WO2014071860A1 - Système d'exécution automatique - Google Patents

Système d'exécution automatique Download PDF

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Publication number
WO2014071860A1
WO2014071860A1 PCT/CN2013/086715 CN2013086715W WO2014071860A1 WO 2014071860 A1 WO2014071860 A1 WO 2014071860A1 CN 2013086715 W CN2013086715 W CN 2013086715W WO 2014071860 A1 WO2014071860 A1 WO 2014071860A1
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WO
WIPO (PCT)
Prior art keywords
rfid
automatic
boundary
main control
radio frequency
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PCT/CN2013/086715
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English (en)
Chinese (zh)
Inventor
安德罗•保罗
鲍瑞那图•强尼
Original Assignee
苏州宝时得电动工具有限公司
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Publication of WO2014071860A1 publication Critical patent/WO2014071860A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

Definitions

  • the present invention relates to an automated working system, and more particularly to an automated working system for an automated walking apparatus to walk and work within a work area defined by a work area identification module.
  • the automatic working system including intelligent automatic walking equipment is well known. Since the automatic walking equipment can automatically perform preset tasks related to pre-set tasks without manual operation and intervention, it is used in industrial applications. And the application on home products 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.
  • the commonly used method is to set the boundary line in the form of cable.
  • the boundary line carries the boundary electrical signal, and the area enclosed by the boundary line is the working area of the automatic walking equipment.
  • U.S. Patent US 66 1 5 1 08 B 1 announced on May 1st, 1999.
  • the working area of the robot is set by laying a boundary line on the grass.
  • burying the boundary line requires professional tools to slot the grass, which is time consuming and laborious, and can destroy the integrity of the grass.
  • the boundary line requires an additional signal generating device to continuously provide a current signal, which is energy intensive and has a certain risk. For another example, if any fault occurs on the boundary line, the entire boundary signal will disappear.
  • the technical problem to be solved by the present invention is to provide an automatic working system in which boundary line setting and changing are easy and reliability is high.
  • the technical solution provided by the present invention is:
  • An automatic working system comprising: a working area identifying module defining a working area of the automatic working system, the working area identifying module comprising a plurality of RF ID tags arranged at intervals, each RF ID tag having unique identification information, A plurality of RF ID tags are connected to form a boundary of the working area; an autonomous walking device that automatically walks and works in the working area, the automatic walking device includes: an RF ID reader, including an antenna module and a reading module, the antenna Module emits radio frequency waves Transmitting the RFID tag to activate the RFID signal and collecting the RFID signal; the reading module reads the identification information in the RFID signal; the main control mechanism is connected to the RFID reader, and the antenna module passes the dynamic In the radiation mode, the at least two RFID tags are respectively activated by at least two radiation modes and the at least two RFID signals are received; the master control mechanism according to at least two radiation modes used and correspondingly received at least two RFID signals, A positional relationship of the autowalk device with respect to a partial boundary formed by the at least two RFID tags is determined.
  • the antenna module comprises a reconfigurable antenna, wherein the reconfigurable antenna changes a radiation mode of the radio frequency wave by using a dynamic radiation mode to change at least one of a direction, a shape and a polarity of the radio frequency wave.
  • the reconfigurable antenna dynamically adjusts the direction of the beam-shaped radio frequency wave by means of beam control.
  • the positional relationship includes an internal and external relationship.
  • the main control unit calculates the arrangement order of the at least two RFID tags relative to the automatic walking device according to the direction of the radio frequency wave and the corresponding RFID signal, and stores the arrangement order and the main control mechanism.
  • the standard arrangement order of the RFID tags is compared, and it is judged based on the comparison result that the automatic walking device is located inside or outside the at least part of the boundary.
  • the autonomous walking device walks along the boundary for one week, and sequentially detects the RFID tag to obtain a standard arrangement order of the RFID tags, and stores them in the main control mechanism.
  • the positional relationship includes an angular relationship
  • the main control mechanism determines an angular relationship of the automatic walking device with respect to the boundary of the portion according to the direction of the radio frequency wave and the corresponding received RFID signal.
  • the positional relationship includes a distance relationship.
  • the master control unit calculates the distance of the autonomous walking device relative to the boundary of the portion according to the time difference between the occurrence time of the radio frequency wave of the specific radiation mode and the return time of the corresponding RFID signal.
  • the distance of the automatic walking device relative to the boundary of the part is calculated according to the intensity of the received RFID signal.
  • the main control mechanism instructs the automatic walking device to walk according to the positional relationship of the automatic walking device with respect to the partial boundary.
  • the automatic walking device is a lawn mower.
  • the beneficial effects of the present invention are: by using an RFID tag and using an RFID reader on the autonomous walking device to identify the characteristics of the RFID signal, the user only needs to insert a plurality of RFID tags at a certain interval into the edge of the lawn when setting the boundary. There is no need to specially slot the boundary line along the edge of the lawn as in the prior art, and a few RFID tags fail or offset will not have too much impact on the overall boundary.
  • the autonomous walking device can judge the position of its relative boundary, thereby Working normally in the work area, will not be out of bounds.
  • FIG. 1 is a schematic diagram of an automatic working system according to an embodiment of the present invention.
  • Figure 2 is a schematic diagram of boundary recognition of the automatic working system shown in Figure 1.
  • FIG 3 is a block diagram of the automatic working system shown in Figure 1.
  • FIG. 4 is a schematic diagram of scanning of an antenna module of the automatic working system shown in FIG. 1.
  • FIG. 5 is a schematic diagram of the automatic working device of the automatic working system shown in FIG. 1 located within a boundary.
  • Figure 6 is a schematic view of the automatic working device of the automatic working system shown in Figure 1 outside the boundary.
  • an automatic working system includes an automatic walking device 9 and a work area identification module.
  • Work area identification module includes interval settings Multiple RF ID tags 5, each RF ID tag 5 has unique identification information to distinguish it from other RFID tags 5.
  • the RFID tag 5 is disposed around the work area 1 where the user needs the walking device 9 to walk and work, such that the lines at which the points at which the plurality of RF ID tags 5 are connected constitute the boundary 3 of the work area 1.
  • RF ID label 5 is passive, there is no internal power supply, and the energy of external RF waves is required to send an RF ID signal carrying its own identification information.
  • the RFID tag 5 can also be semi-passive or active, and its technical features are well known to those skilled in the art, and will not be described herein.
  • the automated working system may also include a docking station 7 for the automatic walking device 9 to stop when not in operation, or to replenish energy when the energy is exhausted.
  • the stop 7 is preferably located on the boundary 3 to facilitate the positioning of the automatic walking device 9 .
  • the automatic walking device 9 may be a lawn mower, a vacuum cleaner, an industrial robot, or the like.
  • the work area 1 is the user-maintained lawn
  • the boundary 3 is usually located at the edge of the lawn.
  • the RF ID tag is preferably formed into a spike shape.
  • the boundary 3 is arranged, the user only needs to insert a plurality of RF ID tags 5 at a certain interval into the edge of the lawn, without special slotting along the edge of the lawn as in the prior art.
  • the boundary line, a few RFID tags 5 failure or offset will not have too much impact on the overall boundary 3, and it is more convenient to adjust the boundary later.
  • the interior of the work area 1 is also provided with a plurality of isolation regions 2 which are also surrounded by an RF I D tag 5 to form a boundary.
  • the isolation area 2 may be an area such as a flower stand, a pond, or the like that does not require mowing.
  • the autonomous walking device 9 is provided with an RF ID reader 11 and a main control mechanism 17 connected to the RFID reader 11, and the RFID reader 11 is configured to receive the RFID signal from the RFID tag 5 and acquire the RFID.
  • the RFID tag 11 carries the identification information of the RFID tag 5 carried in the signal, and the RFID reader 11 can also record the information such as the strength and reception time of the RF ID signal.
  • the RF ID reader 11 includes an antenna module 13 and a reading module 15, and the antenna module 13 collects an RF ID signal sent by the RF ID tag 5.
  • the reading module 15 decodes the signal into identification information and sends it to the main Control agency 17.
  • the time information of the RF ID signal can be recognized by the reading module 15 and sent to the main control mechanism 17, but due to the RF ID signal
  • the decoding and transmission time is extremely short, and the receiving time point can also be directly recorded by the main control unit 17 when receiving the information transmitted by the RFID reader 11.
  • the signal strength information of the RFID signal can also be transmitted by the reading module 15 and sent to the main control unit 17 , but can also be identified by a separate signal strength detector connected to the antenna module 13 and then sent to the main control unit 1 7 .
  • the automatic walking device 9 further includes an energy module for providing energy for running the whole machine, a control module for the user to set the function of the automatic walking device 9, and a walking module for driving the whole machine to walk. , the work module that performs the work task and other auxiliary modules.
  • the energy module is usually a built-in battery pack and a charging pole piece connected to the battery pack; the walking module usually includes a wheel set disposed on the fuselage and a traveling motor for driving the wheel set, the walking module There may be other variations such as crawler styles, and the details are not described herein.
  • the working modules are usually cutting mechanisms, including cutting motors and cutting blades; other auxiliary modules include obstacle sensing modules that sense obstacles, and rain/humidity sensing modules that sense weather conditions.
  • the main control unit 1 7 is used to control the mower's automatic walking, working, replenishing energy, and executing the corresponding instructions according to the established procedures or according to the detected environment. It is the core component of the mower.
  • the function performed by the control module starts or stops, generates a walking path and controls the walking module to walk according to the path, determines the power of the energy module, and prompts the mower to return to the stopping station 7 and automatically docks the charging, in this embodiment. It is especially important that the main control unit 7 judges the positional relationship of the mower relative to the boundary 3 based on the signal returned by the RFID reader 11.
  • the stop 7 is usually located on the boundary 3 and is connected to the mains or other power supply system for the mower to return to the charging.
  • the docking station 7 is provided with a charging electrode for docking with the corresponding electrode of the mower.
  • the lawn mower cruises and performs mowing work in the work area 7 surrounded by the boundary 3 composed of the RFID tag 5, and under normal conditions, the mower walks straight until it hits the boundary 3. If the mower encounters boundary 3, it will turn back to work area 1 and continue straight walking until boundary 3 is encountered again.
  • the entire work area 1 is covered by the above-described method of continuously folding back within the boundary 3.
  • the mower can also have other path planning modes, for example, based on the RFID tag 5 it passes through. Subsequent paths.
  • the RF ID reader 11 emits radio frequency waves through the antenna module 13 therein to activate the RF ID tag 5, and the RF ID tag 5 is activated to emit an RF ID signal carrying its own identification information, and the antenna module 13 receives the signal and transmits it. Go to the reading module 15.
  • one technical difficulty is that if the arrangement density of the RF ID tag 5 on the boundary 3 is set small, it is difficult for the antenna module to find the RF ID. Label 5, it is easy to lose the definition of its own position; and if the arrangement density of the RF ID label 5 is set larger, there is a problem that it takes time and effort to arrange the boundary line, and the cost of the boundary material is high, and at the same time, the density is too large. It also causes the antenna module 13 to easily miss a number of RF ID tags 5.
  • the antenna module 13 of the RF ID reader 11 includes a reconfigurable antenna, and the circuit characteristics of the reconfigurable antenna can be changed, and the characteristics of the RF wave emitted by the reconfigurable antenna can be changed accordingly.
  • the foregoing characteristics include, but are not limited to, polarity, direction, shape, and the like.
  • the reconfigurable antenna emits radio frequency waves by using a dynamic radiation mode, and in the dynamic radiation mode, the reconfigurable antenna dynamically adjusts at least one of a direction, a polarity, and a shape of the radio frequency wave to form a plurality of radio frequency wave radiations. the way. In this way, the activation efficiency, success rate and coverage area of the RF I D tag 5 by the antenna module 13 are improved by activating the RF I D tag 5 by different radiation methods.
  • the speed of the radio frequency wave 19 of the reconfigurable antenna and the response speed of the RF ID tag 5, the signal processing speed of the RFID reader 11 and the main control mechanism 17 are far greater than that of the autonomous traveling device 9 due to the dynamic radiation mode. Speed, it can be approximated that when the RF ID reader 11 receives a plurality of consecutive RF ID signals for a certain period of time, the position of the autonomous walking device 9 does not change, and the time can be 0.1 second or less.
  • the reconfigurable antenna dynamically adjusts the direction of the radio frequency wave 19 by means of beam steering.
  • the reconfigurable antenna maintains the shape of the radio frequency wave 19 in a beam shape, narrow and long, and dynamically changes the radiation direction of the radio frequency wave 19, so that the radio frequency wave 19 has a strong energy density and a clear directivity, in any radiation mode. Only a few can be activated even without the RF ID tag 5, but under the condition of rapidly changing the radiation direction, multiple RF ID tags 5 can be activated in sequence and the RFID signal sent by them can be received for the main control mechanism 17 to judge.
  • the dynamic radiation pattern of Figure 4 is simplified and simplified for the sake of description, and is merely exemplary.
  • the reconfigurable antenna can also change the shape and direction of the radio frequency wave 19 at the same time, and simultaneously change the polarity and direction of the radio frequency wave 19, and periodically change the radio frequency wave 19 in sequence.
  • the shape and direction of the RF wave 19 are only changed by changing the shape of the RF wave 19 to improve the activation efficiency, success rate and range of the RF ID tag 5. That is, the reconfigurable antenna can also be superimposed on other radiation modes while beam steering.
  • the RFID reader 11 emits radio frequency waves 19 by at least two types of radiation in a dynamic radiation mode, and at least two RF I D tags 5 are obtained by corresponding activation and at least two RF I D signals are received.
  • the position of the automatic walking device 9 is accurately and stably determined.
  • the RFID reader 11 can obtain the identification information and the signal strength information of one RFID tag 5 by one type of radiation, and obtain the RFID signal of the other RFID tag 5 by another radiation method; of course, the RFID reader 11 can also pass one
  • the radiation method obtains the RFID signals of the two RFID tags 5, and the RF ID signals of the two RF ID tags 5 are obtained by another radiation method. They all fall under the general idea of the invention.
  • the following describes how the automatic walking device 9 recognizes its positional relationship with the boundary 3 in the automatic working system.
  • the main control unit 17 instructs the automatic walking device 9 to walk in accordance with the positional relationship of the automatic traveling device 9 with respect to the boundary 3. For example, when the automatic walking device 9 crosses the boundary 3, the automatic walking device 9 is instructed to turn back into the work area 1. When the automatic walking device 9 is inside the boundary 3, the automatic walking device 9 is instructed to follow a predetermined path.
  • the RFID reader 11 emits at least two radio frequency waves 19 by at least two types of radiation, obtaining at least two RF ID tags 5 with corresponding activations and charging at least two RF ID signals.
  • the main control mechanism 17 determines the autonomous walking device 9 relative to the at least two types of radiation, and corresponding to the at least two RF ID signals received. There is less positional relationship between the partial boundaries of the two RF ID tags 5. It can be understood that, in actual work, the RFID reader 11 scans more RFID tags 5 by more radiation methods, which will improve the range and accuracy of the aforementioned partial boundaries, and the positional relationship judgment is more accurate.
  • the main control unit 17 of the automatic walking device 9 judges the positional relationship of the automatic traveling device 9 with respect to the boundary of the portion based on the radiation mode of the radio frequency wave 19 and the corresponding RF I D signal 5 .
  • the positional relationship includes an angular relationship, a distance relationship, an internal and external relationship, and the like.
  • the angular relationship is determined by the direction in which the RF I D signal is activated by the RF wave 19, which is the direction of the corresponding RF I D tag.
  • the distance relationship is determined by the difference between the occurrence time of the radio frequency wave 19 of the specific radiation mode and the return time of the corresponding RF I D signal, or the intensity of the RF I D signal corresponding to the radio frequency wave 19 of the specific radiation mode.
  • the internal and external relationship is determined by the similarities and differences between the RFID arrangement order detected by the automatic walking device 9 and the RFID arrangement order of the built-in RFID device.
  • the above determination of the positional relationship is merely illustrative, and other methods are also possible, which are described in detail below.
  • the corresponding returned signal strength information can also reflect the angular relationship or other positional relationship of the RF I D tag 5 and the autonomous walking device 9.
  • the reconfigurable antenna uses the beam control method to change the radiated radio frequency waves 19 .
  • the radio frequency wave 19 radiated by the reconfigurable antenna has a narrow range and the direction is constantly changed. If a certain radiation mode is not found, a specific RFID tag 5 is not found in a corresponding direction, and the adjacent RFID tag 5 is found in the other direction. Specific RFID tag 5.
  • the radio frequency electric wave 19 can activate the RF ID tag 5 in its radiation direction in at least two directions, respectively, and the RF ID reader 11
  • the RF ID signal returned by the activated RF ID tag 5 can be received; the main control mechanism 17 further determines the autonomous walking device 9 relative to the corresponding RF ID by the direction of the radio frequency wave 19 and the corresponding received RF ID signal.
  • the angle of the label 5 also gives an angular relationship of the portion of the boundary of the autonomous walking device 9 with respect to each of the RF ID tags 5.
  • the internal and external relationship of the automatic walking device 9 with respect to the partial boundary of the at least two RF I D tags 5 monitored by it is determined as follows.
  • the main control mechanism 17 can determine the angular relationship of the auto-traveling device 9 with respect to the partial boundary of the RF ID tag 5 it monitors. Based on the same manner, referring to FIG. 5 and FIG. 6, the main control The mechanism 17 is capable of recognizing the arrangement order of the at least two RF ID tags 5 monitored by the autonomous walking device 9 as an observation point. On the inner side and the outer side of the boundary 3, the arrangement order is exactly the opposite. Based on this feature, the main control mechanism 17 stores the arrangement order of the respective RF ID tags 5 on the boundary 3 when viewed from the boundary 3, And the arrangement order is compared with the order of the RF ID label 5 observed during driving.
  • the automatic walking device is judged to be located in the boundary 3, and if not, the automatic walking device is judged to be outside the boundary 3.
  • the arrangement order of the respective RF I D tags 5 on the boundary 3 when observing from outside the boundary can also be built in the main control mechanism 17, and will not be described again.
  • the automatic walking device 9 is located in the boundary 3, and two RF I D tags are arranged on the boundary 3, which are an RF I D tag 51 and an RF I D tag 52, respectively.
  • the autonomous walking device 9 emits radio frequency waves 19 in two directions in two directions, respectively activating the RF ID tag 51 and the RF ID tag 52, and the RF ID tag 51 and the RF ID tag 52 respectively return an RF ID signal.
  • the control unit 17 determines that the RF ID tag 51 is located on the left side of the RF ID tag 52 according to the correspondence between the direction of the emitted radio frequency wave 19 and the returned RF ID signal, and the main control unit 17 arranges the arrangement order and the RF built therein.
  • the ID tag arrangement order is compared, and the result is the same, and the master mechanism 17 can judge that the autonomous walking device is located in the boundary 3.
  • the boundary 3 is unchanged and the autonomous device 9 is located outside the boundary 3, and it is easy to know that the main control mechanism 17 judges that the RF ID 51 is located on the right side of the RF ID tag 52, and the arrangement order and its The built-in RF ID tags 5 are arranged in the reverse order, and the master mechanism 17 can determine that the autonomous walking device 9 is outside the boundary 3.
  • the main control mechanism 15 can calculate the at least two RF ID tags according to the direction of the radio frequency waves 19 and the corresponding received RF ID signals. 5 Relative to the arrangement order of the autonomous walking device 9, and comparing the arrangement order with the arrangement stored in the main control unit 17, the root According to the comparison mechanism, the automatic walking device 9 is located inside or outside at least part of the boundary formed by the at least two RF ID tags 5.
  • the automatic walking device 9 can determine the manner in which the RF IDs are arranged by sequentially recording the detected RF ID tags 5 by walking along the boundary 3 for the first time, and obtaining the standard arrangement order of the RF ID tags 5, and It is stored in the main control unit 17 for internal and external judgment.
  • the autonomous walking device 9 may be within the boundary 3 when it is turned on, and when it detects that it moves from the side of the boundary 3 to the other side. Judging that it is outside the boundary 3, the way of judging the crossing of the boundary 3 can be similar to the previous one, and the detection order is reversed, and there may be other ways, for example, detecting the distance of at least two RF ID tags 5 to the attachment. The method of detecting the distance is described later, from large to small and mutated from small to large.
  • the manner in which the distance of the automatic walking device 9 relative to the boundary of at least two RF I D tags 5 monitored by it is determined is as follows.
  • the distance relationship between the autonomous walking device 9 and a portion of the boundary can be determined by monitoring the difference between the occurrence time of the radio frequency wave 9 of the specific radiation mode and the return time of the corresponding RF ID signal. Since the speed of the radio frequency wave 19 is constant, the aforementioned time difference is proportional to the distance between the autonomous vehicle 9 and the corresponding RF ID tag 5.
  • the RF ID tag 5 is activated and returns an RF ID signal that returns to the RF ID reader 11, RF ID reader 11 or master of the autonomous device 9 after the same period of time.
  • the time difference is extremely short.
  • the walking distance of the autonomous walking device 9 itself is close to 0. Therefore, dividing the sum of the obtained distances by 2 is the automatic walking device to the specific RF ID tag 5. distance.
  • the RF ID reader 11 emits at least two kinds of radiation radio frequency waves 19, and the corresponding RF ID signals are obtained, thereby calculating the distance between the autonomous walking device 9 and the at least two RF ID tags 5, thereby obtaining the autonomous walking device 9
  • the processing time of each signal at the RFID tag 5 and the autonomous walking device 9 is close to 0, which can be ignored.
  • the time difference is subtracted from the signal processing. After the time, it is also feasible to carry out the distance calculation, which is also the overall idea of determining the distance based on the time difference.
  • the distance relationship between the automatic walking device 9 and the partial boundary can also be determined by monitoring the intensity of the RF I D signal corresponding to the radio frequency wave 19 of the specific radiation mode.
  • the principle of determining the distance by the strength of the RF ID signal is:
  • the power of the radio frequency wave 19 emitted by the reconfigurable antenna is known or roughly determined, and the signal strength of the corresponding RF ID signal returned will decay with distance. Therefore, the signal strength reflects the distance between the RF ID tag 5 and the autonomous walking device 9. The stronger the signal, the closer the distance, and the weaker the signal, the further the distance. It can also be seen that during the running of the automatic walking device 9, the change in the signal strength of the RF I D signal corresponding to the specific RF I D tag 5 correspondingly represents the change in the distance.
  • the signal is represented by a strong weakening distance from near to far, and the autonomous walking device 9 leaves the corresponding RF I D tag 5; the signal is weakly and strong to represent the distance from far to near, and the autonomous walking device is close to the corresponding RFID tag 5.
  • the antenna module 13 of the RFID reader 11 emits a radio frequency wave 19, which is transmitted to a specific RF ID tag 5 and activated, and the specific RF ID tag 5 is issued.
  • the RF ID signal is received by the antenna module 13, and the signal strength of the RF ID signal when it reaches the antenna module 13 is recorded, and the main control unit 17 calculates the signal strength corresponding to the autonomous device 9 to the specific RF according to the built-in algorithm.
  • the antenna module 13 emits at least two radio frequency waves 19 having two types of radiation and correspondingly obtain the distance between the autonomous walking device 9 and the at least two RF ID tags 5, the autonomous walking device 9 and at least two of the foregoing are obtained accordingly.
  • the main control unit 17 walks between the at least two RFID tags 5 in accordance with the positional relationship of the autonomous walking device 9 with respect to the at least two RFID tags 5.
  • the autonomous walking device 9 can determine whether it has left the working area 1 beyond the boundary 3 and respond accordingly, for example, turning back to the working area 1 when approaching the boundary 3 or crossing the boundary 3.
  • the automatic walking device 9 can also be based on the aforementioned bits
  • the relationship determines the walking mode in the work area 1, such as the walking direction, the walking speed, and the like.
  • the main control unit 17 travels between the at least two RFID tags 5 in accordance with the positional relationship of the autonomous walking device 9 with respect to the at least two RFID tags 5.
  • the R F I D tag 5 can also be used to create a map of the work area 1 and then use the map of the work area 1 to assist in determining the work path.

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

Abstract

L'invention concerne un système d'exécution automatique comprenant : un module d'identification de champ d'action, un dispositif de déplacement automatique (9) et un mécanisme de commande principal (17); le module d'identification de champ d'action comprend une pluralité d'étiquettes RFID disposées par intervalles (5); le dispositif de déplacement automatique (9) comprend un lecteur RFID (11); le lecteur RFID comprend un module aérien (13) et un module de lecture (15); le module aérien (13) émet une onde radiofréquence (19) pour activer l'étiquette RFID (5) et envoyer un signal RFID, et reçoit le signal RFID; le module aérien (13) rayonne dans au moins deux sens afin d'activer respectivement au moins deux étiquettes RFID (5), et reçoit au moins deux signaux RFID; le mécanisme de commande principal (17) détermine, conformément auxdits au moins deux sens de rayonnement utilisés et auxdits au moins deux signaux RFID correspondants reçus, la position du dispositif de déplacement automatique (9) par rapport à une partie de la limite (3) formée par lesdites au moins deux étiquettes RFID (5). Les étiquettes RFID (5) et le lecteur RFID (11) du dispositif de déplacement automatique (9) sont utilisés pour faire une distinction entre les caractéristiques des signaux RFID de sorte que l'établissement de la limite soit simple et fiable.
PCT/CN2013/086715 2012-11-09 2013-11-07 Système d'exécution automatique WO2014071860A1 (fr)

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CN201210444820.0 2012-11-09
CN201210444820.0A CN103809591B (zh) 2012-11-09 2012-11-09 自动工作系统

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Cited By (6)

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CN106909140A (zh) * 2015-12-22 2017-06-30 苏州宝时得电动工具有限公司 路线回归方法及系统
CN107632595A (zh) * 2016-07-18 2018-01-26 苏州宝时得电动工具有限公司 自动行走设备的路径回归方法、自动行走设备及路径回归系统
US10852735B2 (en) 2015-12-17 2020-12-01 Positec Power Tools (Suzhou) Co., Ltd. Self-moving robot system
CN114200916A (zh) * 2020-08-26 2022-03-18 深圳市杉川机器人有限公司 一种自移动设备及回归充电站的方法
CN114762474A (zh) * 2020-12-30 2022-07-19 南京泉峰科技有限公司 自驱动设备及其电子系统
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