WO2017101882A1 - Système de robot à mouvement automatique - Google Patents

Système de robot à mouvement automatique Download PDF

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Publication number
WO2017101882A1
WO2017101882A1 PCT/CN2016/110855 CN2016110855W WO2017101882A1 WO 2017101882 A1 WO2017101882 A1 WO 2017101882A1 CN 2016110855 W CN2016110855 W CN 2016110855W WO 2017101882 A1 WO2017101882 A1 WO 2017101882A1
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WO
WIPO (PCT)
Prior art keywords
signal
mobile robot
self
line
preset
Prior art date
Application number
PCT/CN2016/110855
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English (en)
Chinese (zh)
Inventor
谭一云
邵勇
刘芳世
孙根
周昶
牟国良
孙锡峰
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201610118367.2A external-priority patent/CN107153416A/zh
Priority claimed from CN201610156544.6A external-priority patent/CN107203205B/zh
Priority claimed from CN201610562425.0A external-priority patent/CN107632595B/zh
Priority claimed from CN201610564269.1A external-priority patent/CN107632597B/zh
Priority claimed from CN201611096918.6A external-priority patent/CN108142069B/zh
Priority claimed from CN201611167251.4A external-priority patent/CN106909143A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to EP16874939.8A priority Critical patent/EP3392729B1/fr
Publication of WO2017101882A1 publication Critical patent/WO2017101882A1/fr
Priority to US15/789,397 priority patent/US10852735B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to a self-mobile robot system, in particular to a self-mobile robot system capable of moving and working in a preset working area and a self-mobile robot system capable of automatically returning to a certain preset position.
  • Self-mobile robots such as smart lawn mowers, usually have a working mode and a regression mode.
  • the working mode the self-mobile robot moves and executes pre-set related tasks in a preset working area.
  • the regression mode the self-mobile robot can automatically move to the charging station according to the preset route for charging or parking.
  • the boundary system includes a signal generating device 40', a self-moving robot 10', and a boundary line 50'.
  • the self-moving robot 10' controls its operation and movement only on one side of the boundary line 50' by recognizing the boundary line 50'.
  • the boundary line 50' plans a working area 30' surrounded by a boundary line 50' and a non-working area 100' located outside the boundary line 50'.
  • the signal generating device 40' is electrically connected to the boundary line 50', and the signal generating device 40' generates a preset boundary signal SC to be sent to the boundary line 50'.
  • a preset boundary signal SC flows through the boundary line 50', a variable magnetic field is generated.
  • the self-mobile robot 10' further includes a signal detecting device 20' and a control unit 80' (not shown).
  • the signal detecting means 20' detects the changed magnetic field 90' and generates a detection signal SC'.
  • the control unit 80' receives the detection signal SC' and controls the movement from the mobile robot 10' within the work area 30' in accordance with the detection signal SC'.
  • the preset boundary signal SC is an electrical signal that changes with time. As shown in FIG. 2, in this embodiment, the preset boundary signal SC' is specifically a periodic pulse current signal, and the preset boundary signal SC' will change around the boundary line 50' when flowing through the boundary line 50'. Magnetic field 90'. At any one time, the magnetic field 90' exhibits opposite polarities on either side of the boundary line 50', i.e., the polarity of the magnetic field in the working region 30' is opposite to the polarity of the magnetic field in the non-working region 100'. As is known to those skilled in the art, by controlling the magnitude of the preset boundary signal SC magnitude, it is ensured that the working area 30' is covered with a magnetic field.
  • signal generating device 40' includes a power source and a controllable switch, and signal generating device 40' is coupled to boundary line 50' to form an electrical circuit.
  • the preset boundary signal SC' as shown in Fig. 2 can be generated by controlling the opening and closing of the controllable switch.
  • the signal detecting means 20' can take many forms as long as it can convert the magnetic field 90' into a corresponding electrical signal.
  • the signal detecting means 20' comprises an inductance.
  • the signal detecting means 20' induces a magnetic field 90' and generates a corresponding electromotive force, thereby converting the magnetic field 90' into a detection signal SC' and transmitting it to the control unit 80'.
  • the polarity of the magnetic field 90' is opposite to that in the non-working area 100' within the working area 30'. Accordingly, the polarity of the detection signal SC' is also opposite to the non-working area 100' within the working area 30'.
  • the control unit 80' judges whether or not the self-mobile robot 10' crosses the boundary line 50' based on the polarity of the detection signal SC'. When the polarity of the detection signal SC' changes, the control unit 80' judges that the self-mobile robot 10' is crossing the boundary line 50'. The control unit 80' controls the retreat or steering from the mobile robot 10' to cause the detection signal SC' to become the initial polarity, thereby ensuring that the self-mobile robot 10' always operates in the work area 30'.
  • the industry in order to ensure that the self-mobile robot can automatically return to the charging station according to the preset route, the industry usually uses the above-mentioned boundary system as hardware to guide the self-mobile robot 10' to return along the boundary line by changing the control algorithm of the self-mobile robot.
  • the original boundary line 50' is the guide line from the mobile robot 10'.
  • the self-mobile robot system further includes a charging station 70' on which the signal generating device 40' is disposed or the signal generating device 40' is connected to the charging station 100'.
  • the control unit 80' receives the return instruction, the control unit 80' controls the random movement from the mobile robot 10' or moves in a predetermined direction to find the boundary line 50'.
  • the control unit 80' judges whether or not the self-mobile robot 10' crosses the boundary line 50' based on the polarity of the detection signal SC'. When detecting the pole of signal SC' When the sex changes, the control unit 80' determines that the mobile robot 10' is crossing the boundary line 50'.
  • a control algorithm is provided in the control unit 80' to control the self-mobile robot 10' to return to the charging station 70' along the boundary line 50' in a zigzag line as shown in FIG.
  • two two signal detecting devices 20' are provided on the mobile robot 10', which are a signal first detecting device 21' and a signal second detecting device 22, respectively. '.
  • the signal first detecting means 21' and the signal second detecting means 22' are respectively located on the left and right sides of the self-moving robot which are axially symmetrical.
  • the control unit 80' controls the movement from the mobile robot 10' to the boundary direction when the signal detected by the first detecting means 21' and the second detecting means 22' is detected.
  • the mobile robot 1' judges that it is in the cross-line state.
  • the boundary line 50' is to the charging station 70', and the mobile robot 10' can be returned to the charging station 70' either clockwise or counterclockwise along the boundary line 50' after crossing the line.
  • the self-moving robot discriminates the working area and the regression guidance is realized based on the changed magnetic field signal, and the technical means of generating the changed magnetic field signal must flow a varying current on the boundary line or the guiding line. Therefore, in the prior art, the boundary line or the guide line of the self-mobile robot system must be provided with a closed line to constitute a circuit loop.
  • the signal generating device needs to generate a preset boundary signal with a large amplitude to ensure that there is a magnetic field in the working area, which increases the power consumption of the mobile robot system; when the working area is large When the boundary line or guide line to be laid is long, it will waste energy and financial resources; when the boundary of the work area happens to have obstacles such as walls or shrubs, the user places the closed area at the obstacle. Boundary lines or guide lines can be very cumbersome, seriously affecting the user experience of using a self-mobile robot system.
  • the technical problem to be solved by the present invention is to provide a self-mobile robot system in which power consumption is small and boundary lines or guide lines do not need to be arranged as closed lines.
  • the present invention provides a self-mobile robot system that automatically moves and automatically operates in a work area, comprising: a signal generating device that generates a preset signal suitable for radiating to a free space in the form of radio waves; the preset signal includes one having a modulated signal of a characteristic frequency and a carrier signal having a carrier frequency; the signal line radiating the preset signal into a free space in the form of radio waves or receiving a preset signal in a free space in the form of radio waves; signal detection Device, receiving in the form of radio waves a radio signal in free space, and identifying the modulation signal by the characteristic frequency, thereby generating a detection result; a control unit disposed in the self-mobile robot, receiving the detection result, and according to the detection result Controlling movement or operation of the mobile robot; wherein one end of the signal line is connected to the signal generating device or/and the signal detecting device, and the signal line is extended unidirectionally from the one end, and does not constitute a circuit circuit.
  • the carrier frequency of the carrier signal ranges from 10 MHz to less than or equal to 10 MHz.
  • the carrier frequency of the carrier signal ranges from 2 MHz to less than or equal to 2 MHz.
  • the characteristic frequency of the modulated signal ranges from 100 Hz to 500 kHz.
  • the characteristic frequency of the modulated signal ranges from 100 Hz to 50 kHz.
  • the waveform of the preset signal is a trapezoidal wave, a square wave, a triangular wave or a sawtooth wave.
  • the rising edge time of the waveform of the preset signal ranges from 100 ns to 2000 ns.
  • the rising edge time of the waveform of the preset signal ranges from 500 ns to 2000 ns.
  • the characteristic frequency of the modulated signal comprises a fixed frequency or a plurality of fixed frequencies.
  • the detection result includes signal strength.
  • the self-mobile robot has an operation mode, in which the self-mobile robot automatically moves and automatically operates on one side of the signal line with a signal line as a boundary line.
  • the control unit controls the movement from the mobile robot toward the direction in which the detection result is weakened.
  • the self-mobile robot system further comprises a charging station for providing power or/and docking to the mobile robot.
  • the charging station is connected to the signal generating device and/or the signal detecting device.
  • the signal generating device and/or the signal detecting device are disposed on the charging station.
  • the self-mobile robot has a regression mode in which the self-mobile robot returns to the charging station substantially along the signal line with the signal line as a guide line.
  • the control unit controls the mobile robot to adjust the moving direction so that the detection result is within the preset intensity range.
  • the signal line is connected to the signal generating device, and the self-mobile robot is provided with a The signal detecting means.
  • the signal line is connected to the signal generating device, and the self-mobile robot is provided with a plurality of the signal detecting devices.
  • the self-mobile robot is provided with two signal detecting devices, which are a signal first detecting device and a signal second detecting device, respectively.
  • the signal first detecting device and the signal second detecting device are bilaterally symmetrical with respect to a central axis of the self-moving robot.
  • the control unit controls walking of the self-moving robot such that the signal The intensity difference between the detection result of the first detecting device and the second detecting device of the signal is within a preset intensity threshold range.
  • the charging station is provided with or connected to one of the signal detecting devices, and the self-mobile robot is provided with one signal generating device; the self-mobile robot and the charging station are respectively provided with a wireless communication device, and wireless communication is provided.
  • the device transmits the detection result to the control unit.
  • the wireless communication device comprises an infrared communication device, a Wi-Fi device, a cellular communication device, a Bluetooth device, a GPS device, a Zigbee device, a 2.4 GHZ wireless communication device, a 433 MHz wireless communication device or a Z-WAVE wireless communication device.
  • the self-mobile robot is provided with one signal generating device and one signal detecting device, which are a signal first generating device and a signal second detecting device respectively;
  • the charging station is provided with or connected to one of the signals a detecting device and a signal generating device, respectively a signal first detecting device and a signal second generating device; wherein the signal first generating device and the signal second generating device respectively have the modulated signals of different characteristic frequencies;
  • the signal first detecting means and the signal second detecting means respectively identify signals of different characteristic frequencies to generate detection results of the respective frequencies.
  • control unit determines a distance between the self-mobile robot and the signal line according to the detection result.
  • the self-mobile robot has an operation mode, and in the working mode, the control unit controls a distance between the self-mobile robot and the signal line to be greater than or equal to a first preset distance, so that the self-mobile robot is at the signal One side of the line moves automatically and works automatically.
  • the self-mobile robot has a regression mode, and in the regression mode, the control The unit controls the distance between the mobile robot and the signal line within a preset distance range such that the self-moving robot returns to a predetermined position substantially along the signal line.
  • the present invention also provides a self-mobile robot system that automatically moves and automatically works in a work area, comprising: a signal generating device that generates a preset signal suitable for radiating to a free space in the form of radio waves; a signal line that will The signal is radiated into the free space in the form of radio waves or receives a preset signal in a free space in the form of radio waves; the signal detecting means receives the radio signal in the free space in the form of radio waves, and recognizes the modulation a signal, thereby generating a detection result; a control unit disposed in the self-mobile robot, receiving the detection result, and controlling movement from the mobile robot according to the detection result; wherein the signal line includes a start point and an end point, A starting point is coupled to the signal generating means or/and the signal detecting means, the end point being the free end of the signal line.
  • the preset signal includes a modulated signal having a characteristic frequency and a carrier signal having a carrier frequency, and the signal detecting device identifies the modulated signal by the characteristic frequency.
  • control unit is provided with a control algorithm
  • control algorithm comprises a boundary algorithm and a guiding algorithm.
  • the self-mobile robot when the control unit implements the boundary algorithm, automatically moves and automatically operates on one side of the signal line with a signal line as a boundary line; when the control unit implements the guiding In the algorithm, the self-mobile robot uses a signal line as a guide line to return to a predetermined position substantially along the signal line.
  • the boundary algorithm comprises: when the signal strength of the detection result is greater than or equal to the first preset threshold, the control unit controls the movement from the mobile machine to the direction in which the signal strength of the detection result decreases.
  • the guiding algorithm comprises: after the signal strength of the detection result is greater than or equal to the second preset threshold, the control unit controls the self-mobile robot to adjust the forward direction such that the signal strength of the detection result is within a preset threshold range.
  • the invention also provides a self-mobile robot system, which automatically moves and automatically works in a work area, comprising: a signal generating device that generates a preset signal having a characteristic frequency; and a signal line that takes the preset signal in the form of a radio wave Radiating into a free space or receiving a preset signal in a free space in the form of radio waves; the signal detecting means receiving a radio signal in a free space in the form of radio waves, and detecting a signal corresponding to the characteristic frequency after demodulation Strength; control unit, set in the office Referring to the mobile robot, receiving the signal strength, and controlling movement or operation of the self-moving robot according to the signal strength; wherein the signal line is connected to the signal generating device or/and the signal detecting device, and has no current Flowing through the signal line.
  • the preset signal comprises a modulated signal having a characteristic frequency and a carrier signal having a carrier frequency.
  • the carrier frequency of the carrier signal ranges from 10 MHz to less than or equal to 10 MHz.
  • the characteristic frequency of the modulated signal ranges from 100 Hz to 500 kHz.
  • a walking direction recognizing method includes the steps of: receiving a direction guiding signal; analyzing a trend of the intensity value of the direction guiding signal within a preset time; and determining whether the walking direction is correct according to the result of the analyzing.
  • the direction guiding signal propagates from the transmitting end to the far side, and the signal intensity gradually decreases in a direction along the propagation path away from the transmitting end, and vice versa, the signal intensity gradually increases in a direction along the propagation path thereof near the transmitting end.
  • the device can be timely determined according to the judgment. The result is to perform the correct operation in time to avoid erroneous walking.
  • the method further includes the step of: if the intensity value of the direction guiding signal obtained by the analyzing is at a preset time The result of the analysis is 1 and the result of the analysis is 0.
  • the step of identifying whether the walking direction is correct according to the result of the analyzing further includes the step of: if the result of the analyzing is that the direction guiding signal is gradually enhanced, the walking direction is correct, and vice versa. Then the walking direction is wrong.
  • the method further includes the step of: continuing to walk in the current direction if the walking direction is correct, and if the walking direction is wrong, Walk in the opposite direction.
  • the invention also provides a method for returning non-pressure grass: a path regression method of a self-mobile robot, comprising: receiving a regression signal from a current position of the mobile robot; determining a strength of the regression signal of the current position and a preset regression a magnitude of the strength of the signal; if the intensity of the regression signal of the current position is greater than or less than the intensity of the preset regression signal, guiding the mobile robot to move in the direction of the preset regression signal; The intensity of the regression signal is equal to the intensity of the preset regression signal, and then the regression signal of the self-mobile robot along the current position is guided to move back.
  • the step of guiding the movement from the mobile robot to the direction of the preset regression signal is specifically:
  • the preset regression signal is a random signal at the time of the current regression.
  • the signal is too strong and the signal radiation range is large, the signal-to-noise ratio is too large, and the signal is divergent, which causes the mobile robot to not accurately find the signal intensity center, thus cannot guarantee along the The center of the signal strength returns to the charging station, affecting the work of the mobile robot.
  • a signal device includes: a signal transmitting unit, the signal transmitting unit includes a signal source and a transmitting antenna, one end of the transmitting antenna is connected to the signal source, and the other end is unidirectionally extended, and the transmitting antenna does not constitute a circuit circuit. Transmitting, by the signal source, a first radio signal through the transmitting antenna; a number suppression unit, the signal suppression unit including a noise source disposed adjacent to the signal source, the noise source for transmitting a second radio signal, the second radio signal and the first radio signal The frequency is different or there is a phase difference between the second radio signal and the first radio signal, and the second radio signal is used to suppress the first radio signal.
  • the above signal device reduces the signal to noise ratio at the source end by adding a noise source near the signal source. Meanwhile, since the second radio signal transmitted by the noise source is different from the frequency of the first radio signal or there is a phase difference between the second radio signal and the first radio signal, the first radio signal transmitted from the source end is received by the second radio Signal interference. Therefore, the second radio signal effectively suppresses the signal strength and coverage of the first radio signal near the signal source end, and the same signal source power, the position near the signal source end, the first radio signal strength decreases, and the coverage is reduced. Small, the transmission distance is constant, and the first radio signal converges toward the center of the signal strength.
  • the power of the signal source is greater than the power of the noise source.
  • the first radio signal is consistent with the direction of the second radio signal.
  • the signal suppression unit further includes a suppression line, one end of the suppression line is connected to the noise source, and the other end is unidirectionally extended, and the suppression line does not constitute a circuit loop, and the noise source passes
  • the suppression line transmits the second radio signal; the suppression line is disposed adjacent to the transmitting antenna, the suppression line is consistent with an extension direction of the transmitting antenna, and an end of the suppression line is more than the emission The end of the antenna is close to the signal source.
  • the suppression line is linear.
  • the length of the suppression line is adjustable for adjusting the emission range of the second radio signal.
  • the signal suppression unit further includes an adjustable resistor and/or an adjustable inductor, the adjustable resistor and/or the adjustable inductor being connected in series between the noise source and the suppression line .
  • the transmitting antenna is linear.
  • the relationship between the intensity of the second radio signal and the distance of the noise source is consistent with the relationship between the strength of the first radio signal and the distance of the signal source.
  • the signal transmitting unit further includes an inverter, and the inverter inputs The input terminal is connected to the transmitting end of the signal source, and the output end of the inverter serves as the transmitting end of the noise source.
  • a robot system comprising a robot and a charging station; the robot for performing corresponding walking and working; the charging station for supplying power and/or docking to the robot; further comprising the method described in any of the above embodiments a signal generating device disposed in the charging station for causing the robot to return to the charging station along a signal strength center of the first radio signal.
  • the signal generating device since the signal generating device is provided, the signal-to-noise ratio of the first radio signal at the signal source end is reduced, and the signal strength and coverage of the first radio signal near the signal source end are effectively suppressed. . Therefore, in the vicinity of the signal source end, under the same signal source power, the signal strength of the first radio signal is reduced, the coverage is reduced, the transmission distance is unchanged, and the first radio signal converges toward the center of the signal strength. In this way, the robot can more easily find the center of the signal strength within a preset signal strength threshold range and more accurately return to the charging station along the center of the signal strength.
  • the present invention also provides an intelligent working system for multi-zone operation, comprising an automatic walking device, a charging station, a signal transmitting module disposed in the charging station, and a guiding line connected to the signal transmitting module; the charging station Providing electric power or/and docking to the automatic walking device; the guiding line has at least one for dividing the working area of the automatic walking device into a plurality of small working areas, and guiding the radiation signal to the space
  • the automatic walking device moves;
  • the signal transmitting module is configured to selectively electrically connect the connection with the guiding line to transmit a signal to the guiding line, and radiate a signal to the space through the guiding line;
  • the automatic walking device includes: a signal receiving module, configured to receive a signal radiated by the guiding line to the space; a signal identifying module, configured to identify a corresponding guiding line according to the signal received by the signal receiving module; and a mobile module for controlling The automatic walking device moves along a guide line recognized by the signal recognition module to a small work
  • the automatic walking device can select a corresponding small working area during work, thereby performing operations on different small working areas to balance the operation.
  • the automatic walking device further includes: a searching module, configured to search for a guide line corresponding to the small walking area of the automatic walking device when the automatic walking device needs to return; And guiding the automatic walking device to return to the charging station along the guiding line found by the searching module.
  • a searching module configured to search for a guide line corresponding to the small walking area of the automatic walking device when the automatic walking device needs to return.
  • a control switch is connected between the signal transmitting module and the guiding line, and the signal transmitting module is selectively electrically connected to the corresponding guiding line by closing the control switch. And disconnecting the guide line by opening the control switch.
  • the guide line is a unidirectional line and does not constitute a connection loop.
  • the guide wire is linear or curved.
  • the guide line is provided with a departure point for specifying that the automatic walking device starts working, and the moving module starts to perform a task by controlling the automatic walking device to move to a starting point on the guiding line. .
  • the mobile module moves the autonomous walking device to a departure point on the guide line to start performing a task by controlling the automatic walking device to move for a preset time T1.
  • the automatic walking device further includes: a time setting module, configured to: when the mobile module controls the automatic walking device to move to the small working area of the guide line division to start performing a work task Setting a working time T2 of the automatic walking module in the small working area; and an activation module, configured to start a return mode when the working time of the automatic walking in the small working area reaches T2, wherein The search module searches for a guide line corresponding to the small walking area of the autonomous walking device when the startup mode starts the return mode.
  • a time setting module configured to: when the mobile module controls the automatic walking device to move to the small working area of the guide line division to start performing a work task Setting a working time T2 of the automatic walking module in the small working area
  • an activation module configured to start a return mode when the working time of the automatic walking in the small working area reaches T2, wherein
  • the search module searches for a guide line corresponding to the small walking area of the autonomous walking device when the startup mode starts the return mode.
  • the lawn mower is used as an automatic walking device. When mowing in the lawn, if it is randomly moved in the lawn, the lawn will be uneven and the mowing efficiency will be low. Based on this, it is necessary to provide a path moving system to improve the mowing efficiency in view of the above problems.
  • a path movement system comprising a lawn mower and a base station, further comprising: a first wireless signal communication module disposed at the base station, and a second wireless signal communication module disposed on the lawn mower, the first infinite signal transmission module and The second infinite signal receiving module transmits a wireless signal to each other; a signal transmitter disposed at the base station for transmitting a pilot signal; N guiding lines connected to the signal transmitter, the N guiding lines dividing the lawn into N+1 mowing areas for transmitting the guiding signal; a guiding signal receiving module disposed on the lawn mower for receiving the guiding signal; the lawn mower according to the wireless signal and the guiding signal Returning to the base war or mowing from the base station to the designated mowing area.
  • the wireless signal is a Bluetooth signal, an ultrasonic signal, or a WIFI signal.
  • the lawn mower returns to the base warn according to the wireless signal and the pilot signal, specifically: the control module of the lawn mower detects that the lawn mower needs to return to the And transmitting, by the second wireless signal communication module, a wireless signal to the first wireless signal communication module, where the wireless signal includes a regression instruction, and the base station turns on the corresponding guide line according to the regression instruction a connection of the signal transmitter, the pilot signal receiving module receiving the pilot signal to cause the lawn mower to return to the base station along the guide line.
  • the guiding signal receiving module receives the guiding signal to return the lawn mower along the guiding line, and if the control module of the lawn mower detects an obstacle, the control module The lawn mower is controlled to walk along the left, right or center of the guide line to circumvent the obstacle.
  • control module detects that the lawn mower walks along the left, right or center of the guide line without evading the obstacle, and passes the second wireless signal communication module to
  • the first wireless signal communication module sends a wireless signal
  • the wireless signal includes a switching instruction
  • the base station disconnects the current guiding line from the signal transmitter according to the switching instruction, and turns on another guiding line and
  • the signal transmitter is coupled to move the lawn mower to the base station.
  • the base station is a charging station that can be docked with the lawn mower to charge the lawn mower, the return command is a docking charging command, and the guiding signal receiving module receives the guiding signal. Returning the lawn mower along the guide line to the base station is specifically:
  • the control module detects a relationship between a strength value of a wireless signal sent by the first wireless signal communication module and a first preset value and a second preset value received by the second wireless signal communication module, and the mowing
  • the machine selects a preset charging mode according to the size relationship, and the first preset value is greater than the second preset value.
  • the preset regression mode includes a first regression mode and a second regression mode;
  • the first regression mode is specifically: when the strength value of the wireless signal is greater than the second preset value And when the first preset value is smaller than the first preset value, the lawn mower moves along the guiding line to the charging station, and when the intensity value of the wireless signal is greater than a first preset value, the lawn mower moves to Transmitting, by the charging station, a conversion instruction for reducing a transmission power of the signal transmitter, converting a pilot signal transmitted by the signal transmitter into a preset docking signal, and the lawn mower according to the docking signal and the charging Station docking charging;
  • the second regression mode is specifically: when the intensity value of the wireless signal is greater than the first preset value, the lawn mower moves along the guiding line in a direction away from the charging station until the When the intensity value of the wireless signal is greater than the second preset value and less than the first preset value, the lawn mower adjustment direction moves along the guiding line to the charging station, and enters the first regression the
  • the distance between the lawn mower and the charging station calculated according to the first preset value is greater than or equal to the minimum distance of the docking charging between the lawn mower and the charging station, according to The distance between the lawn mower and the charging station calculated by the second preset value is less than or equal to the maximum distance covered by the wireless signal.
  • the lawn mower mowing the base station to the designated mowing area according to the wireless signal and the guiding signal is:
  • the control module of the lawn mower transmits a wireless signal to the first wireless signal communication module through the second wireless signal communication module when receiving a mowing instruction for moving to one of the mowing regions, the wireless signal Including the mowing instruction, the base station turns on the connection of the corresponding guiding line and the signal transmitter according to the mowing instruction, and the guiding signal receiving module receives the guiding signal to make the lawn mower Move along the guide line to the corresponding mowing area.
  • a wireless lawn mower charging system comprises: a transmitting module for transmitting a charging signal; a receiving module disposed on the intelligent lawn mower for receiving a charging signal and charging the intelligent lawn mower; and a position control module And detecting the location of the receiving module, and controlling the receiving module to move to a preset range, and the receiving module may perform charging within the preset range.
  • the above intelligent lawn mower wireless charging system uses the position control module to control the receiving module to charge in a preset range, so that the lawn mower can not be recharged in the same place, thus avoiding the lawn mower long-term grass in the same position. Rolling causes the growth of the lawn that affects this location, which affects the aesthetics of the lawn.
  • the position control module includes a Hall sensor that detects the position of the receiving module using electromagnetic induction.
  • the position control module includes an infrared sensor that detects the position of the receiving module by infrared sensing.
  • the predetermined range includes at least two charging positions.
  • the charging location is located at the periphery of the transmitting module.
  • the charging position is disposed on an arc centered on the transmitting module.
  • the position control module includes: first control means for controlling the receiving module to move to the charging position.
  • the first control device includes: a first control unit that controls the receiving module to charge at different charging positions in a specified order by receiving an input command.
  • the first control device includes: a second control unit, the second control unit selects a location closest to the receiving module by a location of the receiving module detected by the position control module The charging position is charged.
  • the first control device includes: a third control unit that controls the receiving module to randomly select a charging location for charging.
  • the transmitting module transmits energy to a location where the receiving module is located.
  • the transmitting module includes a plurality of signal transmitting units respectively located at the charging position, and the signal transmitting unit transmits a charging signal to a receiving module located at a corresponding charging position.
  • the position control module includes: second control means for controlling the transmitting module to move to the receiving module when the receiving module is located within the preset range.
  • a smart mower wireless charging system includes: a charging station having a radio on the charging station
  • An intelligent lawn mower wherein the intelligent lawn mower is provided with a radio energy receiving module for mating with the radio energy transmitting module to charge the intelligent lawn mower;
  • the guiding module is configured to guide the smart lawn mower to move to the charging position, the charging position is at least two, and the intelligent lawn mower can be charged at any one of the charging positions.
  • the above intelligent lawn mower wireless charging system utilizes a guiding module to guide the intelligent lawn mower in at least two charging Charging at any one of the charging positions allows the mower to be recharged in the same place without repeating it, thus preventing the mower from rolling the grass in the same position for a long time, thereby affecting the growth of the lawn at this location. It affects the beauty of the lawn.
  • the charging station protrudes from a surface of the work area, and a radio energy transmitting module is disposed on a side of the charging station.
  • the charging station includes a chassis having a certain area on which the smart mower can be charged.
  • the at least two charging locations are located outside of the charging station.
  • the at least two charging locations are all located on the charging station.
  • At least one charging location is on the charging station and at least one charging location is external to the charging station.
  • the radio energy transmitting module includes at least two radio energy transmitting units, each of which is provided with a radio energy transmitting unit.
  • the guiding module includes a control unit for controlling the smart lawn mower to move to the charging position.
  • the guiding module guides the smart mower to the charging position in the first direction or the second direction, and the first direction and the second direction are different.
  • the guiding module has a charging position relationship corresponding to the charging position and the number of charging times of the intelligent lawn mower, and the guiding module queries the corresponding charging position in the charging position relationship according to the number of charging times. And guiding the smart mower to the charging position for charging.
  • the guiding module directs the smart mower to select the charging location closest to the smart mower for charging.
  • the guiding module directs the smart mower to randomly select a charging location for charging.
  • a smart mower wireless charging system includes: a charging station having a radio on the charging station
  • An intelligent lawn mower wherein the intelligent lawn mower is provided with a radio energy receiving module for mating with the radio energy transmitting module to charge the intelligent lawn mower;
  • a guiding module configured to guide the intelligent lawn mower to reach the charging station in a first direction or a second direction, where the first direction and the second direction are different.
  • the first direction and the second direction form an included angle that is any non-zero angle.
  • a smart mower wireless charging system includes: a charging station having a radio on the charging station
  • An intelligent lawn mower wherein the intelligent lawn mower is provided with a radio energy receiving module for mating with the radio energy transmitting module to charge the intelligent lawn mower;
  • a guiding module configured to guide the intelligent lawn mower to the charging station in a first direction, to leave the charging station in a second direction, and the first direction is not parallel to the second direction.
  • the above intelligent mower wireless charging system uses the guiding module to guide the intelligent mower to reach the charging station from different directions, so that the mower can not be recharged in the same place, so that the mower can be prevented from being in the same position for a long time. Rolling of the grass leads to the growth of the lawn affecting this location, which affects the aesthetics of the lawn.
  • the present invention provides a signal line that does not need to constitute an electric circuit as a boundary line of a self-mobile robot or a guide line of a self-mobile robot, which simplifies the operation of the user to arrange a boundary line or a guide line, and improves the user.
  • the self-mobile robot system provided by the invention does not need to be full of magnetic fields in the entire working area, which reduces the power consumption during system operation.
  • FIG. 1 is a schematic diagram of a prior art self-mobile robot in an operating mode.
  • FIG. 2 is a schematic diagram of a prior art preset boundary signal.
  • FIG. 3 is a schematic diagram of a non-over-line regression system of a prior art self-mobile robot in a regression mode.
  • FIG. 4 is a schematic diagram of a cross-line regression system of a prior art self-mobile robot in a regression mode.
  • FIG. 5 is a schematic diagram of a system of a self-mobile robot in an operating mode according to an embodiment of the present invention.
  • Figure 6 is a schematic diagram of the amplitude modulation process of the radio signal.
  • FIG. 7 is a schematic diagram of waveforms of preset signals used in an embodiment of the present invention.
  • Figure 8 is a schematic diagram showing the distribution of the radiation area of the antenna.
  • FIG. 9 is a schematic diagram showing the intensity attenuation distribution of a radio signal along a signal line according to an embodiment of the present invention.
  • FIG. 10 is a schematic block diagram of a signal detecting apparatus according to an embodiment of the present invention.
  • Figure 11 (a) is a schematic diagram of the waveform of the signal detecting device of Figure 10 before processing.
  • Figure 11 (b) is a schematic diagram of the waveform of the signal detecting device of Figure 10 after processing.
  • Figure 12 is a flow chart of the boundary algorithm of the embodiment shown in Figure 5.
  • FIG. 13 is a schematic diagram of regression of a self-mobile robot according to an embodiment of the present invention.
  • Figure 14 is a flow chart of the regression algorithm of the embodiment shown in Figure 13.
  • FIG. 15 is a schematic diagram of a cross-line regression of a self-mobile robot according to another embodiment of the present invention.
  • Figure 16 is a flow chart of the regression algorithm of the embodiment shown in Figure 15.
  • 17 is a schematic diagram of the non-cross-line regression of the self-mobile robot of the embodiment shown in FIG.
  • FIG. 18 is a schematic flow chart of a walking direction identification method according to an embodiment of the present invention.
  • FIG. 19 is a schematic flow chart of a walking direction identification method according to another embodiment of the present invention.
  • 20 is a flow chart of a path regression method of a self-mobile robot according to an embodiment.
  • 21 is a schematic flow chart of a signal suppression method according to the present invention.
  • FIG. 22 is a schematic structural diagram of a signal generating apparatus according to an embodiment of the present invention.
  • FIG. 23 is a schematic diagram of a robot system according to an embodiment of the present invention.
  • Figure 24 is a schematic diagram of signals when the first radio signal near the signal source is not suppressed
  • Figure 25 is a diagram showing the signal of the first radio signal in the vicinity of the signal source of the signal generating apparatus of the embodiment shown in Figure 22.
  • Figure 26 is a schematic illustration of an intelligent working system of an embodiment.
  • Figure 27 is a schematic diagram showing the connection of the signal transmitting module and the guide line of Figure 26.
  • 29 is a block diagram of a wireless mower charging system of an intelligent lawn mower according to an embodiment of the present invention.
  • FIG. 30 is a schematic structural diagram of a wireless mower charging system according to an embodiment of the present invention.
  • FIG. 31 is a schematic structural diagram of a wireless mower charging system according to another embodiment of the present invention.
  • 32 is a schematic structural diagram of a wireless mower charging system of a smart lawn mower according to another embodiment of the present invention.
  • FIG. 33 is a schematic structural diagram of a wireless mower charging system of a smart lawn mower according to another embodiment of the present invention.
  • FIG. 34 is a schematic structural diagram of a wireless lawn charging wireless charging system according to another embodiment of the present invention.
  • 35 is a schematic structural diagram of a wireless mower charging system of a smart lawn mower according to another embodiment of the present invention.
  • FIG. 36 is a schematic structural diagram of a wireless mower charging system of a smart lawn mower according to another embodiment of the present invention.
  • signal first detecting device 22'/22 signal first detecting device
  • control unit 90' magnetic field
  • the self-mobile robot system shown in FIG. 5 includes a signal generating device 40, a signal line 60, and a self-mobile robot 10.
  • the start point 61 of the signal line 60 is electrically coupled to the signal generating device 40
  • the end point 62 of the signal line 60 is the free end of the signal line 60
  • the signal line 60 is a non-closed path.
  • the signal line 60 does not form a circuit loop with the signal generating device 40, and the signal generating device 40 generates a preset signal SS.
  • the signal line 60 radiates the preset signal SS into the free space in the form of radio waves.
  • the signal line 60 forms an electronic wall that restricts movement and operation of the mobile robot 10 on one side of the signal line 60.
  • the signal line 60 and the obstacle faces 50a, 50b, 50c together form a self-moving The working area 30 of the robot 10.
  • the obstacle faces 50a, 50b, 50c include obstacles that block the movement of the mobile robot 10, such as a wall surface, a fence, or a bush.
  • the obstacle surfaces are three sides 50a, 50b, 50c.
  • the specific form of the obstacle surface may be changed according to actual conditions, such as the presence of more faces or only two sides or one side or no obstacle surface.
  • the arrangement of the signal lines 60 is adaptively changed in accordance with the form of the obstacle faces.
  • the work area 30 can also be surrounded by a plurality of signal lines 60.
  • Each of the signal lines 60 is electrically connected to a corresponding signal generating device 40.
  • the self-moving robot 10 can be a smart lawn mower or a cleaning robot or the like.
  • the self-moving robot 10 is exemplified by a smart lawn mower.
  • the self-moving robot 10 includes a housing 12, a plurality of wheels 14 at the bottom of the housing 12, and a control unit 80 located inside the housing 12 for controlling automatic operation and automatic movement of the mobile robot 10 (not shown).
  • the signal detecting device 20 for detecting the preset signal SS is used to drive the power system of the wheel 14 (not shown).
  • the power system includes a battery pack, a transmission mechanism, and the like.
  • the self-mobile robot system further includes a charging station 70.
  • the self-mobile robot 10 can return to the charging station 70 to charge when the battery is low, or return to the charging station 70 to stay after the work is completed or when it is raining.
  • the signal generating device 40 is disposed on the charging station 70. As is known to those skilled in the art, the signal generating device 40 may not be disposed on the charging station 70 and only needs to be connected to the charging station 70. The signal generating device 40 is disposed at the rear or side or front of the charging station 70.
  • the front end of the mobile robot 10 has at least two docking terminals (not shown), and the charging station 70 has a charging terminal 72 corresponding to the mating terminal.
  • the docking terminal is electrically connected to the charging terminal 72.
  • the charging station 70 has a flat plate 74 that is docked from the mobile robot 10, and the flat plate 74 is laid flat on the work surface.
  • the mobile robot 10 is entirely positioned on the flat plate 74, it is possible to prevent the work surface from being uneven due to the skew of the mobile robot 10, thereby causing the docking terminal and the charging terminal 72 to be inoperable.
  • the boundary line or the guide line needs to be set to be a closed circuit, and a circuit circuit is formed with the signal generating device to generate a changing magnetic field.
  • the mobile robot recognizes the working area and guides the regression by recognizing the polarity of the magnetic field.
  • the signal line 60 serves as a boundary line or a guide line, and does not need to form a circuit loop with the signal generating device, and the mobile robot determines the working area or guides the regression by the communication principle.
  • the preset signal SS generated by the signal generating device 40 includes a modulated signal having a characteristic frequency and a carrier signal having a carrier frequency.
  • signal generating device 40 itself is an electrical circuit that can generate a modulated signal and a carrier signal.
  • the signal line 60 is connected to a point on the electrical circuit, and the modulated signal modulated by the carrier signal is radiated into the free space in the form of radio waves. According to the radio radiation principle, after the preset signal SS is radiated via the signal line 60, the electromagnetic energy carried by the signal is weakened as the radiation distance increases.
  • the signal detecting device 20 on the mobile robot 10 receives the radio signal in the free space in the form of radio waves, and recognizes the characteristic frequency of the modulated signal, thereby generating the detection result SS', and transmits the detection result SS' to the control.
  • the detection result SS' includes the signal strength, specifically, the intensity value of the signal received by the detecting means 20 at the characteristic frequency.
  • the electromagnetic energy carried by the signal is different, and the corresponding intensity values are also different.
  • the control unit 80 determines the distance from the mobile robot 10 and the signal line 60 based on the detection result SS'.
  • the control unit 80 controls the distance between the mobile robot 10 and the signal line 60 to be greater than or equal to the first preset distance value, and automatically moves and automatically moves on one side of the signal line 60. jobs. Specifically, the control unit 80 ensures that the distance from the mobile robot 10 to the signal line 60 is greater than or equal to the first preset distance value, thereby ensuring that the mobile robot 10 always moves and works on one side of the signal line 60, that is, ensures self-movement. The robot 10 is always within the work area 30.
  • the control unit 80 controls the distance between the mobile robot 10 and the signal line 60 to be within a predetermined distance range, and returns to substantially along the signal line 60. Preset location. Specifically, the control unit 80 moves substantially along the signal line 60 by controlling the self-mobile robot 10 within a predetermined distance range of the signal line 60, thereby ensuring that the mobile robot 10 returns to the charging station 70.
  • the embodiment of the present invention uses the communication principle to realize the self-mobile robot discriminating work area and guiding regression.
  • SS means the preset signal generated by signal generator 40, modulation comprises a modulation signal f (t) having a characteristic frequency and a carrier having a carrier signal f (t) is the carrier frequency.
  • Tone modulated signal f (t) is the predetermined signal SS useful information signal detecting means 20 is useful to identify the characteristic frequency of the modulated information signal.
  • Carrier carrier signal f (t) to A high-frequency modulation signal modulated signal f (t) to be transmitted efficiently out of the radio wave. Modulation methods for modulated signals and carrier signals typically include frequency modulation and amplitude modulation.
  • the tone modulated signal f (t) in FIG. 6 and carrier carrier signal f (t) is only an example to explain the principles and cited, do not limit the present invention.
  • FIG. 6 (a1) adjusting the modulation signal f (t) in the time domain a schematic view
  • FIG. 6 (a2) adjusting the modulation signal f (t) after adjustment by the Fourier transform F 6 (w) in a schematic view of a frequency domain
  • FIG. 6 (b1) is contained as carrier signal f (t) in the time domain of the schematic of FIG. 6 (b2) is contained as carrier signal f (t) by the Fourier transform F contained (w) in the frequency a schematic view of the art
  • Figure 6 (c1) of the modulation signal f tone (t) with a carrier signal f carrier (t) amplitude modulation to obtain real signal f true (t) a schematic view in the time domain
  • the true signal f true (t) is the signal sent by the signal generating device 40 to the start point 61 of the signal line 60, and the signal line 60 radiates the real signal f true (t) outward in the form of radio waves.
  • the true signal f true (t) is the preset signal SS.
  • the actual true signal f (t) will certainly contain additional noise signal.
  • the amplitude modulation process only moves the spectrum of the modulated signal to an operating frequency suitable for radio wave transmission, and the amplitude modulated real signal still retains the characteristics of the modulated signal.
  • circuit devices that generate high frequency signals are more complex and costly than circuit devices that generate low frequency signals.
  • the signal sent by the signal generating device 40 to the start point 61 of the signal line 60 needs to be able to be effectively transmitted in a radio wave manner and the modulated signal carried by the signal generating device 20 is easily detected by the signal detecting device 20, that is, can. Therefore, under the two conditions of satisfying transmission and detection, the signal sent from the signal generating device 40 to the start point 61 of the signal line 60 is as simple as possible.
  • the specific waveform of the preset signal adopts a square wave, that is, a square wave signal generated by the signal generating device 40.
  • the signal generating device 40 inevitably has noise interference (such as parasitic inductance or parasitic capacitance in an electronic circuit). Therefore, a schematic diagram of the square wave signal actually generated by the signal generating means 40 in the time domain is shown in Fig. 7 (a2), and its schematic diagram in the frequency domain by Fourier transform is shown as 7 (b2). As shown in Fig.
  • the square wave signal includes a modulated signal having a characteristic frequency and a carrier signal.
  • the characteristic frequency is the fundamental frequency f 0
  • the frequency of the carrier signal can be identified as one or several harmonic components that effectively transmit the fundamental frequency signal in a radio wave manner. Therefore, the actual square wave signal is still equivalent to the signal that has been modulated, and is still suitable for transmission in the form of electromagnetic waves.
  • the rising edge time of the preset signal is required to be in the range of 100 ns to 2000 ns.
  • only the rising edge time of the preset signal is in the range of 500 ns to 2000 ns.
  • the preset signal SS generated by the signal generating device 40 is radiated outward in the form of radio waves through the signal line 60.
  • the propagation channel used by the preset signal SS is free space.
  • the signal detecting device 20 on the mobile robot 1 can detect the preset signal SS in the form of a radio signal, and acquires it by means of demodulation or the like.
  • a signal having the same frequency as the characteristic frequency thereby acquiring a signal strength value of the signal having the characteristic frequency, and transmitting the intensity value as a detection result to the control unit 80, and the control unit 80 controls the self-moving machine 10 according to the detection result.
  • the manner in which radio signals are transmitted has a large relationship to its carrier frequency.
  • the self-mobile robot 10 determines whether it is close to the signal line 60 based on its distance from the signal line 60, so the effective transmission range of the radio signal must be limited to the free space near the signal line 60.
  • the signal line 60 is a real signal radiating into the free space in the form of radio waves, typically containing a modulated signal with useful information, a carrier signal for radiation, and an unavoidable noise signal. Therefore, in the present invention, it is necessary to select the carrier signal frequency to be used.
  • Table 1 lists the names of the radio bands used in the communications field and their corresponding bands and bands, along with the frequency bands used for the different wired and wireless channels. As shown in Table 1, radio waves in all frequency bands can be transmitted in free space.
  • the signal line 60 radiates the radio signal by referring to the principle of the antenna radiated electromagnetic field in the communication field.
  • the spatial electromagnetic field radiated by the antenna can be divided into three regions according to different characteristics: induced near field, radiated near field and radiated far field. As shown in Figure 8, their distinction is defined by the different distances from the antenna. At the junction of these fields, there is no sudden change in the structure of the electromagnetic field, but on the whole, the electromagnetic field characteristics of the three regions are different from each other. The electromagnetic characteristics of the induced near-field region are such that no radiation is generated.
  • the electromagnetic characteristic of the near-field region of the radiation is that the radiation is generated but the radiated electromagnetic energy is rapidly attenuated, and the electromagnetic property of the far-field region is radiated to radiate electromagnetic energy remotely and effectively.
  • the size of the distribution of the three regions can be controlled by the relationship between the length of the antenna and the wavelength of the radiated radio waves.
  • the signal line 60 employs a radiation near-field region for the radiation region of the real signal propagating in the form of radio waves.
  • the distribution of the near-field region of the radiation is Where ⁇ is the wavelength of the true signal of the radiation.
  • the electromagnetic properties of the radiated near-field region decay rapidly for the radiated electromagnetic energy.
  • the attenuation characteristic of the signal line 60 radiating the signal in the form of radio waves in the near-field region of the radiation is as shown in Fig. 9(b), and the energy H of the radio signal rapidly decreases toward the periphery around the signal line 60.
  • the signal detecting means 20 can effectively detect the signal only within the range of the distance a on both sides of the signal line 60.
  • the specific value of N can be adaptively adjusted according to the actual application scenario.
  • the different values of N correspond to the sensitivity of the signal detection device to receive signals in a radio form.
  • the wavelength ⁇ of the true signal can be derived.
  • the true signal wavelength ⁇ is determined by determining the true signal wavelength ⁇ . Since the carrier signal propagates in the form of radio, the carrier signal plays a decisive role in the range that the signal can radiate. Therefore, the frequency obtained by the calculation method can be regarded as the frequency of the carrier signal.
  • the carrier frequency range selected in this embodiment is less than or equal to 10 MHz, and preferably less than or equal to 2 MHz.
  • the carrier frequency of the carrier signal is generally at least 10 times greater than the characteristic frequency of the modulated signal. Therefore, after determining the frequency range of the carrier signal, the selected characteristic frequency can be roughly estimated.
  • the characteristic frequency ranges from 100 Hz to 500 kHz, preferably from 100 Hz to 50 kHz.
  • the signal detecting device 20 includes an antenna 201, a signal processing circuit or signal processing chip 202 connected to the antenna 201, and a detecting wave unit 203 for detecting signal strength.
  • the antenna 201 converts a radio signal in the free space in the form of radio waves into an input signal f in (t).
  • the signal processing circuit or signal processing chip 202 performs a series of processing on the input signal f in (t), such as frequency conversion processing, intermediate frequency amplification, filtering (demodulation), AGC amplification or power amplification, to obtain a frequency and modulation signal.
  • the output signal f out (t) with the same characteristic frequency.
  • the detecting wave unit 203 detects the intensity of the output signal f out (t). Since signal processing is some conventional means known to those skilled in the art, the skilled person can design or select according to the needs, and thus the present invention will not be exhaustively detailed.
  • the waveform of f in (t) before the processing of the signal detecting device 20 is as shown in Fig. 11 (a), and the processed f out (t) is as shown in Fig. 11 (b).
  • the f in (t) waveform substantially conforms to the waveform shape of the real signal generated by the signal generating device 40.
  • the signal processing circuit or signal processing chip 202 processes f in (t) to filter out the f out (t) signal having a frequency equal to the characteristic frequency.
  • the detecting wave unit 203 counts the number G of waveforms in which the frequency characteristic occurs in a unit time, and transmits the number G as a signal strength to the control unit 80.
  • the signal strength can also be obtained by other calculation methods: if the output signal f out (t) is Fourier transformed, the amplitude result at the corresponding characteristic frequency point after the Fourier transform is taken as the signal strength. As shown in FIG. 9, the energy H of the radio signal is attenuated to both sides around the signal line 60, so that the detected signal strength value G of the detecting wave unit 203 is also decremented toward both sides around the signal line 60.
  • the characteristic frequency of the modulated signal is selected as a characteristic frequency in the selectable frequency band.
  • the characteristic frequency of the modulated signal is a plurality of fixed frequencies in its selectable frequency band as its characteristic frequency.
  • a plurality of signal detecting devices 20 may be disposed on the mobile robot 10.
  • the mobile robot 10 is provided with two signal detecting devices 20, which are a signal first detecting device 21 and a signal second detecting device 22, respectively.
  • the signal first detecting means 21 and the signal second detecting means 22 are respectively located on the left and right sides which are symmetrical about the central axis of the two docking terminals.
  • the signal first detecting means 21 and the signal second detecting means 22 are respectively located on the left and right sides which are symmetrical from the central axis of the mobile robot 10.
  • signal generating device 40 and signal detecting device 20 may interchange positions.
  • the signal detecting device 20 is connected to the signal line 60, and the signal generating device 40 is located on the self-mobile robot 10.
  • the signal detecting device 20 is also connected to a wireless communication device T1, and another wireless communication device T2 is provided from the mobile robot 10 to be connected to the control unit 80.
  • the signal generated by the signal generating device 40 can be detected by the signal detecting device 20 through the signal line 60, and the wireless communication device T1 connected to the signal detecting device 20 will detect the detected signal.
  • the intensity G is transmitted to the wireless communication device T2 on the mobile robot 10, and the wireless communication device T2 transmits the signal strength G to the control unit 80.
  • the wireless communication device may employ an infrared communication device, a wifi device, a cellular mobile communication device, a Bluetooth device, a GPS device, a Zigbee device, a 2.4 GHz wireless communication device, a 433 MHz wireless communication device, or a Z-Wave wireless communication device.
  • the detection result of the radio signal SS is transmitted to the control unit 80 by way of wireless communication.
  • the detection result of the radio signal SS can also be transmitted to the control unit 80 by other transmission methods.
  • the self-mobile robot system can be configured with two sets of signal generating means and signal detecting means.
  • One set of signal generating means and signal detecting means constitute a system for detecting the distance from the distance signal line 60
  • Another set of signal generating means and signal detecting means is used to transmit the detection result of the radio signal SS to the control unit 80.
  • the first signal generating means and the second signal detecting means are provided on the mobile robot, and the signal line 60 is connected to the signal first detecting means, and the signal line 60 receives the preset signal generated by the first signal generating means.
  • the signal line 60 is also coupled to a second signal generating device that radiates a predetermined signal generated by the second signal generating device.
  • the first signal generating device and the second signal generating device are configured to generate two preset signals having different frequencies, the first detecting device for detecting the preset signal generated by the first signal generating device, and the second detecting device for detecting the signal The preset signal generated by the second signal generating device is detected.
  • the self-mobile robot system described above can also be defined in the following description.
  • the self-mobile robot system includes a self-mobile robot 10, a radio system, and a signal line 60.
  • the radio system includes a radio signal generating device and a radio signal detecting device, wherein the radio signal generating device corresponds to the above-described signal generating device 40, and the radio signal detecting device corresponds to the above-described signal detecting device 20.
  • the signal line 60 may be used alone as a boundary line for planning the working area of the mobile robot 10, or may be used alone as a guide line for guiding the return from the mobile robot 10 to a certain preset position, or the same signal line 60, when When the mobile robot 10 is in the work mode, it is used as a boundary line, and when the mobile robot 10 is in the return mode, it is used as a guide line.
  • the signal line 60 functions not only as a boundary line or/and a guide line of the self-mobile robot system but also as a receiving antenna or/and a transmitting antenna in the radio system.
  • the signal line 60 is connected to the radio signal generating device, and as a transmitting antenna of the radio signal generating device, the signal generated by the radio signal generating device is converted into a radio wave.
  • the radio signal detecting means is provided on the self-mobile robot 10 for detecting radio waves.
  • the signal line 60 is connected to the radio signal detecting means as a receiving antenna of the radio signal detecting means for converting a signal in the free space in the form of radio waves into an electric signal for transmission to the radio signal detecting means.
  • the radio signal generating means is provided on the self-mobile robot 10 for transmitting radio waves.
  • the signal line 60 is connected to both the radio signal detecting means and the radio signal generating means. At different time periods, the signal lines 60 serve as the receiving antennas of the radio signal detecting means, respectively, as the transmitting antennas of the radio signal generating means. Since the mobile robot 10 is also A radio signal detecting device and a radio signal generating device are provided.
  • the signal line 60 and the radio signal generating device or/and the radio signal detecting device connected thereto may be arranged at different positions of the working area according to the user's requirements, so that the signal line 60 plays a corresponding role in the mobile robot system. effect.
  • the signal line 60 plays a corresponding role in the mobile robot system.
  • the signal generating device 40 is electrically coupled to the signal line 60, and a signal detecting device 20 is provided from the mobile robot 10.
  • the signal generating device 40 generates a radio signal SS of a certain frequency
  • the signal detecting device 20 located on the self-mobile robot 10 detects the generated radio signal SS.
  • the control unit 80 is provided associated with a radio signal strength SS first preset threshold value G f, when the intensity of the radio signal SS detecting means 20 detects a signal G reaches a first preset threshold value G f, since the control unit 80 controls the The mobile robot 10 moves in a direction in which the preset signal strength is weakened.
  • the first predetermined size threshold G f may be the maximum value of the signal intensity and / or the control 10 determines the distance from the nearest signal line 60 is generated by the mobile robot 40 according to a signal generator.
  • signal generation device 40 produces a 15 kHz square wave signal SS with a signal strength maximum Gmax of 40 on signal line 60.
  • the corresponding farthest effective range a is 20 cm
  • the signal strength of the signal detected by the signal detecting device 20 is 5.
  • the shortest distance if allowed from the mobile robot 10 is close to the signal line 60 10cm, referring to FIG. 9 (b) can be seen, corresponding to the distance of 10cm with a first predetermined threshold value that is 20 G f.
  • Step S1 The mobile robot 10 moves and works randomly or according to a preset trajectory in the working mode.
  • the signal detecting device 20 always detects a radio signal. Go to step S2.
  • Step S2 The control unit 80 compares the detected result signal strength G with a first preset threshold G 0 .
  • G 0 the signal strength value G detected by the signal detecting device 20 is greater than or equal to G 0 .
  • the process proceeds to step S3; otherwise, the process returns to step S1.
  • Step S3 The control unit 80 controls the self-moving robot 10 to retreat or turn away from the original moving direction.
  • the specific movement process of the mobile robot 10 is as shown in FIG.
  • the signal detecting device 20 detects that the signal strength G is greater than or equal to G f .
  • the control unit 80 controls the steering from the mobile robot 10 to deviate from the original moving direction and is no longer approaching the signal line 60.
  • the signal generating device 40 is electrically coupled to the signal line 60, and two signal detecting devices 20 are provided from the mobile robot 10.
  • the control unit 80 issues a command such as back or steering to control the mobile robot 10 from approaching the signal line 60.
  • the control unit 80 controls the rightward or backward movement from the mobile robot 10;
  • the radio signal intensity detected by the signal second detecting means 22 located on the right side is greater than the threshold Gf , it is explained that the right side of the mobile robot 10 is closer to the signal line 60, and the control unit 80 controls the leftward or backward movement from the mobile robot 10.
  • the signal detecting device 20 is electrically connected to the signal line 60, and the signal generating device 40 is provided from the mobile robot 10.
  • the position of the signal generating device 40 and the signal detecting device 20 are interchanged, but only a matching communication device for detecting the result transmission is needed, and the boundary algorithm for determining whether it is in the working area is not affected, so More details will be described.
  • the control unit 80 compares the current time intensity value G N with the previous time intensity value G N-1 to determine whether the backward or steering command issued by the control unit 80 can Whether or not the self-mobile robot 10 is no longer approaching the signal line 60 effectively adjusts the issued command.
  • the current time intensity value G N is smaller than the previous time intensity value G N-1 , and the control unit 80 determines that the command sent by it is valid; the current time intensity value G N is greater than the previous time intensity value G N-1 , and the control unit 80 judges that the command issued by it is invalid, and controls the movement of the self-moving robot 10 again by adjusting the steering angle or the backward distance.
  • the control unit 80 counts a series of intensity values G during the same time period, and can determine whether the mobile robot 10 has crossed the signal line 60. Specifically, when a series of intensity values G in the same period of time reaches the maximum intensity value G max on the signal line 60 or reaches the threshold value G f twice, the control unit 80 determines that the mobile robot 10 has crossed the signal line 60 and is in a non- Within the work area.
  • the charging station 70 is provided with a signal generating device 40.
  • the signal generating device 40 is electrically connected to the signal line 60, and a signal detecting device 20 is provided from the mobile robot 10.
  • the signal generating device 40 generates a radio signal SS of a certain frequency, and the signal detecting device 20 located on the self-mobile robot 10 detects the generated radio signal SS.
  • the signal detecting device 20 is disposed on the central axis of the self-mobile robot 10 in the present embodiment.
  • the signal detecting device 20 can also be disposed at other locations from the mobile robot 10, and only the adaptive control method can be adaptively changed.
  • control method steps after the mobile robot 10 receives the regression command are as shown in FIG.
  • Step S21 The self-moving robot 10 searches for the signal line 60 randomly or according to a preset trajectory in the regression mode.
  • the signal detecting device 20 detects the radio signal SS.
  • Step S22 The control unit 80 determines from the intensity value G of the detection result SS' of the signal detecting device 20 whether or not the mobile robot 10 has entered the return region.
  • the control unit 80 presets a second preset threshold G s related to the signal strength.
  • the second preset threshold G s corresponds to the distance b from the signal line 60 .
  • the different second predetermined thresholds G s represent different distances b from the signal line 60.
  • the user can determine the value of the multiple ⁇ by the b value in the actual operating condition, which is usually in the range of 0.15 ⁇ ⁇ ⁇ 0.75.
  • the control unit 80 controls the random movement from the mobile robot 10 to proceed to step S21.
  • Step S23 The control unit 80 by the signal detecting means ensuring the detection result SS 'G intensity value of 20 is always greater than or equal to a second predetermined threshold value S G control from the mobile robot 10 to the state shown in FIG. 13 as the center of the signal line 60 turns Return to the charging station 70.
  • the control unit 80 determines that the self-mobile robot 10 follows the signal.
  • the direction of the line 60 away from the charging station 70 is in front
  • the control unit 80 controls the direction of the mobile robot 10 to be reversed by 180°, and continues to follow the above steps.
  • the logic determination conditions within the steps and steps described above can be adaptively modified such that the mobile robot 10 returns to the charging station 70.
  • the charging station 70 is provided with a signal generating device 40.
  • the signal generating device 40 is electrically connected to the signal line 60.
  • Two mobile signal detecting devices are provided on the mobile robot 10, respectively The signal first detecting means 21 and the signal second detecting means 22.
  • the direction in which the mobile robot 10 normally advances is defined as the front of the mobile robot 10, and the one facing the front is the rear of the mobile robot 10, and based on the defined front and rear directions of the mobile robot 10, the mobile robot 10 also Includes the left and right sides between the front and rear.
  • the signal first detecting means 21 and the signal second detecting means 22 are respectively located on the left and right sides which are symmetrical from the axis of the mobile robot 10.
  • the boot algorithm step after the regression instruction is received from the mobile robot 10 is as shown in FIG.
  • Step S31 The self-moving robot 10 searches for the signal line 60 randomly or according to a preset trajectory in the regression mode.
  • the signal first detecting means 21 and the signal second detecting means 22 detect the radio signal SS intensity value G1 and the intensity value G2.
  • Step S32 The control unit 80 determines whether the self-mobile robot enters the regression region based on the detection results of the signal first detecting device 21 and the signal second detecting device 22.
  • the result detected by the signal first detecting means 21 is the first result SS 1 ', the corresponding intensity value is G1, and the result detected by the second detecting means 22 is the second result SS 2 ', and the corresponding intensity value is G2.
  • a second preset threshold G s related to the signal strength is preset in the control unit 80. Referring to FIG. 9(b), the second preset threshold G s corresponds to the distance b from the signal line 60.
  • the different intensity thresholds G s represent different distances b from the signal line 60. The user can determine the value of the multiple ⁇ by the b value in the actual operating condition, which is usually in the range of 0.15 ⁇ ⁇ ⁇ 0.75.
  • the control unit 80 controls the random movement from the mobile robot 10, and returns to step S31 to continue detecting the radio signal SS.
  • the control module 80 controls the left differential advance or the leftward advancement from the mobile machine 10, and proceeds to step S32.
  • the control module 80 controls the right forward or rightward advancement from the mobile machine 10 to proceed to step S32.
  • the control module 80 controls the self-moving machine 10 to continue in the original direction, and proceeds to step S33.
  • Step S33 The control unit 80 determines whether the self-mobile robot 10 is in the cross-line state based on the first detection result SS 1 'and the second result SS 2 '.
  • the intensity value G1 of the first detection result SS 1 ' reaches the maximum intensity value G max region (eg, 95% G max -- G max ) of the radio signal SS generated by the signal generating device 40 and the intensity of the first detection result SS 1 '
  • G max region eg, 95% G max -- G max
  • the value G1 is in a downward trend, indicating that the mobile robot 10 is already in the cross-line state, and proceeds to step S34. Otherwise, it returns to step S33.
  • Step S34 The control unit 80 determines that the self-mobile robot 10 returns to the charging station 70 along the signal line 60 based on the intensity difference between the first detection result SS 1 ' and the second result SS 2 '.
  • the control module 80 controls the movement from the mobile robot 10 in the original direction until the mobile robot 10 docks with the charging station 70.
  • the control unit 80 controls the self-moving robot 10 to rotate slightly to the right or to the right differential until the mobile robot 10 docks with the charging station 70.
  • the control unit 80 controls the self-moving robot 10 to rotate slightly to the left or to the left differential until the mobile robot 10 docks with the charging station 70.
  • control unit 80 determines that the self-mobile robot 10 follows the signal.
  • the direction of line 60 away from charging station 70 is advancing, control unit 80 controls flipping 180° from the direction of mobile robot 10, and continues to follow the steps described above.
  • the logic determination conditions within the steps and steps described above can be adaptively modified such that the mobile robot 10 returns to the charging station 70.
  • a non-overlined regression algorithm may also be selected to guide the return from the mobile robot 10 to the charging station 70.
  • the specific regression diagram is shown in Figure 17.
  • the control method steps after the mobile robot 10 receives the regression control command are as shown in FIG.
  • Step S21 The self-moving robot 10 searches for the signal line 60 randomly or according to a preset trajectory in the regression mode.
  • the signal first detecting means 21 and the signal second detecting means 22 detect the radio signal SS intensity value G1 and the intensity value G2.
  • Step S22 The control unit 80 determines whether the self-mobile robot 10 has entered the regression region based on the detection results of the signal first detecting device 21 and the signal second detecting device 22.
  • the result detected by the signal first detecting means 21 is the first result SS 1 ', the corresponding intensity value is G1, and the result detected by the second detecting means 22 is the second result SS 2 ', and the corresponding intensity value is G2.
  • a second preset threshold G s related to the signal strength is preset in the control unit 80. Referring to FIG. 9(b), the second preset threshold G s corresponds to the distance b from the signal line 60.
  • the different intensity thresholds G s represent different distances b from the signal line 60. The user can determine the value of the multiple ⁇ by the b value in the actual operating condition, which is usually in the range of 0.15 ⁇ ⁇ ⁇ 0.75.
  • the control unit 80 controls the self-mobile robot 10 to continue to step S11.
  • the control unit 80 controls the left turn from the mobile robot 10.
  • the control module 80 controls the right turn from the mobile robot 10.
  • both the intensity value G1 of the first result SS 1 ' and the intensity value G2 of the second result SS 2 ' are greater than or equal to G s , it means that both the left side and the right side of the mobile robot 10 have entered the regression area.
  • the control module 80 controls the movement from the mobile robot 10 in the original direction.
  • Step S23 The control module 80 controls the self-mobile robot 10 to be in the state shown in FIG. 17 by the signal line 60 by ensuring that the intensity value G1 of the first result SS 1 ' and the intensity value G2 of the second result SS 2 ' are both greater than or equal to G s . Return to the charging station 70 in a meandering manner.
  • control unit 80 determines that the self-mobile robot 10 follows the signal.
  • the direction of line 60 away from charging station 70 is advancing, control unit 80 controls flipping 180° from the direction of mobile robot 10, and continues to follow the steps described above.
  • the logic determination conditions within the steps and steps described above can be adaptively modified such that the mobile robot 10 returns to the charging station 70.
  • the signal detecting device 20 is electrically connected to the signal line 60, and the signal generating device 40 is provided from the mobile robot 10.
  • the position of the signal generating device 40 and the signal detecting device 20 are interchanged, but only a matching communication device for detecting the result transmission is needed, and the guiding algorithm for guiding the returning charging station from the mobile robot is not affected, so No longer described in detail.
  • FIG. 18 is a schematic flowchart diagram of a walking direction identification method according to an embodiment of the present invention.
  • a walking direction identifying method includes the step S2110 of receiving a direction guiding signal.
  • the direction steering signal is used to guide the smart mobile device to walk in the correct direction.
  • the direction guiding signal may be a radio wave signal transmitted by the signal generating device 40 of FIG. 1 to FIG. 17 along the signal line 60.
  • Step S2130 analyzing a trend of the change of the intensity value of the direction guiding signal within a preset time. If the correct walking direction set in advance is the direction of the transmitting end of the direction guiding signal, the intensity value of the direction guiding signal received by the smart mobile device gradually increases when walking toward the transmitting end; otherwise, the smart mobile device receives The intensity value of the direction guiding signal is gradually reduced.
  • the correct walking direction set in advance is not limited thereto.
  • the correct walking direction set in advance is the direction away from the transmitting end of the direction guiding signal. In this way, the correct walking direction can be set in advance according to actual needs.
  • step S2150 it is recognized whether the walking direction is correct according to the result of the analysis. Specifically, along the preset correct walking direction, the intensity value of the direction guiding signal has a specific change trend, and the specific change trend is compared with the result of the above analysis to identify whether the walking direction is correct.
  • the direction guiding signal propagates from the transmitting end to the far side, and the signal intensity gradually decreases in a direction along the propagation path away from the transmitting end, and vice versa, the signal intensity gradually increases in a direction along the propagation path thereof near the transmitting end.
  • the device can be timely determined according to the judgment. The result is to perform the correct operation in time to avoid erroneous walking.
  • FIG. 19 is a schematic flowchart diagram of a walking direction identification method according to another embodiment of the present invention. The step further includes after step S2150:
  • step S2170 if the walking direction is correct, the walking is continued in the current direction, and if the walking direction is wrong, the walking is performed in the opposite direction. In this way, when the direction guiding signal is recognized, it is determined in real time whether the walking direction is correct. If the walking direction is wrong, the walking direction is adjusted in time, and the walking direction error is not recognized until the end of the direction guiding signal is avoided, so as to improve work efficiency.
  • the strength value of the direction guiding signal received by the smart mobile device is analyzed in a preset time period by using the following steps: if the analyzed intensity value of the direction guiding signal is gradually increased within a preset time , the result of the analysis is 1, and vice versa, the result of the analysis is 0. In this way, the trend of the intensity value of the guiding signal in the direction of the current walking direction can be quickly and easily obtained, which is quick and convenient.
  • the walking direction is determined according to the result of the analysis by the following steps: if the result of the analysis is that the direction guiding signal is gradually increased, the walking direction is correct, and vice versa, the walking direction is wrong. That is, in this step, the correct walking direction set in advance is the direction in which the intensity value of the direction guiding signal is gradually increased. In this way, in the current walking direction, it is convenient to directly determine whether the current walking direction is correct according to the enhancement or weakening of the received direction guiding signal.
  • the mobile robot Since the mobile robot returns to charging, it returns along the fixed line of the signal line attachment, more times. Returning charging along the same route, the mobile robot repeatedly crushes the lawn on the line, causing the lawn on the route to be crushed. In severe cases, the lawn on the route will be crushed into light. Based on this, it is necessary to provide a path regression method from the mobile robot to avoid repeatedly crushing the same lawn line and destroying the lawn.
  • the path regression method of the self-mobile robot of an embodiment includes steps S3120 to S3180.
  • Step S3120 Receive a regression signal of a current location where the automatic walking device is located.
  • the regression signal herein corresponds to the radio wave signal generated by the signal generating device 40 along the signal line 60 in the embodiment of Figs.
  • step S3140 the intensity of the regression signal of the current position and the magnitude of the intensity of the preset regression signal are determined.
  • each regression needs to return along different regression signals. For this reason, different preset regressions for each regression device of the automatic walking device are needed. Signal to prevent repeated crushing and damage to the lawn.
  • Step S3160 If the intensity of the regression signal of the current position is greater than or less than the intensity of the preset regression signal, the automatic walking device is guided to move in the direction of the preset regression signal.
  • the regression signal of the current position of the automatic walking device is different from the preset regression signal, the automatic walking device needs to be guided to move to the vicinity of the preset regression signal to prevent the path from being repeated during the regression.
  • step S3180 if the intensity of the regression signal of the current position is equal to the intensity of the preset regression signal, the automatic walking device is guided to move back along the regression signal of the current position.
  • the automatic walking device moves to the preset regression signal, the automatic walking device returns along the preset regression signal to avoid repeating the same regression path and avoid rolling the lawn.
  • the automatic walking device can return along the regression signal during the regression, since each regression can return along different regression signals, so the same lawn line is not repeatedly crushed. Effectively avoid damage to the lawn and keep the lawn intact.
  • Step S3160 is specifically: if the strength of the regression signal of the current position determined is greater than the intensity of the preset regression signal, the automatic walking device is guided to move in a direction in which the regression signal is weakened, otherwise, The automatic walking device is guided to move in the direction in which the regression signal is enhanced.
  • the signal of the current position of the automatic walking device may be stronger or weaker than the preset regression signal. Therefore, the automatic walking device needs to be guided to move to the vicinity of the preset regression signal, so that the regression signal received by the automatic walking device is equal to the preset regression signal or The error between the two is within the allowable range.
  • the preset regression signal it may be a certain intensity signal randomly selected for the automatic walking device to be returned, or may be artificially designated by a certain intensity signal, thereby ensuring that the automatic walking device is different along each time of the regression. The path is returned.
  • the self-mobile robot can return along the regression signal during the regression, since each regression can return along different regression signals, so the same lawn line is not repeatedly crushed. Effectively avoid damage to the lawn and keep the lawn intact.
  • the signal suppression method includes the step S110 of transmitting a first radio signal.
  • the first radio signal propagates in a particular direction and can serve as a pilot signal for guiding the smart mobile device to travel in the correct direction.
  • Step S130 setting a noise source in the vicinity of the first radio signal source. This noise source is used to reduce the signal-to-noise ratio at the source.
  • Step S150 the noise source transmits a second radio signal, the second radio signal is different from the frequency of the first radio signal or there is a phase difference between the second radio signal and the first radio signal, and the second radio signal is used to suppress the first radio signal .
  • the second radio signal is capable of interfering with the first radio signal, particularly the first radio signal near the source of the interference signal, thereby reducing the signal to noise ratio at the source of the signal.
  • the above signal suppression method increases the noise source in the vicinity of the signal source, and reduces the signal-to-noise ratio at the signal source end. Meanwhile, since the second radio signal transmitted by the noise source is different from the frequency of the first radio signal or there is a phase difference between the second radio signal and the first radio signal, the first radio signal transmitted from the source end is received by the second radio Signal interference. Therefore, the second radio signal effectively suppresses the signal strength and coverage of the first radio signal near the signal source end, the same signal source power, the position near the signal source end, the first radio signal strength decreases, and the radiation range Decrease, the transmission distance is constant, and the first radio signal converges toward the center of the signal strength.
  • the direction of the first radio signal is consistent with the direction of the second radio signal.
  • the second radio signal can suppress the first wireless telecommunications
  • the signal strength and radiation range of the number enable the first radio signal to be regularly suppressed in its propagation direction.
  • the relationship between the intensity of the second radio signal and the noise source distance is consistent with the relationship between the strength of the first radio signal and the distance of the signal source. Since the noise source is close to the signal source, the second radio signal is capable of uniformly suppressing the first radio signal. The signal strength of the suppressed first radio signal at various positions in its propagation direction is relatively balanced. Also, the radiation range of the first radio signal at various positions in the propagation direction thereof is uniformly suppressed.
  • FIG. 22 it is a schematic structural diagram of a signal generating apparatus according to an embodiment of the present invention.
  • a signaling device 1100 is configured to transmit a pilot signal that guides the walking of the smart mobile device.
  • a signal transmitting unit 1110 and a signal suppressing unit 1120 are included.
  • the signal transmitting unit 1110 includes a signal source 1111 and a transmitting antenna 1112. One end of the transmitting antenna 1112 is connected to the signal source 1111, and the other end is unidirectionally extended.
  • the transmitting antenna 1112 does not constitute a circuit loop.
  • the signal source 1111 in this embodiment corresponds to the signal generating device 40 in the embodiment of Figs.
  • the transmitting antenna 1112 corresponds to the signal line 60 in the embodiment of Figs.
  • Signal source 1111 transmits a first radio signal through transmit antenna 1112.
  • the first radio signal covers a particular range and has a signal strength center in its direction of propagation, the first radio signal acting as a pilot signal for the smart mobile device along which the smart mobile device can travel to a preset position.
  • the signal suppression unit 1120 includes a noise source 1121 disposed near the signal source 1111, and the noise source 1121 is used to reduce the signal-to-noise ratio at the signal source 1111 end.
  • the noise source 1121 is configured to transmit a second radio signal, the second radio signal is different from the frequency of the first radio signal or there is a phase difference between the second radio signal and the first radio signal, and the second radio signal is used to suppress the first radio signal.
  • the noise source 1121 is different from the signal source 1111, and the second radio signal transmitted by the noise source 1121 can interfere with the first radio signal transmitted by the signal source 1111, thereby reducing the signal to noise ratio of the signal source 1111.
  • the above signal device 1100 reduces the signal-to-noise ratio of the signal source 1111 at the signal source by adding a noise source 1121 near the signal source 1111. Meanwhile, since the second radio signal transmitted by the noise source 1121 is different from the frequency of the first radio signal or there is a phase difference between the second radio signal and the first radio signal, the first radio signal transmitted by the signal source 1111 is subjected to the second Interference from radio signals. Therefore, the second radio signal effectively suppresses the signal strength and coverage of the first radio signal near the signal source end, the same signal source 1111 power, the position near the signal source end, the first wireless telecommunications The intensity of the number is reduced, the coverage is reduced, the transmission distance is constant, and the first radio signal converges toward the center of the signal strength.
  • the power of the signal source 1111 is greater than the power of the noise source 1121. This prevents the first radio signal from being excessively suppressed by the second radio signal, enabling the smart mobile device to recognize the first radio signal and travel to a preset position along the signal strength center of the first radio signal.
  • the directions of the first radio signal and the second radio signal are consistent.
  • the second radio signal is capable of suppressing the signal strength and range of the first radio signal such that the first radio signal is regularly suppressed in its direction of propagation.
  • the first radio signal may be a signal having directivity, and accordingly, the second radio signal may also be a signal having directivity. In this way, the first radio signal can be used as a precise pilot signal required by other devices.
  • the transmitting antenna 1112 is a non-closed route, one end of the transmitting antenna 1112 connected to the signal source 1111 is a starting point, and the other end of the transmitting antenna 1112 is a free end, that is, an end.
  • the first radio signal radiates into the free space along the transmit antenna 1112.
  • the transmitting antenna 1112 is of a straight type. In this way, the first radio signal can propagate in a particular direction.
  • the transmitting antenna 1112 is a straight line segment having a preset length, so that the length of the transmitting antenna 1112 can be set as needed, resources can be rationally utilized, and cost can be reasonably controlled.
  • the signal suppression unit 1120 further includes a suppression line 1122, one end of the suppression line 1122 is connected to the noise source 1121, the other end is unidirectionally extended, and the suppression line 1122 does not constitute a circuit loop.
  • the noise source 1121 transmits a second radio signal through the suppression line 1122; the suppression line 1122 and the transmission antenna 1112 are disposed adjacent to each other, the extension direction of the suppression line 1122 and the transmission antenna 1112 are coincident, and the end of the suppression line 1122 is closer to the end of the transmission antenna 1112.
  • Source 1111 The suppression line 1122 is a non-closed path, the end of the suppression line 1122 connected to the noise source 1121 is the starting point, and the other end of the suppression line 1122 is the free end, that is, the end.
  • the second radio signal radiates into the free space along the suppression line 1122.
  • the suppression line 1122 is linear so that the second radio signal can propagate in a particular direction.
  • the suppression line 1122 and the transmitting antenna 1112 are disposed adjacent to each other, and the extension direction of the suppression line 1122 and the transmitting antenna 1112 are coincident such that the second radio signal is consistent with the propagation direction of the first radio signal.
  • the suppression line 1122 and the transmitting antenna 1112 is arranged in parallel and as close as possible so that the second radio signal can suppress the first radio signal more effectively.
  • the end of the suppression line 1122 is closer to the signal source 1111 than the end of the transmitting antenna 1112, and the suppression line 1122 is close to the signal source 1111, so that the second radio signal is mainly suppressed to the first radio signal near the signal source 1111, so that the first vicinity of the signal source 1111
  • the radio signal converges toward the center of the signal strength.
  • the suppression line 1122 and the transmitting antenna 1112 are both linear, they are arranged in parallel and as close as possible, and at the same time, the noise source 1121 is also disposed as close as possible to the signal source 1111, so that the length of the suppression line 122 is smaller than the transmitting antenna 1112. length.
  • the length of the suppression line 1122 is adjustable for adjusting the transmission range of the second radio signal, and the longer the suppression line 1122 is, the better the suppression effect of the second radio signal on the first radio signal is, so that the suppression can be performed as needed.
  • the effect is to adjust the length of the suppression line 1122.
  • the relative position of the suppression line 1122 and the transmitting antenna 1112 can also be set according to actual needs, but is not limited thereto.
  • the signal suppression unit 1120 also includes an adjustable resistor 1123 and/or a tunable inductor 1124 that is coupled in series between the noise source 1121 and the suppression line 1122.
  • the power of the noise source 1121 can be adjusted by adjusting the size of the adjustable resistor 1123 and/or the adjustable inductor 1124 to adjust the signal strength and range of the second radio signal.
  • the user can adjust the size of the adjustable resistor 1123 and/or the adjustable inductor 1124 according to the degree to which the first radio signal needs to be suppressed, flexibly control the signal strength and the radiation range of the second radio signal, and effectively suppress the first radio signal.
  • the signal suppression unit 1120 includes the adjustable resistor 1123 and the adjustable inductor 1124 at the same time.
  • the power of the noise source 1121 increases.
  • the signal strength of the second radio signal is increased, the radiation range is increased, and the suppressed effect of the first radio signal is enhanced.
  • the power of the noise source 1121 decreases, the signal strength of the second radio signal decreases, the radiation range decreases, and the first radio signal is suppressed. The effect is weakened. In practical applications, the user can adjust the power of the noise source 1121 as needed.
  • the relationship between the intensity of the second radio signal and the distance of the noise source 1121 is consistent with the relationship of the intensity of the first radio signal to the distance of the signal source 1111. Since the noise source is close to the signal source, at the same time, the direction of the first radio signal is consistent with the direction of the second radio signal, so that the second radio signal can uniformly suppress the first radio signal.
  • the first radio signal after suppression is in its propagation direction The signal strength at each location is almost equal. Also, the radiation range of the first radio signal at various positions in the direction of propagation is also preferably suppressed.
  • the signal transmitting unit further includes an inverter, the input of the inverter is connected to the transmitting end of the signal source, and the output end of the inverter is used as the transmitting end of the noise source.
  • the transmitting end of the signal source is connected to the inverter, and the output signal of the output end of the inverter is the same as the frequency of the first radio signal, and the phases are different, that is, the signals of the two have a phase difference. In this way, the noise source with different phases of the same frequency is obtained by using the signal source, which saves equipment resources and is convenient to apply.
  • FIG. 23 is a schematic diagram of a robot system according to an embodiment of the present invention.
  • a robotic system 1200 includes a robot 1210 and a charging station 1220.
  • the robot system is equivalent to the self-mobile robot system in the embodiment of FIGS. 1-17
  • the robot 1210 is equivalent to the self-mobile robot 10 in the embodiment of FIGS. 1-17
  • the charging station 1220 is equivalent to FIG. Figure 17 shows the charging station 70 in the embodiment.
  • the robot 1210 is used to perform corresponding walking and work within a particular work area.
  • Charging station 1220 is used to provide power and/or docking to robot 1210.
  • the robot system 1200 further includes a signaling device 1100 that is a signaling device in any of the above embodiments for transmitting a pilot signal that guides the walking of the robot 1210.
  • the signaling device 1100 transmits a first radio signal as a pilot signal for guiding the robot 1210 to travel in the correct direction.
  • the signaling device 1100 is disposed within the charging station 1220 and enables the robot 1210 to return to the charging station 1220 along the center of the signal strength of the first radio signal.
  • the signaling device 1100 also transmits a second radio signal that can effectively suppress the first radio signal at the signal source end of the first radio signal, improving the accuracy of the return of the robot 1210.
  • the signal device 1100 since the signal device 1100 is provided, in the signal device 1100, the signal-to-noise ratio of the first radio signal at the signal source side is reduced, and the signal strength and the radiation range of the first radio signal are via the second radio signal. Interference is effectively suppressed.
  • the signal strength of the first radio signal near the signal source end, the same signal source power, the signal strength of the first radio signal is reduced, and the transmission distance is unchanged, so that the robot 1210 can more easily find the signal intensity center within the preset signal strength threshold range;
  • the first radio signal converges toward the center of the signal strength such that the range of radiation of the first radio signal is reduced, thereby enabling the robot 1210 to more accurately return to the charging station 1220 along the center of the signal strength.
  • Figure 24 and Figure 25 are the signals of the first radio signal with no noise source near the signal source end, respectively.
  • the broken line is a schematic diagram of the first radio signal strength equipotential distribution
  • the signal source 1110 transmits a first radio signal along the transmitting antenna 1120
  • the transmitting antenna 1120 is a straight line segment
  • the signal strength center of the first radio signal is located at the transmitting.
  • the signal strength and radiation range at the center of the signal strength gradually decreases from signal source 1110 along the direction of transmit antenna 1120.
  • the first radio signal near the signal source 1110 is a divergent signal, the signal strength is strong, and the radiation range is large.
  • the broken line is a schematic diagram of the first radio signal strength equipotential distribution.
  • a noise source 1121 is disposed near the signal source 1111, and the noise source 1121 transmits a second radio signal along the suppression line 1122 (not shown).
  • the suppression line 1122 abuts the transmitting antenna 1112 and extends in the same direction as the transmitting antenna 1112.
  • the second radio signal acts to suppress the first radio signal.
  • the first radio signal is a signal that converges toward the transmitting antenna 1112 along the transmitting antenna 1112 near the signal source end.
  • the signal strength of the first radio signal after suppression along the vicinity of the respective positions of the transmitting antenna 1112 is almost equal.
  • the range of radiation of the first radio signal at various locations along the transmit antenna 1112 is also suppressed.
  • the signal strength and coverage of the center of the signal strength at the transmitting antenna 1112 near the signal source 1111 converge toward the center of the signal strength, and the coverage is narrowed, making it easier for the robot 1210 to find the center of the signal strength within a preset signal strength threshold range.
  • the first radio signal shown in FIG. 24 is near the reference point of the signal source 1110 on the transmitting antenna 1120, assuming that the relative value of the signal strength at the reference point is 100, then the relative value of the signal strength is 80.
  • the signal is located at a vertical distance of 1 m from the reference point.
  • the noise source 1121 is near the same reference point of the signal source 1111 on the transmitting antenna 1112, and the relative value of the signal strength at the reference point is 100, and the signal strength is
  • the signal having a relative value of 80 is located at a vertical distance of 15 cm from the reference point, i.e., the signal strength and coverage of the first radio signal converge toward the transmit antenna 1112 (i.e., the signal strength center).
  • the relative value of the signal strength is normalized to the actual value of the signal strength, and in other embodiments, it is not limited thereto.
  • an intelligent working system of an embodiment includes an automatic walking device, a charging station, a signal transmitting module disposed in the charging station, and a guiding line connected to the signal transmitting module;
  • the charging station is configured to supply power to the automatic walking device or / and docking;
  • the guiding line has at least one for dividing the working area of the autonomous walking device into a plurality of small working areas, and guiding the automatic walking device to move by radiating signals to the space;
  • the signal transmitting module is for selectively electrically guiding Connecting to the guide line to transmit a signal to the guide line and radiating a signal to the space through the guide line;
  • the auto-traveling device comprises: a signal receiving module for receiving a signal radiated by the guide line to the space; and a signal recognition module for And identifying a corresponding guiding line according to the signal received by the signal receiving module; and the moving module is configured to control the automatic walking device to move along the guiding line identified by the signal identifying module to the small working area of the guiding line
  • the automatic walking device can select a corresponding small working area during work, thereby performing operations on different small working areas to balance the operation.
  • the intelligent lawn mower is used as one of the automatic walking devices. Each time, the intelligent lawn mower can control the different small working areas to perform the mowing operation in a balanced manner, so that all the areas in the lawn are Being trimmed consistently makes the lawn more beautiful.
  • the automatic walking device further includes: a searching module for finding a guiding line corresponding to the small walking area of the automatic walking device when the automatic walking device needs to return; and a returning module for guiding the automatic walking device to find along the searching module The guide line is returned to the charging station.
  • the signal transmitting module corresponds to the signal generating device 40 in the embodiment of Figs. 1 to 17, and the guiding line corresponds to the signal line 60 in the embodiment of Figs.
  • the guiding line may be a unidirectional line and does not constitute a closed loop, and the shape of the guiding line may be a straight type or a curved type.
  • the charging station is provided with a signal transmitting module, the signal transmitting module is connected with guiding lines L1 and L2, and the intelligent lawn mower E can be moved along the guiding line L1 or L2.
  • the guide lines L1 and L2 are arranged, the non-cutting areas (such as ponds, pits, and the like that cannot be mowing) can be drawn out, and the mowing area is divided into small working areas by the guide lines L1 and L2 in FIG. S1 and the small work area S2, and the small work area S1 and the small work area S2 are non-cutting areas.
  • the guide line may include multiple roots, not limited to two. This embodiment only presents one achievable manner, and is not limited to other implementation manners.
  • the intelligent lawn mower E needs to selectively connect the signal transmission module to the guide line when selecting the mowing area.
  • the signal transmitting module can selectively conduct the guiding lines according to a certain design rule, such as sequentially guiding the guiding lines in sequence, and randomly selecting the conduction manner.
  • a control switch is connected between the signal transmitting module and the guiding line, and the signal transmitting module selectively electrically connects the corresponding guiding line through the closing control switch, and opens and guides by opening the control switch. Line connection. Specifically, as shown in FIG.
  • a control switch K1 is disposed between the signal transmitting module and the guiding line L1
  • a control switch K2 is disposed between the signal transmitting module and the guiding line L2
  • the signal transmitting module can be turned on and closed by closing K1 or K2. Or the connection of L2, thereby selecting the intelligent lawn mower to work in the small work area S1 or the small work area S2.
  • the signal transmitting module when performing the mowing task, can adopt the manner of sequentially guiding the guiding line L1 and the guiding line L2, and the signal is cut when the grass is first cut.
  • the transmitting module can first conduct the guiding line L1.
  • the signal identifying module After the signal receiving module of the intelligent mower E receives the signal, the signal identifying module will recognize the guiding line L1, and the moving module will control the intelligent mower to move along the guiding line L1 to the small work. Area S1 works.
  • the guide line L1 is provided with a departure point for specifying the start of the automatic walking device, and the mobile module starts the execution of the task by controlling the automatic walking device to move to the starting point on the guide line.
  • a departure point A is provided on the guide line L1
  • a departure point B is provided on the guide line L2.
  • the mobile module can move the automatic walking device to the starting point on the guiding line to start the task by controlling the automatic walking device to move the preset time T1, wherein the mobile module needs to be controlled.
  • the autonomous walking device moves at a constant speed.
  • the automatic walking device further includes a time setting module and a starting module.
  • the time setting module is configured to set when the mobile module controls the automatic walking device to move to a small working area of the guide line division to start performing a work task.
  • the working time T2 of the automatic walking module in a small work area.
  • the startup module is configured to start the return mode when the working time of the automatic walking in the small working area reaches T2, wherein the searching module searches for the guiding line corresponding to the small working area of the automatic walking device when the startup mode starts the return mode.
  • the time setting module sets the time T2 set in the small working area S1, wherein the time T2 can be based on the size and needs of the small working area S1. Set the conditions such as the degree of trimming.
  • the startup module automatically starts the return mode.
  • the search module confirms the start return mode, it automatically searches for the smart mower in the small work area.
  • the moving module controls the intelligent lawn mower to return to the charging station along the guiding line L1. Thereafter, the signal transmitting module selects the closing control switch K2 to be connected to the guiding line L2 to work in the small working area S2 until the end of the entire work task.
  • this embodiment can ensure that the entire lawn is trimmed consistently.
  • a path movement system comprising a lawn mower and a base station, further comprising: a first wireless signal communication module disposed at the base station, and a second wireless signal communication module disposed on the lawn mower, the first infinite signal transmission module and the second
  • the infinite signal receiving module transmits a wireless signal to each other; the signal transmitter disposed at the base station is configured to transmit a guiding signal; the N guiding lines connected to the signal transmitter, and the N guiding lines divide the lawn into N+1 mowing areas, The guiding signal is sent to the lawn mower; the guiding signal receiving module is arranged to receive the guiding signal; the lawn mower returns to the base war according to the wireless signal and the guiding signal or cuts the grass from the base station to the designated mowing area.
  • the lawn mower can be returned to the base station along the guide line, or can be moved along the guide line to the corresponding mowing area, and the mower can cut grass for all mowing areas, improving mowing efficiency. .
  • the mower can be returned to the base station along the guide line to improve the return efficiency.
  • the N guide lines divide the mowing area into N+1 mowing areas.
  • the mower receives the mowing instruction to a mowing area, it can move directly along the guide line to the corresponding mowing area. Positioning mowing has improved mowing efficiency.
  • Two guide lines Line1 and Line2 are shown in Fig. 26, and the two guide lines divide the lawn into a G area, a D area, and an area between the G area and the D area.
  • the division of the turf area by more guide lines is similar to that in FIG. 1 and will not be specifically described in this embodiment.
  • the lawn can be divided into corresponding mowing areas by the guide line, and the lawn mower can enter the corresponding mowing area according to the mowing instructions, thereby conveniently cutting the grass, preventing the lawn mower from blindly mowing and improving the mowing efficiency.
  • the lawn mower cuts grass from the base station to the designated mowing area according to the wireless signal and the guiding signal:
  • the control module of the lawn mower sends a wireless signal to the first wireless signal communication module through the second wireless signal communication module when receiving the mowing instruction for moving to one of the mowing regions, the wireless signal includes a mowing instruction, and the base station according to the cutting
  • the grass command turns on the connection of the corresponding guide line to the signal transmitter, and the guide signal receiving module receives the guide signal to move the lawn mower along the guide line to the corresponding mowing area.
  • the wireless signal is a Bluetooth signal, an ultrasonic signal, or a WIFI signal.
  • the wireless signal gradually decreases as the transmission distance increases.
  • the lawn mower can return to the base station in addition to entering the designated mowing area according to the mowing instruction. For example, when a lawn mower cuts grass in a mowing area, if it encounters bad weather or other reasons, it needs to be returned. In this embodiment, the lawn mower returns to the base war based on the wireless signal and the pilot signal:
  • the control module of the lawn mower detects that the lawn mower needs to return to the base station, and sends a wireless signal to the first wireless signal communication module through the second wireless signal communication module, the wireless signal includes a regression instruction, and the base station turns on the corresponding guidance according to the regression instruction.
  • the line is connected to the signal transmitter, and the pilot signal receiving module receives the pilot signal to return the lawn mower to the base station along the guide line.
  • the control module can control the lawn mower to walk along the left, right or center of the guide line to guide the edge along with the previous regression. The way the line walks is different, which can effectively avoid rolling the lawn.
  • the control module when the pilot signal receiving module receives the pilot signal to return the lawn mower along the guide line, if the control module of the lawn mower detects the obstacle, the control module can also control the lawn cutter along the left and right sides of the guide line. Or walk in the middle to avoid obstacles.
  • control module detects that the lawn mower walks along the left, right, or center of the guide line.
  • the second wireless signal communication module sends a wireless signal to the first wireless signal communication module, the wireless signal includes a switching instruction, and the base station disconnects the current guiding line from the signal transmitter according to the switching instruction, and turns on another A guide line is coupled to the signal transmitter to move the lawn mower to the base station.
  • a switch is disposed between the signal transmitter and the N guide lines, and may also be an electronic device such as a relay.
  • the base station can connect or disconnect the signal transmitter from the guide line by controlling the closing or opening of the switch.
  • the base station is a charging station that can be docked with the lawn mower to charge the lawn mower.
  • the return command is a docking charging command
  • the guiding signal receiving module receives the guiding signal to return the lawn mower to the base station along the guiding line.
  • the control module detects the relationship between the intensity value of the wireless signal sent by the first wireless signal communication module received by the second wireless signal communication module and the first preset value and the second preset value, and the lawn mower selects the preset according to the size relationship.
  • the first preset value is greater than the second preset value.
  • the preset regression manner includes a first regression mode and a second regression mode
  • the first regression method is specifically:
  • the lawn mower moves along the guiding line to the charging station, and when the intensity value of the wireless signal is greater than the first preset value, the lawn mower moves to The charging station sends a conversion instruction for reducing the transmission power of the signal transmitter, so that the pilot signal transmitted by the signal transmitter is converted into a preset docking signal, and the lawn mower is docked and charged according to the docking signal;
  • the second regression method is specifically:
  • the lawn mower moves along the guiding line away from the charging station until the intensity value of the wireless signal is greater than the second preset value and less than the first preset value, The grass machine adjustment direction moves along the guide line to the charging station and enters the first regression mode.
  • the distance between the lawn mower and the charging station calculated according to the first preset value is greater than or equal to the minimum distance of the docking charging between the lawn mower and the charging station, and is calculated according to the second preset value.
  • the distance between the lawn mower and the charging station is less than or equal to the maximum distance covered by the wireless signal.
  • the lawn mower when the control module of the lawn mower receives the docking charging command for docking charging with the charging station, the lawn mower moves to the corresponding guiding line according to the guiding signal received by the guiding signal receiving module. At this time, the control module of the lawn mower detects the intensity value of the current wireless signal and the first preset value and the second preset The size relationship of the values, the mower selects the preset regression method according to the size relationship.
  • the mower When the mower is docked with the charging station, the accuracy of the docking needs to be ensured. Therefore, the mower needs to adjust the docking posture first when approaching the charging station, which needs to meet the minimum between the mower and the charging station. The distance is such that the mower can adjust its posture.
  • the first preset value of the wireless signal strength is set in the embodiment, and the distance between the mower and the charging station calculated according to the first preset value is greater than or It is equal to the minimum distance R1 of the docking charging between the mower and the charging station.
  • the minimum distance R1 is the minimum distance that the mower can adjust its attitude to dock with the charging station.
  • the second preset value is set, and the distance between the lawn mower and the charging station calculated according to the second preset value is less than or equal to wireless.
  • the maximum distance covered by the signal is R2.
  • the lawn mower After the lawn mower moves to the corresponding guide line, if the intensity value of the current wireless signal is greater than the second preset value and less than the first preset value, the lawn mower can directly move along the guide line to the charging station, when the wireless signal When the intensity value is greater than the first preset value, the lawn mower can adjust its posture and send a conversion instruction to reduce the transmission power of the signal transmitter to the charging station, so that the pilot signal transmitted by the signal transmitter is converted into a preset For the docking signal, the mower is docked and charged with the charging station according to the docking signal.
  • the signal transmitter is connected to the charging station, and the lawn mower can accurately charge and charge with the charging station according to the guiding signal transmitted by the signal transmitter.
  • the distance between the mower and the charging station needs to be very short, usually in the centimeter level.
  • the guiding signal emitted by the signal transmitter covers a much larger distance than the docking distance. Therefore, It is necessary to reduce the transmission power of the signal transmitter, so that the distance covered by the pilot signal transmitted by the signal transmitter is close to the docking distance.
  • the guiding signal at this time is the docking signal, and the lawn mower can be docked and charged with the charging station according to the docking signal.
  • the lawn mower After the lawn mower moves to the corresponding guide line, if the current wireless signal strength value is greater than the first preset value, it means that the distance between the lawn mower and the charging station is relatively close, and the lawn mower cannot adjust its posture. Charging with the charging station. To this end, the lawn mower needs to move along the guiding line away from the charging station until the intensity value of the wireless signal is greater than the second preset value and less than the first preset value, and the mower adjusts the direction along the guiding line to the charging station. Move and enter the first regression mode.
  • the present invention discloses a smart mower wireless charging system 710.
  • the smart mower wireless charging system 710 includes a transmitting module 711, a receiving module 712, and a position control module 713.
  • the transmitting module 711 transmits a charging signal to the receiving module 712, and the receiving module
  • the 712 is disposed on the intelligent lawn mower, and the intelligent lawn mower receives the charging signal through the signal receiving end 712 to charge the battery in the intelligent lawn mower.
  • the position control module 713 may be located on the transmitting module 711 or may be disposed on the receiving module 712.
  • the present invention is not limited.
  • the position control module 713 can set a preset range, and the preset range is that the receiving module 712 can receive the transmitting module.
  • the range of the charging signal sent by the 711, the position control module 713 can control the receiving module 712 to move to the preset range, and the transmitting module 712 can transmit the charging signal to the receiving module 712 as long as it is at any point within the preset range. And then charge the smart mower.
  • the transmitting module 711 can transmit a charging signal to a location where the receiving module 712 is located. Specifically, as shown in FIG.
  • the preset range may include multiple charging positions, which are points A, B, C, and D, respectively, and the charging positions A, B, C, and D are all near the transmitting module 711.
  • the above charging position is located at the periphery of the transmitting module 711.
  • the charging position is set on an arc centered on the transmitting module 711.
  • the control module 713 can detect the position of the receiving module 712 and control the receiving module 712 of the smart mower to move to a preset range.
  • the position control module 713 includes a sensing device 714 and a first control device 715.
  • the sensing device 714 is configured to detect the position of the receiving module 712; the first control device 715 is configured to control the receiving module 712 to move to the charging position.
  • the sensing device 714 can implement the function of detecting the position of the receiving module 712 by using the following methods: the sensing device 714 includes a Hall sensor, and the Hall sensor detects the position of the receiving module 712 by using electromagnetic induction; Device 714 may also include an infrared sensor that detects the position of receiving module 712 using infrared sensing. Specifically, the above-mentioned Hall sensor or infrared sensor detects the position of the receiving module 712 by using its own characteristics. Since it is a prior art, the present invention will not be described herein.
  • the first control device 715 also controls the receiving module 712 to move to the charging position (points A, B, C, and D) in the following manners: the first control device 715 includes a first control unit, and the staff can preset the predetermined The program is sent to the first control unit, and the receiving module 712 is sequentially charged at point A - point B - point C - point D of the charging position.
  • the order of charging in the charging position can also be adapted according to the actual situation.
  • the invention is not limited herein; the first control device 715 includes a second control unit, and the second control unit can control the selection of the receiving module 712.
  • the first control device 715 can also include a third control unit, which can control the receiving module 712 to randomly select one of the charging locations A, B, C, and D to cause the transmitting module 711 to charge the receiving module 712;
  • the position control module 713 described above controls the receiving module 712 to charge at different charging positions by the first control device 714.
  • the charging position is plural, the lawn mower does not repeatedly charge in the same place, thus preventing the lawn mower from rolling the grass in the same position for a long time, thereby affecting the growth of the lawn at the position. Affect the beauty of the lawn.
  • the position control module 713 further includes a second control device 716, which can control the transmitting module 711 to move to the charging position of the receiving module 712 to enable transmission.
  • the module 711 is closer to the receiving module 712, which allows the receiving module 712 to accurately and more easily receive the charging signal emitted by the transmitting module 711.
  • the first control device 715 and the second control device 716 of the control module 713 can respectively control the receiving module 712 and the transmitting module 711 to move to the target position by using a control method such as coordinate positioning (GPS) or boundary line guidance.
  • a control method such as coordinate positioning (GPS) or boundary line guidance.
  • GPS coordinate positioning
  • boundary line guidance Specifically, the foregoing A control device 715 and a second control device 716 determine the position of the receiving module 712 and the transmitting module 711 by using GPS positioning characteristics, and control the receiving module 712 to move along the set route to the transmitting module 711; or use the above boundary line to guide
  • the technique determines the position of the transmitting module 711 by the intensity of the boundary line signal and moves according to the set route. Since this technology is a common technical means by those skilled in the art, the present invention will not be described herein.
  • the transmitting module 711 may also include a plurality of signal transmitting units, and the transmitting units are respectively located at the charging position. (points A, B, C, and D), when the receiving module 712 is in a charging position, the transmitting unit located in the charging position charges the receiving module 712, for example, when the receiving module 712 selects the charging position A.
  • the signal transmitting unit at point A transmits a charging signal to the receiving module 712, and the charging unit at the other charging position does not transmit a charging signal to the receiving module 712; otherwise, when the receiving module 712 selects a charging position.
  • the invention also discloses a smart mower wireless charging system, the system comprising a radio energy transmitting module arranged on the charging station 701, which is arranged on the intelligent lawn mower for wireless communication
  • the power transmitting module is coupled with a radio energy receiving module for charging the battery pack, and a guiding module for guiding the smart lawn mower to move to the charging position, the charging position is at least two, in order to prevent the intelligent lawn mower from being Charging at one location causes the grass at that location to be crushed for a long period of time without grass growth.
  • the smart mower is charged at a different charging position each time.
  • the charging station 701 may protrude from the surface of the working area, and a radio energy transmitting module is disposed on a side thereof, and the charging station 701 is vertical, such as a charging pile or a radio energy transmitting module. Place on a wall or other vertical place.
  • the charging station 701 of the present invention may also include a chassis having a certain area on which the smart lawn mower can be charged.
  • the charging station 701 has three charging positions, which are respectively A, B, and C points.
  • the charging station 701 may be a vertical type such as a charging pile, or may have a chassis.
  • the charging station 701, the charging positions A, B, and C are all within a preset range near the radio energy transmitting module on the charging station.
  • the charging position is located at the periphery of the radio energy transmitting module, and the guiding module guides the guiding station.
  • the intelligent mower is charged at different charging positions each time it is charged. As shown in FIG.
  • the intelligent lawn mower guiding module guides the intelligent lawn mower to any one of the charging positions B and C. Charge on.
  • the charging location can also be located on the radio energy transmitting module. For example, the position D is shown in FIG.
  • the worker can set a predetermined program to the control unit of the guiding module in advance, and stipulate that the intelligent lawn mower sequentially performs charging at point A - point B - point C - point D of the charging position.
  • a charging level relationship may be preset in the control unit in the guiding module, and the charging position relationship has a charging number and a charging position (for example, points A, B, C, and D) in one-to-one correspondence.
  • the control unit queries the corresponding charging position according to the charging times to the charging position relationship, and guides the intelligent lawn mower to charge to the charging position.
  • the charging position relationship in the control unit is the order of A point - B point - C point - D point ...
  • the charging position corresponding to the first charging number is queried in the table.
  • the guiding module guides the intelligent lawn mower to charge at the charging position A.
  • the third charging times are inquired in the charging position relationship.
  • the charging position is point C, and the guiding module guides the intelligent lawn mower to charge at the charging position C.
  • the guiding module may use a control method such as coordinate positioning (GPS) or boundary line guidance to guide the intelligent lawn mower to move to the target charging position.
  • the control unit determines the intelligent lawn mower by using GPS positioning characteristics. And controlling the position of the charging position to control the intelligent lawn mower to move along the set route; or by using the boundary line guiding technique described above, determining the position of the wireless power transmitting module by the signal strength of the boundary line, and moving according to the set route. Since this technology is a common technical means by those skilled in the art, the present invention will not be described herein.
  • control unit uses GPS or electronic compass positioning to determine the position coordinates of the intelligent mower and the position coordinates of the charging positions A, B, C, and D.
  • the charging position and the position coordinates are in one-to-one correspondence, and the guiding module is based on the GPS.
  • the electronic compass guides the intelligent lawn mower to move to a specific coordinate of the charging position to perform charging.
  • the transmitting units A, B, C, and D can be provided with transmitting units that emit infrared signals or other signals of different frequencies, and the infrared signals of different frequencies identify different charging positions.
  • the guiding module can also guide the smart lawn mower to select the charging position closest to the smart lawn mower for charging. Since the intelligent mower is charged from the different position return charging station 701 each time, each time charging is selected from the charging position closest to the intelligent mower, the mower can be prevented from being repeatedly charged in the same place, to the same position. The crushing of the grass causes the growth of the lawn that affects this location.
  • the guiding module can also guide the intelligent mower to randomly calculate the charging position for charging. Since the intelligent mower is charged from the different position return charging station 701 each time, each time charging is selected from the charging position closest to the intelligent mower, the mower can be prevented from being repeatedly charged in the same place, to the same position. The crushing of the grass causes the growth of the lawn that affects this location.
  • the guiding module guides the intelligent lawn mower to charge at different charging positions substantially the same as the first embodiment, with the difference that the charging area of the charging station 701 is larger.
  • the charging positions A, B, C, and D are all located on the chassis of the charging station 701.
  • the guiding module directs the intelligent mower to charge at different charging positions on the chassis of the charging station 701 each time it is charged.
  • the charging position can also be located at the periphery of the chassis. It will not be described in detail here.
  • the guiding module guides the intelligent mower to charge at different charging positions substantially the same as the first embodiment, with the difference that the two charging positions in this embodiment A charging position A is on the chassis of the charging station 701, a charging position B is located outside the chassis of the charging station 701, and the guiding module guides the intelligent lawn mower to the chassis of the charging station 701 each time it is charged. Charge on different charging positions.
  • the guiding module guides the intelligent lawn mower to charge at different charging positions substantially the same as the first embodiment, the difference is that, in order to make the intelligent lawn mower accurately, Easier to receive the charging signal emitted by the radio energy transmitting module, the radio energy transmitting module may also include at least two radio energy transmitting units, each of which is provided with a radio energy transmitting unit, and the intelligent lawn mower can be Any radio transmitter unit can be charged. As shown in FIG. 36, three radio energy transmitting units correspond to a charging position A, a charging position B, and a charging position C. The smart lawn mower can be charged at the charging position A or at the charging position B or the charging position C.
  • the transmitting unit located at the charging position charges the smart lawn mower, for example, when the intelligent lawn mower selects the charging position A to perform the intelligent lawn mower.
  • the signal transmitting unit located at point A transmits a charging signal to the intelligent mower, while the charging unit at the other charging position does not transmit a charging signal to the intelligent mowing; otherwise, when the intelligent mower selects the charging position B, the pair is performed.
  • the signal transmitting unit at point B transmits a charging signal to the intelligent mower, while the charging unit at the other charging position does not transmit a charging signal to the intelligent mower; and so on.
  • the intelligent lawn mower can charge the charging station chassis at one of the charging positions each time, which can prevent the intelligent lawn mower from being charged at the same position every time, so that the grass at the position is long-time pressed without grass growth.
  • the guiding module guides the intelligent lawn mower to charge at different charging positions.
  • the charging position is plural, the lawn mower does not repeatedly charge in the same place, thus preventing the lawn mower from rolling the grass in the same position for a long time, thereby affecting the growth of the lawn at the position. Affect the beauty of the lawn.
  • the guiding module guides the intelligent lawn mower to reach the charging station in a first direction or a second direction, and the first direction and the second direction are different, specifically, the first direction and the second direction Direction
  • the angle formed is any non-zero angle.
  • the charging station 701 has a small chassis area.
  • the guiding module guides the intelligent lawn mower to charge the chassis of the charging station 701 from different directions each time. .
  • the guiding module guides the intelligent lawn mower to charge the charging station 701 in the first direction, the second direction, the third direction, and the fourth direction four times before and after, respectively.
  • the angle formed by the second direction and the first direction is 90°
  • the angle formed by the third direction and the first direction is 180°
  • the angle formed by the fourth direction and the first direction is 270°, thus guiding
  • the module guides the intelligent lawn mower to reach the charging position 701 from different directions, and the path of each returning charging station is also different.
  • the charging return path may have Multiple, the mower will not repeat the charging from the same path to the charging station, thus avoiding the long-term crushing of the grass in the same position by the mower, which will affect the growth of the lawn at this position, and affect the beauty of the lawn.
  • the angle formed by the second direction and the first direction is 90°
  • the angle formed by the third direction and the first direction is 180°
  • the angle formed by the fourth direction and the first direction is 270°.
  • the angle formed by the first direction, the second direction, the third direction, and the fourth direction, respectively can be any non-zero angle.
  • the guiding module can guide the intelligent lawn mower to reach the charging station in a first direction and leave the charging station in a second direction, and the first direction is not parallel with the second direction, thus entering charging
  • the path of the station is different from the path away from the charging station, which can prevent the lawn mower from rolling down the grass in the same position for a long time, which affects the growth of the lawn at this position and affects the beauty of the lawn.
  • the guiding module guides the intelligent lawn mower to charge at different charging positions substantially the same as the first embodiment, with the difference that the guiding module can also guide the
  • the intelligent lawn mower reaches the charging position in a first direction or a second direction, the first direction and the second direction being different, and the angle formed by the first direction and the second direction is an arbitrary non-zero angle.
  • the guiding module guides the intelligent lawn mower to reach the charging position B from the first direction, the second direction, the third direction and the fourth direction, respectively, and the angle formed by the second direction and the first direction is 90.
  • the guiding module can not only guide the intelligent lawn mower to charge at different charging positions, but also guide the intelligent lawn mower to charge from different directions to the charging position, thereby avoiding mowing.
  • the long-term rolling of the grass in the same position causes the growth of the lawn at this location to affect the appearance of the lawn.
  • the guiding module can guide the intelligent lawn mower to reach the charging station in a first direction and leave the charging station in a second direction, and the first direction is not parallel with the second direction, thus entering charging
  • the path of the station is different from the path away from the charging station, which can prevent the lawn mower from rolling down the grass in the same position for a long time, which affects the growth of the lawn at this position and affects the beauty of the lawn.
  • the guiding module guides the intelligent lawn mower to charge at different charging positions substantially the same as the sixth embodiment, with the difference that the chassis area of the charging station 701 is compared. Large, the charging positions A, B, C, and D are all located on the chassis of the charging station 701. The guiding module directs the intelligent mower to charge at different charging positions on the chassis of the charging station 701 each time it is charged.
  • the guiding module guides the intelligent lawn mower to charge at different charging positions substantially the same as the sixth embodiment, with the difference that the two charging positions in this embodiment A charging position A is on the chassis of the charging station 701, a charging position B is located outside the chassis of the charging station 701, and the guiding module guides the intelligent lawn mower to the chassis of the charging station 701 each time it is charged. Charge on different charging positions.
  • the guiding module guides the intelligent lawn mower to charge at different charging positions substantially the same as the sixth embodiment, the difference is that, in order to make the intelligent lawn mower accurately, Easier to receive the charging signal emitted by the radio energy transmitting module, the radio energy transmitting module may also include at least two radio energy transmitting units, each of which is provided with a radio energy transmitting unit, and the intelligent lawn mower can be Any radio transmitter unit can be charged. As shown in FIG. 36, three radio energy transmitting units correspond to a charging station 701, a charging station 702, and a charging station 703.
  • the charging position A has a chassis of the charging station 701
  • the charging position B has a chassis of the charging station 702
  • the charging position C has a chassis of the charging station 703.
  • the smart lawn mower can be charged at the charging position A or at the charging position B or the charging position C.
  • the transmitting unit located at the charging position charges the smart lawn mower, for example, when the intelligent lawn mower selects the charging position A to perform the intelligent lawn mower.
  • the signal transmitting unit located at point A When charging, the signal transmitting unit located at point A transmits a charging signal to the intelligent mower, and the charging unit located at another charging position does not transmit a charging signal to the smart mowing; Conversely, when the intelligent mower selects the charging position B to charge the intelligent mower, the signal transmitting unit at point B transmits a charging signal to the intelligent mower, while the charging unit at the other charging position does not. The grass machine emits a charging signal; and so on.
  • the above charging positions A, B, C, and D are set only for better explaining the invention of the embodiment, and the number, position, and positional relationship of the charging positions may be changed according to actual conditions.
  • the invention is not limited thereto.

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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de robot à mouvement automatique, qui comprend : un dispositif de génération de signal (40) permettant de produire un signal prédéfini ; un dispositif de détection de signal (20) servant à détecter le signal prédéfini et à produire un résultat de détection ; une ligne de signal (60) destinée à émettre et/ou à recevoir le signal prédéfini ; ainsi qu'une unité de commande (80) disposée sur le robot à mouvement automatique (10). L'unité de commande (80) reçoit le résultat de détection, et elle commande le mouvement du robot à mouvement automatique (10) en fonction dudit résultat de détection. Une extrémité de la ligne de signal (60) est connectée au dispositif de génération de signal (40) et/ou au dispositif de détection de signal (20), et cette ligne de signal (60) s'étend depuis l'extrémité de manière unidirectionnelle, ladite ligne de signal ne formant pas une boucle d'ensemble de circuits. Grâce au système, un robot à mouvement automatique juge un espace de travail et/ou guide le retour au moyen d'une ligne de signal non fermée, ce qui permet de simplifier l'opération au cours de laquelle un utilisateur place une ligne de démarcation ou une ligne de guidage fermées, et d'améliorer l'expérience de l'utilisateur se servant du système de robot à mouvement automatique.
PCT/CN2016/110855 2015-12-17 2016-12-19 Système de robot à mouvement automatique WO2017101882A1 (fr)

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EP16874939.8A EP3392729B1 (fr) 2015-12-17 2016-12-19 Système de robot à mouvement automatique
US15/789,397 US10852735B2 (en) 2015-12-17 2017-10-20 Self-moving robot system

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CN201510957392 2015-12-17
CN201510957392.5 2015-12-17
CN201510974097.0 2015-12-22
CN201510974097 2015-12-22
CN201610118367.2A CN107153416A (zh) 2016-03-02 2016-03-02 行走方向识别方法和智能移动车及智能移动系统
CN201610118367.2 2016-03-02
CN201610156544.6 2016-03-18
CN201610156544.6A CN107203205B (zh) 2016-03-18 2016-03-18 信号发生装置及包括该信号发生装置的机器人系统
CN201610564269.1 2016-07-18
CN201610562425.0 2016-07-18
CN201610562425.0A CN107632595B (zh) 2016-07-18 2016-07-18 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
CN201610564269.1A CN107632597B (zh) 2016-07-18 2016-07-18 智能工作系统
CN201611096918.6 2016-12-02
CN201611096918.6A CN108142069B (zh) 2016-12-02 2016-12-02 路径移动系统
CN201611167251.4 2016-12-16
CN201611167251.4A CN106909143A (zh) 2015-12-22 2016-12-16 自移动机器人系统

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CN111367270A (zh) * 2018-12-26 2020-07-03 北京奇虎科技有限公司 红外引导回充电路及充电座
CN111443693A (zh) * 2018-12-27 2020-07-24 北京奇虎科技有限公司 区块超边界处理方法、电子设备及计算机可读存储介质
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CN113009922A (zh) * 2021-04-23 2021-06-22 元通智能技术(南京)有限公司 一种机器人行走路径的调度管理方法
CN113835424A (zh) * 2020-06-23 2021-12-24 莱克电气绿能科技(苏州)有限公司 自动行走设备、系统、回归控制方法及装置
CN113848886A (zh) * 2021-09-08 2021-12-28 安克创新科技股份有限公司 移动机器人
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CN107728217A (zh) * 2017-09-09 2018-02-23 浙江亚特电器有限公司 用于智能割草机的区域边界检测电路及方法
US11394216B2 (en) * 2017-10-27 2022-07-19 Positec Power Tools (Suzhou) Co., Ltd. Automatic working system
CN109782750A (zh) * 2017-11-14 2019-05-21 宝时得科技（中国）有限公司 自动行走设备及其避障方法
CN111367270A (zh) * 2018-12-26 2020-07-03 北京奇虎科技有限公司 红外引导回充电路及充电座
CN111367270B (zh) * 2018-12-26 2024-05-14 北京奇虎科技有限公司 红外引导回充电路及充电座
CN111443693A (zh) * 2018-12-27 2020-07-24 北京奇虎科技有限公司 区块超边界处理方法、电子设备及计算机可读存储介质
CN111543897A (zh) * 2020-03-31 2020-08-18 湖南格兰博智能科技有限责任公司 一种适用于扫地机器人的智能快速返回回充座方法
CN113835424A (zh) * 2020-06-23 2021-12-24 莱克电气绿能科技(苏州)有限公司 自动行走设备、系统、回归控制方法及装置
CN112799399A (zh) * 2020-12-25 2021-05-14 格力博(江苏)股份有限公司 自动割草机的路径规划方法、系统、设备及自动割草机
CN113009922A (zh) * 2021-04-23 2021-06-22 元通智能技术(南京)有限公司 一种机器人行走路径的调度管理方法
CN113009922B (zh) * 2021-04-23 2024-03-26 元通智能技术(南京)有限公司 一种机器人行走路径的调度管理方法
CN113848886A (zh) * 2021-09-08 2021-12-28 安克创新科技股份有限公司 移动机器人
CN113848886B (zh) * 2021-09-08 2024-05-07 安克创新科技股份有限公司 移动机器人

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