the signal generator 6 is transmitted through the cable 3 to generate a corresponding magnetic field signal in the surrounding environment.

The automatic device 2 includes a sensing module 10 and a driving device 8. The sensing module 10 detects signals in the environment and processes the signals in the environment according to the operating mode in which the sensing module 10 is located. The signals in the environment include signals transmitted via the cable 3 and transmitted via the cable 3 Signals, signals transmitted through cable 3 mainly include interference signals from adjacent guidance systems and wood tone signals in the environment. The operating mode of the sensing module 1 0 includes the adaptation mode and the sensing mode. In the adaptation mode, the sensing module 10 identifies the intensity value of the detected signal, and sets the operating parameter of the sensing module 10 according to the identified intensity value, so that the sensing module 10 with the working parameter can In the ambient signal of the surrounding environment, a signal with a specific intensity value or more is extracted, and a signal below a specific intensity value is filtered out. In the sensing mode, the sensing module 10 operates under the set operating parameters, so that the sensing module 10 can filter out the signal below the specific intensity value from the signal of the detection 5ii, and according to the unfiltered The divided signal identifies the position of the white moving device 2 relative to the cable 3, and generates a corresponding control signal for transmission to the driving device 8. The drive unit 8 is driven according to the control signal transmitted by the sensing module 1 0. 1] The moving device 2 moves in the working area 4 relative to the ground 1]

In the foregoing solution, the intensity value of the signal filtered by the sensing module 10 in the sensing mode is less than a specific intensity value. It can be understood by those skilled in the art that the specific intensity value may be the maximum intensity value of the environmental signal at the current position of the automatic device 2, or may be an intensity value in other functional relationship with the maximum intensity value, such as a specific intensity value. 30% of the maximum intensity value, or 10% of the maximum intensity value, and the like. It can be understood by those skilled in the art that the intensity value of the signal filtered by the sensing module 10 is in a functional relationship with the specific intensity value, and the maximum intensity value of the filtered signal is less than the identified intensity value. 30%, or greater than 10% of the identified intensity value, or only filter out signals other than the specific intensity value, or only filter out signals outside the range of the maximum intensity value. In the present invention, the maximum intensity of the signal filtered by the sensing module 10 in the sensing mode is mainly introduced. The degree is less than a specific intensity value, and the specific intensity value is equal to the maximum intensity value of the environmental signal at the current position of the robot 2.

The sensing module 1 0 can identify the intensity value of the signal in various ways. The intensity of the signal can be identified by directly identifying the amplitude value of the signal, or whether the signal can be detected by determining whether the sensing module 10 is at a specific magnification. To identify the strength value of the signal. The following describes the strength of the signal by directly identifying the amplitude value of the signal, and sets the operating parameters of the sensing module 10 according to the identified intensity value to make the sensing module having the set operating parameter. 1 0 an embodiment capable of filtering out signals below a certain intensity value; and identifying the intensity value of the signal by determining whether the sensing module 10 is at a particular magnification, and determining the intensity value based on the identified intensity value The operating parameters of the sensing module 10 are such that the sensing module 10 having the set operating parameters can filter out signals below a particular intensity value.

As shown in FIG. 2, the sensing module 1 0 includes a detecting unit 1 1 and a control unit 12 . The detecting unit 1 1 includes a sensor 13 for detecting an environmental signal, and an amplifier 15 for amplifying the detected signal. The amplifier 15 amplifies the received signal according to its current amplification factor, and transmits the amplified signal. To the control unit 1 2. In the adaptation mode, the control unit 1 2 identifies the intensity value of the environmental signal according to the received signal, and sets the operating parameter of the sensing module 10 according to the identified intensity value, so as to transmit the working parameter having the setting. The sensing module 10 can filter out signals below a certain intensity value from the environmental signal; in the sensing mode, the sensing module 10 operates under the set operating parameters.

In the first implementation, the detection unit 1 1 has a fixed magnification and the control unit 12 has an adjustable threshold. The control unit 1 2 in the adaptation mode directly recognizes the amplitude value of the signal transmitted by the amplifier 15, determines the intensity value of the environmental signal according to the amplitude value, and directly sets the threshold value of the control unit 1 2 according to the amplitude value, so that The control unit 12 with the set threshold value can filter out the signal below the specific intensity value, ie the signal whose amplitude value is below the reference amplitude value, and only receive and process the signal above the specific intensity value, ie A signal whose amplitude value is above the reference amplitude value.

In the second implementation manner, the detecting unit 1 1 has an adjustable magnification, and the control The unit 1 2 can adjust the magnification of the detecting unit 1 1 . The control unit 1 2 in the adaptation mode directly recognizes the amplitude value of the signal transmitted by the amplifier 15, determines the intensity value of the signal in the environment according to the amplitude value, and sets the amplifier 1 in the sensing mode according to the identified intensity value. 5 The ability to amplify the signal, that is, the amplification factor of the amplifier 15 to the signal. When the identified maximum amplitude value is large, the amplification factor of the amplifier 15 is correspondingly set small; when the identified maximum amplitude value is small, the amplification factor of the amplifier 15 is correspondingly set to be large, Therefore, when the detecting unit 1 1 operates under the set magnification, the control unit 1 2 can only receive a signal above a certain intensity value, that is, a signal above the identified maximum amplitude value, and filter out the specific intensity value. The signal below is the signal below the identified maximum amplitude value.

In the third implementation, the detecting unit 1 1 has an adjustable magnification, and the control unit 12 can adjust the amplification factor of the detecting unit 1 1 . The control unit 1 2 in the adaptation mode selectively causes the amplifiers 15 to be at different magnifications and determines the reception of signals at different magnifications. According to the specific amplification factor, the control unit 1 2 receives The strength value of the signal identification signal. When the control unit 12 receives the signal, and the amplification factor of the amplifier 15 is small, it is judged that the intensity value of the signal in the environment is large at this time; otherwise, when the control unit 12 receives the signal, and the amplification factor of the amplifier 15 is larger When large, it is judged that the intensity value of the signal in the environment is small at this time. The control unit 1 2 sets the amplification capability of the amplifier 15 according to the maximum intensity value recognized, that is, the amplification factor of the amplifier 15 to the signal, so that the detection unit 1 1 operates at the set magnification, the control unit 1 2 can only receive signals above a certain intensity value, ie signals above the maximum intensity value, filtering out signals below a certain intensity value, ie signals below the maximum intensity value.

For the third implementation described above, it should be particularly noted that the control unit 1 2 identifies the intensity value of the signal in the environment according to the lowest amplification factor that the amplifier 15 has when receiving the signal, because the ratio is lower than the minimum When the magnification of the high or low magnification is used to identify the intensity value of the signal, the identified intensity value is correspondingly lower or higher. The control unit 1 2 can directly set the minimum amplification factor to the amplifier 15 When the magnification is increased so that the detection unit 1 1 operates at the set magnification, the control unit 1 2 can only receive signals above the intensity value. In the adaptation mode, the control unit 1 2 sets the amplification factor of the amplifier 15 at a certain amplification factor, and then determines whether the signal is received at the amplification factor, and when the signal is not received, it can be increased step by step. The method of magnification determines the minimum magnification when the signal can be received, and the minimum magnification when the signal can be received can be determined by randomly selecting the amplification factor, and can also be determined by increasing the amplification factor and decreasing the magnification. The lowest magnification that can be received when the signal is received.

The two preferred circuits and implementation methods of the third implementation are described in detail below with reference to FIG.

As shown in FIG. 3, the sensing module 1 0 includes a first detecting unit 14 , a second detecting unit 16 and a control unit 1 2 . The first detecting unit 1 4 includes a first sensor 2 2 and a first amplifier 2 4 , and the second detecting unit 16 includes a second sensor 3 2 and a second amplifier 34. The first sensor 2 2 and the second sensor 3 2 receive signals in the environment and transmit the received signals to the first amplifier 2 4 and the second amplifier 34 electrically connected thereto, respectively. The first amplifier 2 4 and the second amplifier 34 respectively respectively amplify the received signals, and transmit the amplified signals to the control unit 1 2 '.

In the first preferred circuit, the first amplifier 24 and the second amplifier 34 have a selectable amplification factor, and the amplification factor thereof can be adjusted accordingly according to the control signal of the control unit 12. In the adaptation mode, the control unit 12 controls the first amplifier 24 and the second amplifier 34 to be at a specific amplification and always maintains the amplification of the first amplifier lower than or equal to the amplification of the second amplifier. The control unit 12 identifies the intensity value of the signal in the environment based on the current amplification of the first amplifier 24, the second amplifier 34, and whether signals from the first amplifier 24 and the second amplifier 34 are received. The control unit 12 sets the amplification factor of the first amplifier 24 and the second amplifier 34 according to the intensity value of the identified signal. Preferably, when the control unit 1 2 ′ is capable of receiving a signal, the first amplifier 24 and the second amplifier 34 have the lowest amplification factor set to the first amplifier 24 and the second amplifier 34 in the sensing mode. Magnification. In sensing mode, The first amplifier 24 and the second amplifier 34 operate at the set minimum magnification. Specifically, the amplification factor of the first amplifier 24 has two selectable gear positions of a low gear and a middle gear, and the zoom ratio of the second amplifier 34 has three selectable gear positions of a low gear, a middle gear, and a high gear. In the adaptation mode, the control unit 12 keeps the gear position of the amplification factor of the first amplifier 1 2 not higher than the amplification factor of the second amplifier 34. When the control unit 12 receives no signal from the second amplifier 34, it represents that the intensity of the signal in the environment is weak, so the gear of the second amplifier 34 is increased step by step until the control unit 1 2. When the signal transmitted from the second amplifier 34 is received, and the signal is received for the first time, the amplification of the second amplifier 34 is determined to be the lowest magnification. When the control unit 12 detects the signal from the first amplifier 24, it represents that the intensity of the signal in the environment is strong, so the gear of the first amplifier 24 is reduced step by step until the control unit 1 2 When the signal transmitted from the first amplifier 24 is not received, and the signal is detected last time, the amplification factor of the first amplifier 24 is determined to be the lowest magnification.

In order to describe the present invention in detail, in the initial state, the amplification factors of the first amplifier 24 and the second amplifier 34 are both in a low position, and the operation of the circuit will be described.

When the automatic device 2 is closer to the cable 3, the signal transmitted via the cable 3 is strong at the position where the robot 2 is located, although the magnifications of the first amplifier 24 and the second amplifier 34 are both in the low range. , the control unit 12 can still detect the signals from the first amplifier 24 and the second amplifier 34, and the control unit 12 determines the low gear as the lowest magnification and sets the low gear as the first amplifier 24 and The amplification factor of the second amplifier 3 4 sensing mode. The sensing module 10 enters the sensing mode and keeps the amplification of the first amplifier 24 and the second amplifier 34 in a low gear. In the sensing mode, the sensing module 10 generates a corresponding control signal according to the signal transmitted by the second amplifier 34 to the driving device 8 to drive the automatic device 2 to move relative to the ground. During the movement of the automatic device 2 relative to the ground, if the automatic device 2 is getting farther and farther from the cable 3, the strength of the signal transmitted via the cable 3 at the position where the automatic device 2 is located is weakened, and the control unit 12 is not detected from the first The signal from amplifier 2 4 and second amplifier 34, or even if it is detected The signals of the first amplifier 24 and the second amplifier 34, but the signal is too weak to be discerned and discarded, that is, the control unit 12 receives the signals transmitted by the first detecting unit 14 and the second detecting unit 16. changes happened. In this case, the control unit 12 controls the sensing module 10 to enter the adaptation mode from the sensing mode. In the adaptation mode, the control unit 12 increases the amplification factor of the second amplifier 34 to the mid-range and keeps the amplification factor of the first amplifier 24 unchanged. At this time, if the control unit 12 detects the signal transmitted from the second amplifier 34, the amplification factor of the second amplifier 34 is mid-range, and the amplification factor of the first amplifier 24 is determined to be the lowest magnification, and The minimum magnification is set to the magnification in the sensing mode of the first amplifier 24 and the second amplifier 34. The sensing module 10 then enters the sensing mode and maintains the first amplifier 24 and the second amplifier 34 with the lowest amplification operation. If the amplification factor of the second amplifier 34 is increased to the mid-range, and the control unit 12 does not detect the signal from the second amplifier 34, the control unit further increases the amplification factor of the second amplifier 34 to a high level. At the same time, the amplification factor of the first amplifier 24 is increased to the mid-range. The control unit 1 2 sets the amplification factor of the first amplifier 24 to the mid-range, the amplification factor of the second amplifier 34 is the highest magnification, and sets the minimum amplification factor as the first amplifier 24 and the second. Magnification of amplifier 3 4 . The sensing module 10 then enters the sensing mode and maintains the first amplifier 24 and the second amplifier 34 with the lowest amplification operation. In the sensing mode, the control unit 12 generates a corresponding control signal according to the signal transmitted by the second amplifier 34 to the driving device 8 to drive the automatic device 2 to move relative to the ground.

During the movement of the automatic device 2 relative to the ground, the distance from the cable may also be closer and closer. At this time, if the amplification factor of the first amplifier 24 is still in the mid-range, the amplification factor of the second amplifier 34 is still high-grade. Then, the control unit 12 will detect the signal from the first amplifier 24, and the control unit 1 2' controls the sensing module 10 to enter the adaptation mode from the sensing mode. In the adaptation mode, the control unit 12 reduces the amplification factor of the first amplifier 24 to the low level while reducing the amplification factor of the second amplifier 34 to the mid-range. If the control unit 12 does not detect the signal from the first amplifier 24 and can only detect the signal from the second amplifier 34, the amplification of the second amplifier 34 is mid-range, The amplification factor of an amplifier 24 is determined to be the lowest magnification in the low range, and the minimum amplification factor is set to the magnification in the sensing mode of the first amplifier 24 and the second amplifier 34. The sensing module 10 then enters the sensing mode and maintains the first amplifier 24 and the second amplifier 34 with the lowest amplification operation. If the control unit 12 can still detect the signal from the first amplifier 24 after reducing the amplification factor of the first amplifier 24 to the low level, the control unit further reduces the amplification factor of the second amplifier 34 to the low level. The control unit 1 2 determines that the amplification factors of the first amplifier 24 and the second amplifier 34 are at a low level and determines the lowest amplification factor, and sets the minimum amplification factor to the first amplifier 24 and the second amplifier 3 4 Magnification in the sense mode. The sensing module 10 then enters the sensing mode and maintains the first amplifier 24 and the second amplifier 34 with the lowest amplification operation. In the sensing mode, the sensing module 10 generates a corresponding control signal according to the signal transmitted by the second amplifier 34 to the driving device 8 to drive the automatic device 2 to move relative to the ground.

As described above, when the automatic device 2 starts up, the magnifications of the first amplifier 24 and the second amplifier 34 are in the low gear, and the operation of the automatic device 2 is performed. During the actual working process, when the automatic device 2 starts working, the amplification factor of the first amplifier 24 and the second amplifier 3 4 may not be in the low gear, but in some other gear position. A general working process will be described below in conjunction with Figs. 4 through 6, which is applicable to the case where the first amplifier 24 and the second amplifier 34 have any magnification when the automatic device 2 is started.

As shown in FIG. 4, when the automatic device 2 starts working, the sensing module 10 initializes as shown in step S0. Then proceeding to step S2, the sensing module 10 enters the sensing mode. Proceeding to step S4, it is judged whether or not the signal from the second detecting unit 16 is received. When the result of the determination is YES, the process proceeds to step S6, and if the result of the determination is no, the process proceeds to step S8. In step S6, it is further determined whether the signal from the first detecting unit 14 is received, and if the result of the determination is YES, the process proceeds to step S8, and if the result of the determination is no, the process proceeds to step S10. In step S 1 0, the sensing module 10 generates a corresponding control signal to the driving device 8 according to the signal transmitted by the second detecting unit 16, and controls the automatic device 2 to be grounded. The movement. After proceeding to step S8, the sensing module 10 enters the adaptation mode. According to the conditions of the step S8, there are two cases in which the sensing module 10 enters the adaptation mode from the sensing mode. The control unit 12 in the sensing mode receives the signal transmitted by the first detecting unit 14 , and the other is the control unit 12 in the sensing mode, and the signal transmitted by the second detecting unit 16 is not received. That is, the control unit 12 in the sensing mode changes the condition of receiving the signal transmitted by the first detecting unit 14 or the second detecting unit 16.

According to the different trigger conditions of entering the adaptation mode, the working flow chart of the sensing module 1 0 in the adaptation mode is different. The following two flow charts of the sensing module 10 are introduced in the adaptation mode with reference to Fig. 5 and Fig. 6 below.

The sensing module 1 0 does not receive the signal from the second detecting unit 1 6 , and when the trigger enters the adaptation mode, the working flow chart of the sensing module 10 is as shown in FIG. 5 . Proceeding to step S 1 2, the amplification factor of the second detecting unit 16 is identified, that is, the magnification of the second amplifier 34 is identified. Proceeding to step S 1 4, the amplification factor of the second detecting unit 16 is increased, and the amplification factor before the second detecting unit 16 is increased is set to the amplification factor of the first detecting unit 14 , that is, the first amplifier 24 gain. Proceeding to step S16, it is judged whether the amplification factor of the second detecting unit 16 is high-grade. When the determination result is YES, the process proceeds to step S2 0. When the determination result is no, the process proceeds to step S18. In step S18, it is further determined whether or not the signal from the second detecting unit 16 is received. When the result of the determination is no, the process returns to step S1 4, and when the result of the determination is YES, the process proceeds to step S20. In step S 2 0 , the magnifications of the current first detecting unit 14 and the second detecting unit 16 are determined as the lowest magnification. Proceeding to step S 2 2 , the lowest magnification is set to the magnification of the first detecting unit 14 and the second detecting unit 16. Proceeding to step S 2 4, the sensing module 10 enters the sensing mode. In the sensing mode, the first detecting unit 14 and the second detecting unit 16 have the magnification set in step S 2 2, that is, step S 2 The lowest magnification determined in 0.

The sensing module 10 receives the signal from the first detecting unit 1 4, and when the trigger enters the adaptation mode, the working flow chart of the sensing module 10 is as shown in FIG. 6. Proceeding to step S30, the amplification factor of the first detecting unit 14 is identified, that is, the magnification of the first amplifier 24 is identified. Go to step S 3 2 to reduce the magnification of the first detecting unit 14 and the first check The amplification factor before the measurement unit 1 4 is set to the amplification factor of the second detection unit 16 , that is, the amplification factor of the second amplifier 34 . Proceeding to step S 3 4, it is judged whether the amplification factor of the first detecting unit 14 is a low gear. When the determination result is YES, the process proceeds to step S36. When the determination result is YES, the process proceeds to step S38. In step S3 6 , the magnification of the second detecting unit 16 is set to a low gear. In step S38, it is further determined whether the signal from the first detecting unit 14 is received, and if the result of the determination is no, the process returns to step S3 2, and if the result of the determination is no, the process proceeds to step S40. In step S 4 0 , the magnifications of the current first detecting unit 14 and the second detecting unit 16 are determined as the lowest magnification. Proceeding to step S 4 2, the lowest magnification is set to the magnification of the first detecting unit 14 and the second detecting unit 16. Proceeding to step S 4 4, the sensing module 10 enters the sensing mode. In the sensing mode, the first detecting unit 14 and the second detecting unit 16 have the magnification set in step S 4 2, that is, step S 4 The lowest magnification determined in 0.

According to the description of the above working process, the control unit 12 increases the amplification of the first amplifier 24 according to the magnitude of the amplification of the second amplifier 34 when the amplification factor of the second amplifier 34 is increased stepwise. multiple. At the same time, when the amplification factor of the first amplifier 24 is gradually decreased, the amplification factor of the second amplifier 34 is correspondingly reduced according to the magnitude of the decrease in the amplification factor of the first amplifier 24. Through the above operation, the amplification factors of the first amplifier 24 and the second amplifier 34 are always synchronized, that is, the amplification factor of the second amplifier 34 and the amplification factor of the first amplifier 24 are always in the adjacent gear position or the same gear position. And the amplification factor of the second amplifier 34 is higher than or equal to the amplification factor of the first amplifier 24. The beneficial effect of the above operation is that in the sensing mode, the sensing module 10 can detect the change of the intensity of the signal in the environment in time, and promptly start the sensing module 10 to enter the adaptation mode, which is the first in the sensing mode. An amplifier 2 4 and a second amplifier 34 are set to an appropriate magnification. At the same time, the sensing module 10 can quickly recognize the strength of the signal in the current environment in the adaptation mode.

It will be understood by those skilled in the art that it is also the protection scope of the present invention that the amplification factor of the first amplifier 24 and the second amplifier 34 has more gear positions. In addition, in the process of implementing the present invention, the amplification factors of the first amplifier 24 and the second amplifier 34 are not synchronized. It is also the scope of protection of the present invention.

In the above embodiment, the sensing module 10 includes two detecting units, and the present invention can be implemented when the sensing module 10 includes only one detecting unit. At this time, the control unit 12 controls the detecting unit to be in an adaptation mode or a sensing mode, that is, in an adaptation mode for a specific first time period and a sensing mode for a specific second time period. And controlling the first time period and the second time period to alternately appear. In the adaptation mode or in the sensing mode, the sensing module 10 operates in the same manner as the previous embodiment.

In the second preferred circuit, the amplification factors of the first amplifier 24 and the second amplifier 34 are fixed values, and the amplification ratios of the two are different. Preferably, the amplification factor of the first amplifier 24 is lower than the second. Magnification of amplifier 3 4 . In the adaptation mode, the control unit 12 receives the signal transmitted by the first amplifier 24, and when receiving the signal, determines the amplification factor of the first amplifier 24 as the lowest amplification factor, and makes the control unit in the sensing mode. 1 2, only the signal transmitted by the first amplifier 24 is processed, and the signal transmitted by the second amplifier 34 is not processed. On the other hand, in the adaptation mode, when the control unit 12 receives the signal transmitted by the first amplifier 24, the amplification factor of the second amplifier 34 is determined to be the lowest amplification factor, and the control unit 1 is in the sensing mode. 2. Only the signal transmitted by the second amplifier 34 is processed. In the sensing mode, the control unit 1 2 ' operates according to the above set state, processes the signal from the corresponding amplifier, generates a corresponding control signal and transmits it to the driving device 8 to drive the automatic device 2 to move relative to the ground. During the movement of the automatic device 2 relative to the ground, if the automatic device 1 is getting closer to the cable 3, the control unit 12 starts detecting the signal from the first amplifier 24, and at this time, the control unit 12 controls the sensing module. 1 0 Enters the adaptation mode from the sensing mode. In the adaptation mode, the control unit 12, after confirming that the signal transmitted by the first amplifier 24 is received again, determines the amplification factor of the first amplifier 24 as the lowest amplification factor, and makes the control unit 1 2 in the sensing mode. Only the signal transmitted by the first amplifier 24 is processed, and the signal transmitted by the second amplifier 34 is not processed. Subsequently, the control unit 12 enters the sensing mode to operate.

In the embodiment described above, the same circuit of the sensing module realizes both the function in the sensing mode and the function in the adaptation mode, thereby realizing the circuit structure. The advantage of low cost. It can be understood by those skilled in the art that the sensing module can also respectively set corresponding two functional modules for the adaptation mode and the sensing mode, so that the functions in the sensing mode and the adaptation mode are respectively implemented by different circuits. The function.

The foregoing embodiment mainly eliminates the influence of the interference signal in the environmental signal on the operating state of the automatic device 2 by filtering out the signal of the specific intensity value. As mentioned earlier, since the automatic device 2 is located in the area enclosed by the cable 3, which is closest to the system cable, the boundary signal of the system is the strongest. However, in order to further ensure that the automatic device 2 is at any position of the working area 4 surrounded by the cable 3, the boundary signal transmitted by the signal generator 6 generates a signal having the maximum intensity value in the environmental signal through the magnetic field signal generated by the cable 3 in the environment. In a preferred solution, the current signal generated by the signal generator 6 has a greater intensity than the commercially available signal, such as 3 · 6 A , 4 A , 6 A , 1 0 A , and the like. In addition to increasing the strength of the boundary signal, a filter can be provided between the detecting unit and the control unit to filter out signals having different frequencies from the boundary signals of the system, thereby eliminating the other frequencies but having strong signal strength. The interference of the signal.

In the present invention, the automatic device 2 may be in various forms such as a lawn mower, a vacuum cleaner, an industrial robot, and the like. When the automatic device 2 is a lawn mower, it further includes a cutting mechanism including a cutting motor and a cutting blade.

Claims

claims

1. A control method for a guidance system. The guidance system includes an automatic device that can move automatically, a signal generator, and a cable connected to the signal generator. It is installed on the automatic device and can detect environmental signals in the surrounding environment. The sensing module has an adaptation mode and a sensing mode, and is characterized in that: in the adaptation mode, the sensing module identifies the intensity value of the environmental signal, and sets the sensing module according to the identified intensity value. The working parameters allow the sensing module working under the working parameters to filter out signals under a specific intensity value; in the sensing mode, the sensing module works under the set working parameters.

2. The control method according to claim 1, characterized in that: the sensing module includes a detection unit with adjustable amplification and a control unit that can adjust the amplification of the detection unit; in the adaptation mode, the control unit can Selectively enable the detection unit to detect signals at different amplification factors, identify the intensity value of the environmental signal by judging the signal reception status of the control unit under different amplification factors, and set the amplification factor of the detection unit according to the identified intensity value, When the detection unit is made to work under the set amplification factor, the control unit can only receive signals above a specific intensity value; in the sensing mode, the detection unit works under the set amplification factor.

3. The control method according to claim 1, characterized in that: the sensing module has a detection unit with a fixed amplification and a control unit with an adjustable threshold value; in the adaptation mode, the control unit identifies the signal transmitted by the detection unit. The intensity value of , the threshold value of the control unit is set according to the identified intensity value, so that the control unit with the set threshold value can filter out signals under a specific intensity value; In sensing mode, the control unit is in Work under the set threshold value.

4. The control method according to claim 2, characterized in that: in the adaptation mode, when the control unit can receive the signal, the lowest amplification factor of the detection unit is set as the amplification factor of the detection unit.

5. The control method according to claim 4, characterized in that: in the adaptation mode, when the control unit cannot receive the signal, the amplification factor of the detection unit is increased step by step, so that when the control unit receives the signal for the first time, the detection unit has The amplification factor of is determined as the lowest amplification factor; when the control unit receives a signal, the amplification factor of the detection unit is gradually reduced, and the amplification factor of the detection unit when the control unit last received a signal is determined as the lowest amplification factor.

6. The control method according to claim 4, characterized in that: the detection unit includes a first detection unit and a second detection unit, the first detection unit and the second detection unit respectively have adjustable magnifications, and in the adaptation mode , the magnification of the first detection unit is not higher than that of the second detection unit Amplification factor, when the control unit cannot receive the signal transmitted by the second detection unit, adjust the amplification factor of the second detection unit, when the control unit receives the signal transmitted by the second detection unit, the lowest amplification factor of the second detection unit Set as the amplification factor of the second detection unit; when the first detection unit detects a signal, adjust the amplification factor of the first detection unit, and when the control unit receives the signal transmitted by the first detection unit, the first detection unit has the lowest Magnification is set as the magnification of the first detection unit.

7. The control method according to claim 6, characterized in that: in the adaptation mode, when the control unit cannot receive the signal transmitted by the second detection unit, the amplification factor of the second detection unit is gradually increased, and the control unit is When the signal transmitted by the second detection unit is received for the first time, the amplification factor of the second detection unit is determined as the lowest amplification factor; when the control unit receives the signal transmitted by the first detection unit, the amplification factor of the first detection unit is gradually reduced, and The amplification factor of the first detection unit when the control unit last receives the signal transmitted by the first detection unit is determined as the lowest amplification factor.

8. The control method according to claim 6, characterized in that: in the adaptation mode, when increasing the amplification factor of the second detection unit, the amplification factor of the first detection unit is increased according to the increase in the amplification factor of the second detection unit, When the amplification factor of the first detection unit is reduced, the amplification factor of the second detection unit is reduced according to the decreasing range of the amplification factor of the first detection unit.

9. The control method according to claim 6, characterized in that: in the sensing mode, when the control unit receives the signal transmitted by the first detection unit or the second detection unit changes, the sensing module enters the adaptation mode.

10. A guidance system. The guidance system includes an automatic device that can walk automatically, a signal generator that generates a preset boundary signal, and a cable connected to the signal generator. It is installed on the automatic device and can detect the surroundings. A sensing module for environmental signals in the environment. The sensing module has an adaptation mode and a sensing mode. It is characterized in that: in the adaptation mode, the sensing module identifies the intensity value of the environmental signal. According to the identified intensity value Set the working parameters of the sensing module so that the sensing module working under the working parameters can filter out signals under a specific intensity value; in the sensing mode, the sensing module operates under the set working parameters. Next work.

11. The guidance system according to claim 10, characterized in that: the sensing module includes a detection unit with adjustable magnification and a control unit that can adjust the magnification of the detection unit; in the adaptation mode, The control unit can selectively enable the detection unit to detect signals at different amplification factors. By judging the signal reception status of the control unit under different amplification factors, identify the intensity value of the environmental signal, and set the intensity value of the detection unit according to the identified intensity value. magnification, so that the detection unit can When working under a certain amplification factor, the control unit can only receive signals above a specific intensity value; in sensing mode, the detection unit works under the set amplification factor.

12. The guidance system according to claim 10, characterized in that: the sensing module has a detection unit with a fixed magnification and a control unit with an adjustable threshold value; in the adaptation mode, the control unit identifies the detection unit The intensity value of the transmitted signal, the threshold value of the control unit is set according to the identified intensity value, so that the control unit with the set threshold value can filter out signals under a specific intensity value; In sensing mode, The control unit works under the set threshold value.

13. The guidance system according to claim 11, characterized in that: in the adaptation mode, when the control unit can receive the signal, the lowest amplification factor of the detection unit is set as the amplification factor of the detection unit.

14. The guidance system according to claim 13, characterized in that: in the adaptation mode, when the control unit cannot receive the signal, the amplification factor of the detection unit is increased step by step, and the time when the control unit receives the signal for the first time is The amplification factor of the detection unit is determined as the lowest amplification factor; when the control unit receives a signal, the amplification factor of the detection unit is gradually reduced, and the amplification factor of the detection unit when the control unit last received a signal is determined as the lowest amplification factor.

15. The guidance system according to claim 13, characterized in that: the detection unit includes a first detection unit and a second detection unit, and the first detection unit and the second detection unit respectively have adjustable magnifications, suitable for In the configuration mode, the amplification factor of the first detection unit is not higher than the amplification factor of the second detection unit. When the control unit cannot receive the signal transmitted by the second detection unit, the amplification factor of the second detection unit is adjusted. When the control unit receives the signal transmitted by the second detection unit, the lowest amplification factor of the second detection unit is set as the amplification factor of the second detection unit; when the first detection unit detects the signal, adjust the amplification of the first detection unit The multiplier sets the lowest amplification factor of the first detection unit when the control unit receives the signal transmitted by the first detection unit as the amplification factor of the first detection unit.

16. The guidance system according to claim 15, characterized in that: in the adaptation mode, when the control unit cannot receive the signal transmitted by the second detection unit, the amplification factor of the second detection unit is gradually increased, The amplification factor of the second detection unit when the control unit first receives the signal transmitted by the second detection unit is determined as the lowest amplification factor; when the control unit receives the signal transmitted by the first detection unit, the amplification of the first detection unit is gradually reduced. As a multiple, the amplification factor of the first detection unit when the control unit last received the signal transmitted by the first detection unit is determined as the lowest amplification factor.

17. The guidance system according to claim 15, characterized in that: in the adaptation mode, a second When the amplification factor of the detection unit is increased, the amplification factor of the first detection unit is increased according to the increase in the amplification factor of the second detection unit. When the amplification factor of the first detection unit is reduced, the second detection unit is reduced according to the decrease in the amplification factor of the first detection unit. The magnification of the unit.

18. The guidance system according to claim 15, characterized in that: in the sensing mode, when the control unit receives the signal transmitted by the first detection unit or the second detection unit changes, the sensing module enters the adaptation mode. .

19. The guidance system according to claim 11 or 12, characterized in that: the sensing module further includes a filter disposed between the detection unit and the control unit, the filter can filter out preset boundaries A signal with a frequency other than the frequency of the signal.

20. The guidance system according to claim 10, characterized in that: the preset boundary signal has a strength of 3.6 A or above.