WO2019096052A1 - 自移动设备工作系统及其控制方法 - Google Patents

自移动设备工作系统及其控制方法 Download PDF

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Publication number
WO2019096052A1
WO2019096052A1 PCT/CN2018/114467 CN2018114467W WO2019096052A1 WO 2019096052 A1 WO2019096052 A1 WO 2019096052A1 CN 2018114467 W CN2018114467 W CN 2018114467W WO 2019096052 A1 WO2019096052 A1 WO 2019096052A1
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Prior art keywords
signal
mobile device
self
detection signal
boundary
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PCT/CN2018/114467
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English (en)
French (fr)
Inventor
多尔夫⋅达维德
康蒂⋅伊曼纽尔
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苏州宝时得电动工具有限公司
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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 DE212018000352.1U priority Critical patent/DE212018000352U1/de
Priority to CN201880018731.5A priority patent/CN110431504B/zh
Publication of WO2019096052A1 publication Critical patent/WO2019096052A1/zh

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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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires

Definitions

  • the invention relates to a self-mobile device working system and a control method thereof, in particular to a system for realizing pairing of a mobile device from a boundary system.
  • the boundary system is usually used to control the walking path of the mobile device.
  • the boundary system includes: a signal generating unit that generates a preset boundary signal; a boundary line electrically connected to the signal generating unit, the preset boundary signal is transmitted along the boundary line, and generates a preset magnetic field signal; the signal detecting unit is set in the self
  • the mobile device is configured to detect a magnetic field signal in the environment and generate a detection signal; the control unit receives the detection signal, and according to the information represented by the detection signal, confirms the position of the relative boundary line from the mobile device, and controls the self-mobile device to approach or span
  • the boundary line is switched in time from the walking direction of the mobile device to prevent walking outside the boundary line, so that the self-mobile device always works in the boundary line.
  • the magnetic field signal may appear due to the occurrence of magnetic field interference, especially the magnetic field signal generated by the boundary line of the adjacent area, so that the self-moving device cannot recognize the inside and outside of the boundary line with high precision, even because the signals and boundary lines in the boundary line are simultaneously recognized.
  • the external signal causes the mobile device to spin, and such a situation is likely to increase as the adjacent work area increases.
  • different forms of boundary signals appear, which can be identified and analyzed in the case of sporadic interference, or switched by the user in the presence of interference.
  • the problem with using different boundary signals is that the self-mobile device needs to be paired with the border system so that the self-mobile device can accurately recognize the boundary signal currently used.
  • the existing self-mobile device working system usually needs to set time or other parameters in advance, so that the self-mobile device can be identified in an inherent manner, which makes the self-mobile device unable to operate flexibly according to actual conditions.
  • the problem to be solved by the present invention is to provide a self-moving device operating system that can operate normally when multiple work areas are adjacent and automatically match boundary signals without user intervention.
  • a self-mobile device working system comprising a boundary system and a self-mobile device, the boundary system comprising a base station and a boundary line, the base station transmitting a preset coding group to the boundary line defining the working area of the self-mobile device
  • the code group is one of a preset plurality of code groups
  • the boundary signal is transmitted along the boundary line to generate a magnetic field signal
  • the self-mobile device includes a first detection unit and a second detection a unit for detecting the magnetic field signal and generating a first detection signal and a second detection signal
  • the self-mobile device further comprising a control unit, identifying the working area according to the first detection signal and the second detection signal
  • the mobile device working system has a learning mode, in which the first detecting unit and the second detecting unit are respectively located on two sides of the boundary line, and the control unit can be configured to store a reference signal, if Determining, by the first detection signal and/or the second detection signal, the reference signal and the second detection signal corresponding to the first
  • control unit controls the base station to change the code group based at least on the coding group asymmetry.
  • the coding group asymmetry comprises the same coding group.
  • the self-mobile device comprises a first communication unit, the base station comprising a second communication unit, the first communication unit being communicatively coupled to the second communication unit.
  • the first communication unit and/or the second communication unit comprise a docking terminal for electrical connection.
  • the first communication unit and/or the second communication unit comprise a wireless charging unit.
  • the first communication unit and/or the second communication unit comprise a wireless communication unit for wireless connection.
  • the wireless communication unit comprises a radio frequency communication unit or a radio frequency identification unit or a Bluetooth communication unit or a Wi-Fi communication unit.
  • control unit controls the first communication unit to transmit a feedback signal based on at least the coding group asymmetry; the second communication unit receives the feedback signal, and the base station changes based on a feedback signal The code group corresponding to the boundary signal.
  • the second communication unit transmits the reference signal, and the control unit stores the reference signal received by the first communication unit.
  • the reference signal comprises the code group corresponding to the boundary signal.
  • the first detection signal and/or the second detection signal and the reference signal match the coding group and the corresponding one of the first detection signal and/or the second detection signal
  • the coding groups corresponding to the boundary signals are the same or symmetric.
  • the learning mode is entered.
  • the preset condition includes the first boot from the mobile device.
  • the preset condition includes that the code group corresponding to the first detection signal and/or the code group corresponding to the second detection signal does not satisfy the recognition condition.
  • the self-mobile device working system further includes a reset unit, the preset condition including the reset unit being triggered.
  • the boundary line portion is disposed at the base station, such that when the self-mobile device is docked with the base station, the first detecting unit and the second detecting unit are respectively located on the boundary line side.
  • the self-mobile device interfaces with the base station in the learning mode.
  • a control method for a self-mobile device working system comprising a boundary system and a self-mobile device, the boundary system comprising a base station and a boundary line, the base station defining a working area of the self-mobile device
  • the boundary line transmits a boundary signal corresponding to the preset code group, the code group is one of a preset plurality of code groups, and the boundary signal is transmitted along the boundary line to generate a magnetic field signal, the self-moving
  • the apparatus includes a first detecting unit and a second detecting unit for detecting the magnetic field signal; the self-mobile device working system has a learning mode, in which the first detecting unit and the second detecting unit are located
  • the control unit may be configured to store a reference signal on both sides of the boundary line; the learning mode performs the steps of: detecting the magnetic field signals on both sides of the boundary line, and generating a first detection signal and a second Detecting a signal; determining whether the first detection signal and/or the second detection signal match the reference signal;
  • the learning mode further comprises: changing the coding group corresponding to the boundary signal based on at least the coding group asymmetry.
  • changing the boundary signal corresponding to the coding group comprises the steps of: controlling the self-mobile device to send a feedback signal; and the base station changing the coding group corresponding to the boundary signal according to the feedback signal.
  • the reference signal comprises the code group corresponding to the boundary signal.
  • the determining whether the first detection signal and/or the second detection signal is matched with the reference signal comprises: determining the first detection signal and/or the second detection signal Whether the corresponding code group corresponding to the boundary signal is the same or symmetric.
  • the learning mode is entered when the mobile device operating system meets the preset condition.
  • the preset condition includes the first boot from the mobile device.
  • the preset condition includes that the code group corresponding to the first detection signal and/or the code group corresponding to the second detection signal does not satisfy the recognition condition.
  • the self-mobile device working system further includes a reset unit, the preset condition including the reset unit being triggered.
  • the invention has the beneficial effects that the self-mobile device working system provided by the present invention automatically learns the boundary signal sent by the boundary signal generating unit from the mobile device, and performs pairing with the boundary system.
  • the self-mobile device working system By identifying the encoded signal in the boundary signal, the uncorrelated noise in the environment can be relatively easily filtered, and the cost and accuracy of the identification can be improved.
  • the self-mobile device working system in the adjacent area adopts the same coding rule, the interference is difficult to be recognized and distinguished by the mobile device itself; and the self-mobile device working system of the present invention recognizes both sides of the boundary line by
  • the coded signal when there is a signal in the environment that can affect the operation of the mobile device, replace the coding group used by the boundary system in time to avoid interference.
  • FIG. 1 is a schematic diagram of a working system of a self-mobile device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a boundary signal in accordance with an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a boundary signal according to another embodiment of the present invention.
  • FIG. 4 is a flow chart of a learning mode in accordance with an embodiment of the present invention.
  • Figure 5 is a flow chart of a learning mode in accordance with still another embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a working system of a self-mobile device according to an embodiment of the invention.
  • the self-mobile device working system 10 shown in FIG. 1 includes a boundary system and a self-mobile device 1.
  • the boundary system includes a base station 11 and a boundary line 21, and the boundary line 21 is used. A working area located within the boundary line 21 and a non-working area outside the boundary line 21 are formed.
  • the base station 11 includes a signal generating unit electrically connected to the boundary line 21, and the boundary signal generating unit generates a boundary signal to be transmitted to the boundary line 21, and a boundary signal generates a magnetic field signal when flowing through the boundary line 21.
  • the self-mobile device 1 includes a signal detecting unit 5, a signal processing unit 7, and a control unit 9.
  • the signal detecting unit 5 is for detecting a magnetic field in the surrounding environment and generating a detection signal.
  • the signal processing unit 7 is electrically connected to the signal detecting unit 5, receives the detection signal, and processes the detection signal to generate a processing signal.
  • the control unit 9 is electrically connected to the signal processing unit 7, receives the processing signal, and recognizes the relative position of the mobile device 1 from the boundary line 21 based on the processing signal.
  • the base station 11 stores a plurality of code groups, each code group including at least one first state unit A and/or at least one second state unit B, the first state unit A being different from the second state unit B, the two state units
  • the coding group is formed according to a preset coding rule combination.
  • the preset encoding rule defines the total number of the first state unit A and the second state unit B included in one code group, and the combination relationship of the first state unit A and the second state unit B.
  • the total number of the first state unit A and the second state unit B is four, and the first state unit and the second state unit are combined in sequence, and 16 groups of code groups can be formed. Since the code groups corresponding to the detection signals in the boundary line 21 are symmetrical to each other, if the base station stores all 16 groups of codes, when the control unit 9 recognizes that the code group corresponding to the detection signal is AAAA, the code group can correspond to the boundary line 21, It may also correspond to the boundary line 21, so that the control unit 9 cannot judge whether the detection signal corresponds to the boundary line 21 or the boundary line 21. Therefore, the different coding groups that the base station 11 can store are at most eight groups.
  • the coding group can be AAAA, AAAB, AABB, ABBB, ABAA, ABAB, ABBA, AABA, and correspondingly, the signals detected outside the boundary line 21 contain the coding groups BBBB, BBBA, BBAA, BAAA, BABB, BABA, BAAB, BBAB, that is, the code groups detected inside and outside the boundary line are symmetrical to each other, as shown in Table 1.
  • the stored code group can also be BBBB, BBBA, BBAA, BAAA, BABB, BABA, BAAB, BBAB, as shown in Table 2.
  • the coding rule may be set according to actual needs.
  • the total number of the first state unit A and the second state unit B may be greater than 4 or less than 4.
  • the number of coding groups stored by the base station 11 may be the current rule. The maximum number can also be stored only part of it.
  • the first state unit A and the second state unit B are composed of basic signals, and the differences between them can be distinguished by timing rules, frequencies, amplitudes, and the like.
  • the timing rule refers to a time point at which a basic signal appears within a period of time, which is generally greater than a period corresponding to a single coding group. Taking the square wave signal appearing in the high and low period as an example, the high level of the fixed width indicates the first state unit A, and the low level of the fixed width indicates the second state unit B.
  • the signal form of the state unit is not limited, as long as it can Differentiate between different status units.
  • the base station 11 obtains the corresponding boundary signal SC based on the selected code group and transmits it to the boundary line 21.
  • the boundary signal SC includes a pulse current signal, the first state unit A corresponds to a positive pulse, and the second state unit B corresponds to a negative pulse.
  • 2 is a boundary signal according to an embodiment of the present invention. As shown in FIG. 2, if the selected code group is ABAB, the corresponding single-cycle boundary signal SC is a positive pulse, a negative pulse, a positive pulse, and a negative pulse which appear sequentially.
  • the predetermined boundary signal SC flows through the boundary line 21 to generate a magnetic field signal 23, and the signal detecting unit 5 detects a magnetic field in the surrounding environment and generates a detection signal.
  • the signal detecting unit 5 may include a magnetic field sensor or other sensor to convert the magnetic field in the environment into a corresponding electrical signal, thereby converting the magnetic field signal in the environment into a detection signal and transmitting it to the signal processing unit 7, and the signal processing unit 7 receives the received signal.
  • the detection signal is processed.
  • the signal processing unit 7 and the signal detecting unit 5 may be integrated, and the signal detecting unit 5 directly passes the detected signal processing to the control unit 9; the signal processing unit 7 may also be the control unit 9. A part of the control unit 9 receives the detection signal directly for processing and analysis.
  • the boundary signal SC includes a bidirectional pulse signal corresponding to the first state unit A or the second state unit B, and each bidirectional pulse signal includes a positive pulse signal and A negative pulse signal.
  • the bidirectional pulse signal corresponding to the first state unit A in the embodiment includes a positive pulse signal of the first timing and a negative pulse signal of the second timing
  • the bidirectional pulse signal corresponding to the second state unit B includes the negative pulse signal of the third timing and The positive pulse signal of the fourth timing.
  • each pulse sequence of the boundary signal SC includes a plurality of bidirectional pulse signals, the signal strength of each bidirectional pulse signal is greater than the signal strength of the single pulse signal. Therefore, the boundary signal SC composed of the bidirectional pulse signal is stronger than the boundary signal SC composed of the single pulse signal, and can be used in the case where the working area 100 is large, thereby ensuring that the self-moving device 1 is at the distance from the boundary line 21. When the distance is large, the magnetic field signal generated by the boundary signal SC in the boundary line 21 can still be received.
  • the signal processing unit 7 processes the detection signal into a digital signal corresponding to the timing at which the first state unit A and the second state unit B appear, and corresponds to the code group, facilitating the identification and processing of the detection signal by the control unit 9. It can be understood that in addition to the magnetic field signals generated by the boundary signal SC along the boundary line 21 in the environment, interference is unavoidable, and the signal processing unit 7 has a certain filtering or correcting effect on these interferences. In the working process, since the boundary signal SC includes a specific type of coding group, the control unit 9 can determine the validity of the detection signal by comparing the coding group corresponding to the detection signal with the coding group corresponding to the boundary signal SC, thereby improving the interference. Processing capacity.
  • the mobile device 1 is provided with a first communication unit
  • the base station 11 is provided with a second communication unit.
  • the first communication unit and the second communication unit implement communication by means of wired or wireless connection, and may only communicate.
  • Electrical connection terminal, or electrical connection terminal capable of communication and charging, or wireless communication interface capable of communication only, or a wireless charging unit capable of communication and charging, realizes signal transmission without disturbing magnetic field signal For effective communication methods.
  • the first set of terminals 3 is provided from the mobile device 1 for inputting a charging voltage.
  • the base station 11 is provided with a second set of terminals 13 for outputting a charging voltage.
  • the first group of terminals 3 and the second group of terminals 13 are electrically connected, and the base station 11 charges the mobile device 1 through the second group of terminals 13 and the first group of terminals 3.
  • the mobile device 1 when the mobile device 1 is connected to the base station 11, not only the charging of the mobile device 1 but also the communication between the mobile device 1 and the base station 11 can be realized.
  • the first group of terminals 3 and the second group of terminals 13 may respectively include two or more terminals, and the terminals may be in the form of electrode rods or electrode sheets, etc., and are not described herein.
  • the first set of terminals 3 from the mobile device 1 and the second set of terminals 13 of the base station 11 are not used for charging, but only for communication.
  • the first group of terminals 3 and the second group of terminals 13 may respectively include one or more terminals.
  • the signal transmission from the mobile device 1 and the base station 11 can be realized by the CAN bus protocol, or can be realized by other communication protocols.
  • the mobile device 1 is provided with a first wireless charging unit
  • the base station 11 is provided with a second wireless charging unit.
  • the first wireless charging unit can acquire energy through the second wireless charging unit.
  • the first wireless charging unit and the second wireless charging unit are also capable of making a communication connection for transmitting signals to enable communication from the mobile device 1 with the base station 11.
  • the self-mobile device 1 is provided with a first wireless communication unit
  • the base station 11 is provided with a second wireless communication unit.
  • the first wireless communication unit and the second wireless communication unit can transmit signals.
  • the communication manner of the first wireless communication unit and the second wireless communication unit may be radio frequency communication or radio frequency tag identification or Wi-Fi communication or Bluetooth communication, etc., and an effective communication manner may be selected according to the size of the work area or the environment inside and outside the area.
  • the signal detecting unit 5 includes a first signal detecting unit and a second signal detecting unit.
  • the first signal detecting unit is a first magnetic field sensor
  • the second signal detecting unit is a second magnetic field sensor.
  • the base station 11 is at least partially disposed on the boundary line 21 such that after the mobile device 1 is docked with the base station 11, the first magnetic field sensor and the second magnetic field sensor are respectively located on both sides of the boundary line 21, and the magnetic field in the boundary line 21 can be detected separately. Signal and magnetic field signals outside boundary line 21.
  • the docking detection from the mobile device 1 and the base station 11 is performed by the mobile device 1 transmitting a preset detection signal and transmitting it through the first group of terminals 3, and receiving the second group of terminals 13 inwardly.
  • the signal when the mobile device 1 receives the preset feedback signal corresponding to the preset detection signal, confirms that the first group of terminals 3 of the mobile device 1 and the second group of terminals 13 of the base station 11 are successfully connected.
  • the docking state can be detected by detecting the current or voltage on the charging circuit or the terminal, and other effective docking detection modes can be selected.
  • the docking detection is a conventional technique known to those skilled in the art, and details are not described herein again.
  • the self-mobile device working system 10 has at least two modes of operation, one being an operating mode and the other being a learning mode.
  • the mobile device 1 performs automatic mowing, automatic charging and the like in the boundary line 21; in the learning mode, the pairing with the base station 11 is completed from the mobile device 1, specifically the pairing of the encoding group.
  • a boundary line 21 is partially disposed on a bottom plate of the base station 11, so that when the mobile device 1 is docked with the base station 11, the first magnetic field sensor and The second magnetic field sensors are respectively located on both sides of the boundary line 21.
  • the boundary line 21 is connected to the base station 11, the boundary line 21 passes through the bottom plate of the base station 11, and the first magnetic field sensor and the second magnetic field sensor are symmetric about the central axis in the forward direction of the mobile device 1, when the self-mobile device 1 When docked with the base station 11, the boundary line 21 substantially coincides with the central axis of the mobile device 1.
  • the self-mobile device working system 10 has a learning mode in which the self-mobile device 1 and the base station 11 need to confirm that they are in a docking state.
  • the base station 11 selects one of the preset code groups, and generates a boundary signal SC according to the selected code group to transmit to the boundary line 21.
  • the control unit 9 confirms that the mobile device 1 is in a docked state with the base station 11.
  • S2 The control unit 9 receives the code group transmitted by the base station 11 as a reference signal, and the code group transmitted by the base station 11 is a code group corresponding to the current boundary signal SC.
  • S3 the signal detecting unit 5 detects the magnetic field signal to obtain the first detection signal and the second detection signal. Specifically, the first magnetic field sensor and the second magnetic field sensor respectively detect the magnetic field signal in the environment to obtain the first detection signal and the second detection. The signal is sent to the control unit 9.
  • the control unit 9 determines whether the first detection signal and/or the second detection signal match the reference signal; specifically, the control unit 9 compares the first detection signal and/or the second detection signal with the reference signal, if If the detection signal and/or the second detection signal and the reference signal match each other, the next processing is performed; if the first detection signal and/or the second detection signal do not match the reference signal, the signal is ignored.
  • the control unit 9 determines whether the code group corresponding to the first detection signal and the second detection signal is symmetrical; specifically, based on the first detection signal and/or the second detection signal and the reference signal, the control unit 9 further determines a symmetric relationship between the detection group and the second detection signal; if symmetrical, execute S6: the control unit 9 saves the current reference signal; if asymmetry, executes S7: the control base station 11 changes the coding group; The control unit 9 controls the first communication unit to send a feedback signal, and after receiving the feedback signal, the base station 11 changes the currently used code group to a new code group. When the encoding group is changed, it returns to S2. After the execution of the learning mode is completed, the mobile device working system 10 enters the working mode.
  • the reference signal that is ultimately saved from the mobile device 1 in the learning mode is the code group used in the operational mode from the mobile device operating system 10, ie the code corresponding to the current signal sent by the base station 11 to the boundary line 21. group.
  • determining the position of the mobile device 1 relative to the boundary line 21 includes the following steps: S101: the signal detecting unit 5 detects the magnetic field signal to obtain a first detection signal and a second detection signal; specifically, the first magnetic field sensor and The second magnetic field sensor respectively detects the magnetic field signal in the environment to obtain the first detection signal and the second detection signal, and sends the signal to the control unit 9.
  • the control unit 9 determines whether the first detection signal and/or the second detection signal match the reference signal; specifically, the control unit 9 compares the first detection signal and/or the second detection signal with the reference signal, if If the detection signal and/or the second detection signal and the reference signal match each other, the next processing is performed; if the first detection signal and/or the second detection signal do not match the reference signal, the signal is ignored.
  • the control unit 9 determines that the mobile device 1 is in the boundary line 21; if the first detection signal (or the second detection signal) corresponds to The code group is symmetrical with the reference signal, and the control unit 9 judges that the side from which the first magnetic field sensor (or the second magnetic field sensor) is mounted from the mobile device 1 is outside the boundary line 21, and needs to perform back-off or steering.
  • the order of the above S2-S5 steps is not limited.
  • S2 and S3 can be performed at the same time.
  • S3 can be executed first and S2 can be executed first;
  • S4 and S5 can be performed simultaneously, or
  • S5 can be executed first and then S4 can be executed.
  • a person skilled in the art can determine the relationship between the first detection signal, the second detection signal, and the reference signal by the above steps.
  • the installation position of the base station 11 is not limited, and only the connection with the boundary line 21 needs to be secured.
  • the learning mode there is no need to ensure that the mobile device 1 is docked with the base station 11, but the first magnetic field sensor and the second magnetic field sensor must be respectively located on both sides of the boundary line 21, that is, if the first magnetic field sensor is located at the boundary.
  • the second magnetic field sensor is located outside the boundary line 21, so that the magnetic field signals inside and outside the boundary line 21 can be detected separately.
  • the step S1 of performing the learning mode is to confirm that the first magnetic field sensor and the second magnetic field sensor are respectively located on both sides of the boundary line 21.
  • the first communication unit and the second communication unit are wireless communication units, and the transmission and reception of the reference signal and the transmission and reception of the feedback signal pass through A wireless communication unit and a second wireless communication unit are completed.
  • the base station 11 stores a preset plurality of coding groups. In the learning mode, the base station 11 automatically selects any one of the preset multiple coding groups to form a boundary signal SC output, and selects the selected coding group. It is sent to the control unit 9 as a reference signal.
  • the control unit 9 can be configured to store the reference signal, that is, the reference signal used by the control unit 9 is determined by the base station 11, and if the base station 11 changes the code group corresponding to the boundary signal SC transmitted to the boundary line 21, the control unit 9 stores The reference signal changes accordingly.
  • the base station 11 causes any one of the preset plurality of code groups to form a boundary signal SC output according to the user's selection, and transmits the selected code group to the control unit 9 as a reference signal.
  • the preset plurality of code groups are stored in the control unit 9, and in the learning mode, the control unit 9 selects any one of the preset plurality of code groups as the reference signal, and uses the reference The signal is sent to the base station 11 to form a boundary signal output to the boundary line 21.
  • the coding group corresponding to the first detection signal and the second detection signal indicates that the coding codes of the two coding groups are different, for example, the coding group corresponding to the first detection signal is ABAB, and the coding group corresponding to the reference signal is BABA, the first detection signal is symmetric with the coding group corresponding to the second detection signal.
  • the same coding group corresponding to the first detection signal and the second detection signal indicate that the corresponding codes in the two coding groups are the same, for example, the coding group corresponding to the first detection signal is ABAB, and the coding corresponding to the second detection signal is The group is also ABAB. If any one of the codes is different, the first detection signal is different from the coding group corresponding to the second detection signal.
  • FIG. 6 is a schematic diagram of a working system of a self-mobile device according to an embodiment of the present invention. As shown in FIG.
  • the detection may be caused by the mobile device 1 detecting the magnetic field signal of the working system 30 during a certain period of time, and the obtained first detection signal and the second detection signal correspond to the same code group, which is also BBAA; in this case
  • the relationship between the code group corresponding to the first detection signal and the second detection signal and the reference signal is symmetrical.
  • the coding group currently used by the working system 30 is symmetric with the coding group currently used by the base station 11
  • the coding group used by the base station 11 is AABB, which also results from the mobile device 1 at some time.
  • the magnetic field signal of the working system 30 is detected in the segment, and the obtained first detection signal and the second detection signal correspond to the same code group, which is also AABB; in this case, the first detection signal and the second detection signal
  • the relationship with the code group corresponding to the reference signal is the same.
  • the relationship between the first detection signal and/or the second detection signal and the reference signal is the same or symmetric, and the first detection signal and the second detection are
  • the coding group corresponding to the signal is the same, it will cause serious interference to the identification work area from the mobile device 1, and therefore the coding group used by the base station 11 must be changed.
  • the coding group asymmetry corresponding to the first detection signal and the second detection signal specifically indicates that the first detection signal is the same as the coding group corresponding to the second detection signal.
  • the code group used by the working system 30 is AABB
  • the code group corresponding to the magnetic field signal in the boundary line 41 of the working system 30 is AABB
  • the code group corresponding to the magnetic field signal outside the boundary line 41 is BBAA. Since the position of the mobile device 1 relative to the working system 30 is outside the boundary line 41, the first magnetic field sensor and the second magnetic field sensor of the mobile device 1 simultaneously detect the magnetic field corresponding to the BBAA during certain time periods. signal.
  • the code group corresponding to the first detection signal and the second detection signal detected and processed by the mobile device 1 is the same, and is BBAA.
  • the self-mobile device 1 can detect the magnetic field signal formed by the boundary signal SC sent by the base station 11 to the boundary line 21 in a certain period of time, and obtain the first detection signal and the second detection signal.
  • the code groups corresponding to the first detection signal and the second detection signal are symmetric, and the relationship with the reference signal is the same and symmetric relationship, respectively. If the code group currently used by the base station 11 is AABB, the code group corresponding to the first detection signal in the boundary line 21 is AABB, and the code group BBAA corresponding to the second detection signal outside the boundary line 21.
  • FIG. 5 is a flowchart of a learning mode according to still another embodiment of the present invention.
  • steps S11-S15 are performed in the same manner as S1-S5.
  • S16 is performed: determining whether the execution time of all the steps after the completion of S11 is greater than the preset time T; if yes, executing S18: saving the reference signal; if not, returning to S13.
  • S16 may be: determining whether the number of times the symmetry of the coding group corresponding to the first detection signal and the second detection signal is greater than a preset number of times N; specifically, the initial count is 0, if the judgment of S15 The result is YES, the count is incremented by one, and when the count is greater than the preset number of times N, S18 is performed; if not, the process returns to S13.
  • the preset time T or the preset number N is set to ensure that the magnetic field signal that may interfere in the current environment has been detected from the mobile device 1 in the learning mode.
  • the preset time T or the preset number N can be set according to the number of working systems in the vicinity of the mobile device working system 10. Through multiple detections and judgments, it is confirmed that there is no magnetic field signal in the surrounding environment that matches the current coding group, so that the self-mobile device 1 is not easily interfered during the work.
  • the self-mobile device working system 10 enters the learning mode when the mobile device 1 satisfies the preset condition.
  • the preset condition specifically includes starting from the mobile device 1 for the first time.
  • the mobile device 1 When the mobile device 1 is first started, it enters the learning mode, and the pairing of the mobile device 1 and the base station 11 code group is completed, thereby avoiding signal interference from the adjacent area.
  • the preset condition includes that the code group corresponding to the first detection signal and/or the code group corresponding to the second detection signal does not satisfy the recognition condition.
  • the identification condition includes: when the first detection signal and the second detection signal are matched with the reference signal, the coding group corresponding to the first detection signal and/or the coding group corresponding to the second signal does not change by a preset number of times or Preset time.
  • the code group corresponding to the boundary signal SC used by the working system 10 and the working system 30 is AAAA
  • the coding group corresponding to the first detection signal is AAAA or BBBB).
  • the control unit 9 controls the execution of the learning mode from the mobile device 1.
  • the self-mobile device 1 will detect the signal from the base station 11 and sometimes the signal from the working system 30. In the case where the working system 30 uses a code group that matches the base station 11, the mobile device 1 cannot distinguish the valid signal.
  • the first detection signal may be detected in some time periods and The code groups corresponding to the second detection signals are all AABB (at this time, the boundary signal sent by the working system 10 is detected from the mobile device 1), and the code groups corresponding to the first detection signal and the second detection signal are detected in other time periods.
  • the control unit 9 cannot determine whether the mobile device 1 is outside the boundary line 21 or outside the boundary line 21. In this case, the control unit 9 controls the execution of the learning mode from the mobile device 1.
  • the self-mobile device working system 10 Since the self-mobile device working system 10 has a learning mode, by detecting and processing the magnetic field signal, the coding group of the working system 30 is not used, and the interference of the working system 30 is eliminated, so that the user does not need user intervention, the self-mobile device 1 can identify the work area more reliably.
  • the self-mobile device operating system 10 includes a reset unit, and the preset condition includes that the reset unit is triggered.
  • the reset unit may be installed on the self-mobile device 1, or may be installed on the base station 11, or may be a remote control device.
  • the control unit 9 receives the reset signal from the reset unit, that is, the preset condition is met, the learning mode is entered. Specifically, when the user finds that the mobile device 1 is working abnormally, or other situations arise that the mobile device 1 needs to be paired with the base station 11 again, the reset unit can be triggered by the user.
  • the control unit 9 may automatically trigger the reset unit if the code group is automatically updated from the mobile device operating system 10, or if other conditions arise from the mobile device 1 re-pairing with the base station 11.
  • the mobile device 1 it is necessary to confirm that the mobile device 1 is docked with the base station 11 in the learning mode. If the mobile device 1 meets the preset condition but the mobile device 1 does not interface with the base station 11, the mobile device 1 starts the regression mode, controls the return base station 11 and completes the docking.
  • the mobile device 1 is capable of receiving a particular form of radio signal from the base station 11 to direct the regression based on the radio signal.
  • the base station 11 can be set to connect with the unidirectional line, and the mobile device 1 detects the signal on the unidirectional line to return to the base station 11; the coordinates of the base station 11 and the self-mobile device 1 can be acquired by satellite positioning, thereby guiding the self-moving The device 1 returns to the base station 11; the relative positional relationship between the mobile device 1 and the base station 11 can also be detected by the non-contact sensor, or otherwise guided back from the mobile device 1 to the base station 11, so that the self-mobile device working system 10 can perform the learning mode again. , re-complete the selection and learning of the coding group according to the environmental information.
  • the self-mobile device 1 includes a reminder device. If the preset condition is required to enter the learning mode, and the mobile device 1 does not interface with the base station 11, the control unit 9 controls the reminding device to issue a prompt signal to remind The user intervention causes the learning mode to be started only after the mobile device 1 completes the docking with the base station 11.
  • the reminding device may be a display device from the mobile device 1 itself or a mobile device connected to the mobile device 1 or the like.
  • the prompt information may include an optical signal emitted by the LED light or a sound signal from the buzzer, and the details are not described herein.

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Abstract

一种自移动设备工作系统（10）及其控制方法，自移动设备工作系统包括边界系统和自移动设备（1），边界系统包括基站（11）和边界线（21），基站向边界线发送与预设的编码组对应的边界信号，编码组为预设的多个编码组中的一组，边界信号沿边界线传导生成磁场信号（23）；第一和第二检测单元检测磁场信号并生成第一检测信号和第二检测信号；控制单元（9）根据检测信号识别工作区域；具有学习模式：控制单元可设定地存储有参考信号，若第一检测信号和/或第二检测信号与参考信号匹配，则判断第一检测信号对应的编码组和第二检测信号对应的编码组是否对称。

Description

自移动设备工作系统及其控制方法 技术领域
本发明涉及一种自移动设备工作系统及其控制方法，特别是一种实现自移动设备与边界系统配对的系统。
背景技术
随着科学技术的发展，智能的自移动设备为人们所熟知，由于自移动设备可以自动预先设置的程序执行预先设置的相关任务，无须人为的操作与干预，因此在工业应用及家居产品上的应用非常广泛。工业上的应用如执行各种功能的机器人，家居产品上的应用如割草机、吸尘器等，这些智能的自移动设备极大地节省了人们的时间，给工业生产及家居生活都带来了便利。
为保证上述自移动设备在预设的工作范围内工作，通常采用边界系统对自移动设备的行走路径进行控制。边界系统包括：信号发生单元，产生预设的边界信号；边界线，与信号发生单元电性连接，预设的边界信号沿边界线传导，并生成预设的磁场信号；信号检测单元，设置在自移动设备内，用于检测环境中的磁场信号，并生成检测信号；控制单元接收检测信号，并根据检测信号代表的信息，确认自移动设备相对边界线的位置，控制自移动设备在靠近或跨越边界线时及时转换自移动设备行走方向，防止行走至边界线外，从而使自移动设备始终在边界线内工作。
而磁场信号可能因为磁场干扰的出现，尤其是相邻区域的边界线产生的磁场信号的出现，使得自移动设备无法高精度识别边界线内外，甚至因为同时识别到边界线内的信号和边界线外的信号导致自移动设备打转，而这样的情况很可能会随着相邻工作区域的增加而加剧。为了解决这样的问题，出现了不同形式的边界信号，在受到偶发干扰的情况下可以被识别和分析，或者在出现干扰时由用户进行切换。但是使用不同的边界信号带来的问题是需要将自移动设备与边界系统进行配对，使得自移动设备能够准确识别到当前使用的边界信号。而现有的自移动设备工作系统通常需要预先对时间或其他参数进行设置，使得自移动设备按照固有的方式进行识别，这样造成了自移动设备无法根据实际情况灵活操作。
发明内容
为克服现有技术的缺陷，本发明所要解决的问题是提供一种自移动设备工作系统，在多个工作区域相邻时能够正常工作，并且在不需要用户干预的情况下自动匹配边界信号。
本发明解决现有技术问题所采用的技术方案是：
一种自移动设备工作系统，包括边界系统和自移动设备，所述边界系统包括基站和边界线，所述基站向限定所述自移动设备工作区域的所述边界线发送与预设的编码组对应的边界信号，所述编码组为预设的多个编码组中的一组，所述边界信号沿所述边界线传导生成磁场信号；所述自移动设备包括第一检测单元和第二检测单元，用于检测所述磁场信号并生成第一检测信号和第二检测信号；所述自移动设备还包括控制单元，根据第一检测信号和第二检测信号识别所述工作区域；所述自移动设备工作系统具有学习模式，在所述学习模式中，所述第一检测单元和第二检测单元分别位于所述边界线两侧，所述控制单元可设定地存储有参考信号，若所述第一检测信号和/或第二检测信号与所述参考信号匹配，则判断所述第一检测信号对应的编码组和第二检测信号对应的所述编码组是否对称。
在其中一个实施例中，至少基于所述编码组不对称，所述控制单元控制所述基站变更所述编码组。
在其中一个实施例中，所述编码组不对称包括所述编码组相同。
在其中一个实施例中，所述自移动设备包括第一通信单元，所述基站包括第二通信单元，所述第一通信单元与所述第二通信单元通信连接。
在其中一个实施例中，所述第一通信单元和/或第二通信单元包括对接端子，所述对接端子用于电连接。
在其中一个实施例中，所述第一通信单元和/或第二通信单元包括无线充电单元。
在其中一个实施例中，所述第一通信单元和/或第二通信单元包括无线通信单元，所述无线通信单元用于无线连接。
在其中一个实施例中，所述无线通信单元包括射频通信单元或射频识别单元或蓝牙通信单元或Wi-Fi通信单元。
在其中一个实施例中，至少基于所述编码组不对称，所述控制单元控制所述第一通信单元发送反馈信号；所述第二通信单元接收所述反馈信号，所述基站基于反馈信号变更所述边界信号对应的所述编码组。
在其中一个实施例中，在所述学习模式中，所述第二通信单元发送所述参考信号，所述控制单元存储所述第一通信单元接收的所述参考信号。
在其中一个实施例中，所述参考信号包括所述边界信号对应的所述编码组。
在其中一个实施例中，所述第一检测信号和/或第二检测信号与所述参考信号匹配包括所述第一检测信号和/或所述第二检测信号对应的所述编码组与所述边界信号对应的所述编码组相同或对称。
在其中一个实施例中，若所述自移动设备工作系统满足预设条件，则进入所述学习模式。
在其中一个实施例中，所述预设条件包括所述自移动设备首次启动。
在其中一个实施例中，所述预设条件包括所述第一检测信号对应的编码组和/或所述第二检测信号对应的编码组不满足识别条件。
在其中一个实施例中，所述自移动设备工作系统还包括重置单元，所述预设条件包括所述重置单元被触发。
在其中一个实施例中，所述边界线部分设置于所述基站，使得当所述自移动设备与所述基站对接时，所述第一检测单元和第二检测单元分别位于所述边界线两侧。
在其中一个实施例中，在所述学习模式中，所述自移动设备与所述基站对接。
本发明解决现有技术问题所采用的另一个技术方案是：
一种自移动设备工作系统的控制方法，所述自移动设备工作系统包括边界系统和自移动设备，所述边界系统包括基站和边界线，所述基站向限定所述自移动设备工作区域的所述边界线发送与预设的编码组对应的边界信号，所述编码组为预设的多个编码组中的一组，所述边界信号沿所述边界线传导生成磁场信号，所述自移动设备包括第一检测单元和第二检测单元，用于检测所述磁场信号；所述自移动设备工作系统具有学习模式，在所述学习模式中，所述第一检测单元和第二检测单元位于所述边界线两侧，所述控制单元可设定地存储有参考信号；所述学习模式执行如下步骤：检测所述边界线两侧的所述磁场信号，并生成第一检测信号和第二检测信号；判断所述第一检测信号和/或所述第二检测信号是否与所述参考信号匹配；基于所述第一检测信号和/或所述第二检测信号与所述参考信号匹配，判断所述第一检测信号对应的所述编码组和所述第二检测信号对应的所述编码组是否对称。
在其中一个实施例中，所述学习模式还包括：至少基于所述编码组不对称，变更所述边界信号对应的所述编码组。
在其中一个实施例中，变更所述编码组对应的边界信号包括以下步骤：控制所述自移动设备发送反馈信号；所述基站根据所述反馈信号变更所述边界信号对应的所述编码组。
在其中一个实施例中，所述参考信号包括所述边界信号对应的所述编码组。
在其中一个实施例中，所述判断所述第一检测信号和/或所述第二检测信号是否与所述参考信号匹配包括：判断所述第一检测信号和/或所述第二检测信号对应的所述编码组与所述边界信号对应的所述编码组是否相同或对称。
在其中一个实施例中，当自移动设备工作系统满足预设条件时，进入所述学习模式。
在其中一个实施例中，所述预设条件包括所述自移动设备首次启动。
在其中一个实施例中，所述预设条件包括所述第一检测信号对应的编码组和/或所述第二检测信号对应的编码组不满足识别条件。
在其中一个实施例中，所述自移动设备工作系统还包括重置单元，所述预设条件包括所述重置单元被触发。
与现有技术相比，本发明的有益效果是：本发明提供的自移动设备工作系统，通过自移动设备自动学习边界信号发生单元发送的边界信号，与边界系统实现配对。通过识别边界信号中的编码信号，可以相对简易地过滤环境中不相关的噪声，提高识别的成本和准确性。进一步的，当临近区域内的自移动设备工作系统采用了相同的编码规则，这种干扰很难通过自移动设备本身识别并区分；而本发明的自移动设备工作系统通过识别边界线两侧的编码信号，当环境中出现能够影响自移动设备工作的信号时，及时更换边界系统所使用的编码组，从而避免发生干扰。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1是本发明一实施例的自移动设备工作系统示意图。
图2是本发明一实施例边界信号示意图。
图3是本发明另一实施例边界信号示意图。
图4是本发明一实施例的学习模式流程图。
图5是本发明又一实施例的学习模式流程图。
图6是本发明一实施例的自移动设备工作系统示意图。
具体实施方式
有关本发明的详细说明和技术内容，配合附图说明如下，然而所附附图仅提供参考与说明，并非用来对本发明加以限制。
图1为本发明一实施例的自移动设备工作系统示意图，图1所示的自移动设备工作系统10包括边界系统和自移动设备1，边界系统包括基站11和边界线21，边界线21用于形成位于边界线21内的工作区域和位于边界线21外的非工作区域。基站11包括与边界线21电性连接的信号发生单元，边界信号发生单元产生边界信号发送给边界线21，边界信号流经边界线21时产生磁场信号。自移动设备1包括信号检测单元5，信号处理单元7和控制单元9。信号检测单元5用于检测周围环境中的磁场，并生成检测信号。信号处理单元7与信号检测单元5电性连接，接收检测信号，并对检测信号进行处理，生成处理信号。控制单元9与信号处理单元7电性连接，接收处理信号，并根据处理信号识别自移动设备1与边界线21的相对位置。
基站11存储有多个编码组，每个编码组包括至少一个第一状态单元A和/或至少一个第二状态单元B，第一状态单元A不同于第二状态单元B，这两个状态单元按照预设的编码规则组合形成编码组。预设的编码规则定义的是一个编码组包含的第一状态单元A和第二状态单元B的总数，以及第一状态单元A和第二状态单元B的组合关系。
本实施例中，第一状态单元A和第二状态单元B的总数为4，按照时序先后将第一状态单元与第二状态单元进行组合，可以形成16组编码组。由于边界线21内外检测信号对应的编码组相互对称，如果基站存储了全部16组编码，那么当控制单元9识别到检测信号对应的编码组为AAAA，这个编码组既可以对应边界线21内，也可以对应边界线21外，导致控制单元9无法判断该检测信号对应的是边界线21内还是边界线21外。因此，基站11可以存储的不同的编码组最多为8组。编码组可以为AAAA，AAAB，AABB，ABBB，ABAA，ABAB，ABBA，AABA，相应的，边界线21外检测到的信号包含的编码组为BBBB，BBBA，BBAA，BAAA，BABB，BABA，BAAB，BBAB，即，边界线内外检测到的编码组是相互对称的，如表1所示。
可以理解的是，存储的编码组也可以为BBBB，BBBA，BBAA，BAAA，BABB，BABA，BAAB，BBAB，如表2所示。在其他实施例中，编码规则可 以根据实际需要进行设定，如第一状态单元A和第二状态单元B的总数可以大于4，也可以小于4，基站11存储的编码组数量可以为当前规则下的最大数量，也可以只存储其中的一部分。
表1
  1 2 3 4 5 6 7 8
边界线内 AAAA AAAB AABB ABBB ABAA ABAB ABBA AABA
边界线外 BBBB BBBA BBAA BAAA BABB BABA BAAB BBAB
表2
  1 2 3 4 5 6 7 8
边界线内 BBBB BBBA BBAA BAAA BABB BABA BAAB BBAB
边界线外 AAAA AAAB AABB ABBB ABAA ABAB ABBA AABA
第一状态单元A与第二状态单元B由基本信号组成，相互之间的不同，可以通过时序规则、频率、幅值等加以区分。其中，时序规则指在一段时间内，一般是大于单个编码组对应的周期的一段时间内，基本信号出现的时间点。以高低电平周期出现的方波信号为例，固定宽度的高电平表示第一状态单元A，固定宽度的低电平表示第二状态单元B，状态单元的信号形式并非为了限制，只要能够区分不同状态单元即可。基站11根据选择的编码组得到相应的边界信号SC，发送至边界线21中。
边界信号SC包括脉冲电流信号，第一状态单元A对应正脉冲，第二状态单元B对应负脉冲。图2为本发明一实施例边界信号，如图2所示，如果选择的编码组为ABAB，则对应的单周期的边界信号SC为依次出现的正脉冲、负脉冲、正脉冲、负脉冲。预设的边界信号SC流经边界线21时产生磁场信号23，信号检测单元5检测周围环境中的磁场，并生成检测信号。信号检测单元5可以包括磁场传感器或其他传感器，将环境中的磁场转换为相应的电信号，从而将环境中的磁场信号转换为检测信号传递给信号处理单元7，信号处理单元7对接收到的检测信号进行处理。在其他实施例中，信号处理单元7与信号检测单元5可以为一个整体，由信号检测单元5将检测到的信号处理完成后直接传递至控制单元9；信号处理单元7也可以为控制单元9的一部分，由控制单元9直接接收检测信号后进行处理和分析。
图3为另一实施例边界信号，如图3所示，边界信号SC包括与第一状态单元A或第二状态单元B对应的双向脉冲信号，每一个双向脉冲信号都包括一 个正脉冲信号和一个负脉冲信号。本实施例中第一状态单元A对应的双向脉冲信号包括第一时序的正脉冲信号和第二时序的负脉冲信号，第二状态单元B对应的双向脉冲信号包括第三时序的负脉冲信号和第四时序的正脉冲信号。
由于边界信号SC的每一个脉冲序列包括若干个双向脉冲信号，每一个双向脉冲信号的信号强度大于单脉冲信号的信号强度。因此，与单脉冲信号组成的边界信号SC相比，双向脉冲信号组成的边界信号SC强度更大，可以使用在工作区域100较大的情况下，从而保证自移动设备1在距离边界线21的距离较大的时候，仍然可以接收到边界线21中的边界信号SC产生的磁场信号。
信号处理单元7将检测信号处理为与第一状态单元A和第二状态单元B出现的时序相对应的数字信号，且与编码组相对应，便于控制单元9对检测信号的识别和处理。可以理解的是，环境中除了边界信号SC沿边界线21产生的磁场信号之外，不可避免的存在干扰，信号处理单元7对于这些干扰具有一定的过滤或校正作用。在工作过程中，由于边界信号SC包含了特定形式的编码组，控制单元9可以通过对比检测信号对应的编码组与边界信号SC对应的编码组，判断检测信号的有效性，从而提高对干扰的处理能力。
如图1所示，自移动设备1设置有第一通信单元，基站11设置有第二通信单元，第一通信单元与第二通信单元通过有线或无线连接的方式实现通信，可以是只能通信的电连接端子，或者既能通信也能充电的电连接端子，或者只能通信的无线通信接口，也可以是既能通信又能充电的无线充电单元，实现信号传输的同时不干扰磁场信号即为有效的通信方式。
本实施例中，自移动设备1设置有第一组端子3，用于输入充电电压。基站11设置有第二组端子13，用于输出充电电压。当自移动设备1成功对接至基站11时，第一组端子3与第二组端子13实现电连接，基站11通过第二组端子13和第一组端子3对自移动设备1进行充电。本实施例中，当自移动设备1与基站11对接后，不仅能实现对自移动设备1充电，还能实现自移动设备1与基站11的通信。第一组端子3和第二组端子13可以分别包括两个或两个以上端子，端子的形式可以为电极棒或电极片等，这里不做赘述。
在其中一个实施例中，自移动设备1的第一组端子3和基站11的第二组端子13不用于充电，而仅用于进行通信。本实施例中，第一组端子3和第二组端子13可以分别包括一个或一个以上端子。可以通过CAN总线协议实现自移动设备1与基站11的信号传输，也可以通过其他通信协议实现。
在其中一个实施例中，自移动设备1设置有第一无线充电单元，基站11设置有第二无线充电单元。当自移动设备1与基站11在一定范围内建立连接后，第一无线充电单元可以通过第二无线充电单元获取能量。除了传输电能，第一无线充电单元和第二无线充电单元还能够进行通信连接，用于传输信号，实现自移动设备1与基站11的通信。
在其中一个实施例中，自移动设备1设置有第一无线通信单元，基站11设置有第二无线通信单元。本实施例中，自移动设备1和基站11无需接触，只要在第一无线通信单元和第二无线通信单元的通信范围内，在建立了通信连接的情况下，第一无线通信单元和第二无线通信单元可以传输信号。第一无线通信单元和第二无线通信单元的通信方式可以是射频通信或射频标签识别或Wi-Fi通信或蓝牙通信等，可以根据工作区域的大小或区域内外环境选择有效的通信方式。
如图1所示，信号检测单元5包括第一信号检测单元和第二信号检测单元，本实施例中，第一信号检测单元为第一磁场传感器，第二信号检测单元为第二磁场传感器，安装于自移动设备1并关于前进方向上的中心轴对称。基站11至少部分地设置在边界线21上，使得当自移动设备1与基站11对接后，第一磁场传感器和第二磁场传感器分别位于边界线21两侧，能够分别检测边界线21内的磁场信号和边界线21外的磁场信号。本实施例中，自移动设备1与基站11的对接检测是由自移动设备1发送预设的侦测信号并经第一组端子3向外传递，且接收第二组端子13向内传递的信号，自移动设备1接收到与预设的侦测信号相对应的预设的反馈信号时，确认自移动设备1的第一组端子3与基站11的第二组端子13对接成功。在其他实施例中，可以通过检测充电回路或者端子上的电流或电压检测对接状态，也可以选择其他有效的对接检测方式，对接检测为本领域技术人员已知的常规技术，这里不再赘述。
本实施例中，自移动设备工作系统10具有至少两种操作模式，一种为工作模式，一种为学习模式。在工作模式中，自移动设备1在边界线21内完成自动割草、自动充电等工作；在学习模式中，自移动设备1完成与基站11的配对，具体为编码组的配对。
在以上所介绍的各个部分的共同协作之下，通过下面所描述的方法来执行学习模式。图4是本发明一实施例的学习模式流程图，本实施例中，边界线21部分设置于所述基站11的底板上，使得当自移动设备1与基站11对接后，第 一磁场传感器和第二磁场传感器分别位于边界线21两侧。本实施例中，边界线21与基站11连接，边界线21穿过基站11的底板，第一磁场传感器和第二磁场传感器关于自移动设备1前进方向上的中心轴对称，当自移动设备1与基站11对接时，边界线21与自移动设备1的中心轴大致重合。如图4所示，自移动设备工作系统10具有学习模式，在学习模式中，自移动设备1与基站11需确认处于对接状态。基站11选择预设的编码组中的一组，根据选择的编码组产生边界信号SC发送给边界线21。在学习模式中执行如下步骤：S1：控制单元9确认自移动设备1与基站11处于对接状态。S2：控制单元9接收基站11发送的编码组作为参考信号，基站11发送的编码组为当前边界信号SC对应的编码组。S3：信号检测单元5检测磁场信号，得到第一检测信号和第二检测信号；具体的，第一磁场传感器和第二磁场传感器分别检测环境中的磁场信号，得到第一检测信号和第二检测信号，并发送给控制单元9。S4：控制单元9判断第一检测信号和/或第二检测信号是否与参考信号相互匹配；具体的，控制单元9将第一检测信号和/或第二检测信号与参考信号进行比较，若第一检测信号和/或第二检测信号与参考信号相互匹配，则进行下一步处理；若第一检测信号和/或第二检测信号与参考信号不匹配，则忽略该信号。S5：控制单元9判断第一检测信号和第二检测信号所对应的编码组是否对称；具体的，基于第一检测信号和/或第二检测信号与参考信号相互匹配，控制单元9进一步判断第一检测信号和第二检测信号所对应的编码组的对称关系；若对称，则执行S6：控制单元9保存当前的参考信号；若不对称，则执行S7：控制基站11变更编码组；具体的，控制单元9控制第一通信单元发出反馈信号，第二通信单元接收到反馈信号后，基站11将当前使用的编码组变更为新的编码组。当编码组变更后，返回S2。学习模式执行结束后，自移动设备工作系统10进入工作模式。
在其中一个实施例中，自移动设备1在学习模式中最终保存的参考信号为自移动设备工作系统10在工作模式中使用的编码组，即基站11发送至边界线21的电流信号对应的编码组。在工作模式中，自移动设备1相对于边界线21的位置判断包括如下步骤：S101：信号检测单元5检测磁场信号，得到第一检测信号和第二检测信号；具体的，第一磁场传感器和第二磁场传感器分别检测环境中的磁场信号，得到第一检测信号和第二检测信号，并发送给控制单元9。S102：控制单元9判断第一检测信号和/或第二检测信号是否与参考信号相互匹配；具体的，控制单元9将第一检测信号和/或第二检测信号与参考信号进行比 较，若第一检测信号和/或第二检测信号与参考信号相互匹配，则进行下一步处理；若第一检测信号和/或第二检测信号与参考信号不匹配，则忽略该信号。S103：若第一检测信号和第二检测信号对应的编码组与参考信号相同，则控制单元9判断自移动设备1在边界线21内；若第一检测信号(或第二检测信号)对应的编码组与参考信号对称，则控制单元9判断自移动设备1安装第一磁场传感器(或第二磁场传感器)的一侧在边界线21外，需要执行后退或转向。
在其中一个实施例中，上述S2-S5步骤的顺序不作限制。如S2、S3可以同时进行，也可以先执行S3再执行S2；S4、S5可以同时进行，也可以先执行S5再执行S4。本领域技术人员可以通过上述步骤确定第一检测信号、第二检测信号、参考信号之间的关系。
在其中一个实施例中，基站11的安装位置不作限定，仅需要保证与边界线21的连接。相应的，在学习模式中，不需要保证自移动设备1与基站11对接，而必须保证第一磁场传感器和第二磁场传感器分别位于边界线21的两侧，即，若第一磁场传感器位于边界线21内，则第二磁场传感器位于边界线21外，使得能够分别检测到边界线21内外的磁场信号。本实施例中，上述学习模式执行的步骤S1为确认第一磁场传感器和第二磁场传感器分别位于边界线21的两侧。本实施例中，由于学习模式中自移动设备1与基站11不处于对接状态，第一通信单元和第二通信单元为无线通信单元，参考信号的发送和接收、反馈信号的发送和接收通过第一无线通信单元和第二无线通信单元完成。
本实施例中，基站11存储有预设的多个编码组，在学习模式中，基站11自动选择预设的多个编码组中的任意一组形成边界信号SC输出，并将选择的编码组发送至控制单元9作为参考信号。控制单元9可设定地存储有参考信号，即，控制单元9所使用的参考信号由基站11确定，若基站11变更向边界线21发送的边界信号SC对应的编码组，则控制单元9存储的参考信号随之变更。在其他实施例中，基站11根据用户的选择，使预设的多个编码组中的任意一组形成边界信号SC输出，并将选择的编码组发送至控制单元9作为参考信号。在其中一个实施例中，预设的多个编码组存储在控制单元9中，在学习模式中，控制单元9选择预设的多个编码组中的任意一组作为参考信号，并将该参考信号发送至基站11形成边界信号输出到边界线21中。
本实施例中，第一检测信号与第二检测信号对应的编码组对称表示两个编码组相应的编码都不相同，如第一检测信号对应的编码组为ABAB，参考信号 对应的编码组为BABA，则第一检测信号与第二检测信号对应的编码组对称。可以理解的是，第一检测信号与第二检测信号对应的编码组相同表示两个编码组中相应的编码都相同，如第一检测信号对应的编码组为ABAB，第二检测信号对应的编码组也为ABAB，若有任意一个编码不同，则第一检测信号与第二检测信号对应的编码组不同。
在其中一个实施例中，第一检测信号和/或第二检测信号与参考信号相互匹配具体包括第一检测信号和/或第二检测信号与参考信号所对应的编码组相同或对称。在学习模式中，以第一磁场传感器在边界线21内，第二磁场传感器在边界线21外为例。图6为本发明一实施例的自移动设备工作系统示意图，如图6所示，若临近区域内的工作系统30当前使用的编码组与基站11当前使用的编码组相同，如同为AABB，则会导致自移动设备1在某些时间段内检测到工作系统30的磁场信号，得到的第一检测信号和第二检测信号所对应的编码组是相同的，同为BBAA；在这种情况下，第一检测信号和第二检测信号所对应的编码组与参考信号的关系是对称。若工作系统30当前使用的编码组与基站11当前使用的编码组对称，如工作系统30使用的编码组为BBAA，基站11使用的编码组为AABB，同样会导致自移动设备1在某些时间段内检测到工作系统30的磁场信号，得到的第一检测信号和第二检测信号所对应的编码组是相同的，同为AABB；在这种情况下，第一检测信号和第二检测信号与参考信号所对应的编码组的关系是相同。当自移动设备1在工作过程中检测到以上两种情况的信号时，即第一检测信号和/或第二检测信号与参考信号的关系为相同或对称，且第一检测信号和第二检测信号所对应的编码组相同时，会对自移动设备1识别工作区域造成严重干扰，因此必须变更基站11使用的编码组。
在其中一个实施例中，第一检测信号与第二检测信号所对应的编码组不对称具体表示第一检测信号与第二检测信号对应的编码组相同。继续参考图6，若工作系统30所使用的编码组为AABB，则工作系统30的边界线41内的磁场信号对应的编码组为AABB，边界线41外的磁场信号对应的编码组为BBAA。由于自移动设备1相对于工作系统30的位置是在边界线41外，因此在某些时间段内，自移动设备1的第一磁场传感器和第二磁场传感器会同时检测到BBAA所对应的磁场信号。在这种情况下，自移动设备1检测并处理得到的第一检测信号和第二检测信号所对应的编码组相同，都为BBAA。
可以理解的是，在学习模式中，自移动设备1能够在某些时间段内检测到 基站11发送至边界线21的边界信号SC形成的磁场信号，得到第一检测信号和第二检测信号，并且第一检测信号和第二检测信号所对应的编码组是对称的，与参考信号的关系分别是相同和对称关系。如基站11当前使用的编码组为AABB，则边界线21内的第一检测信号所对应的编码组是AABB，边界线21外的第二检测信号所对应的编码组BBAA。
图5为本发明又一实施例的学习模式流程图，如图5所示，在其中一个实施例中，在学习模式中，S11-S15执行的步骤与S1-S5相同。区别在于，若S15的判断结果为对称，则执行S16：判断S11完成后所有步骤的执行时间是否大于预设时间T；若是，则执行S18：保存参考信号；若不是，则返回S13。在其他实施例中，S16也可以为：判断检测到第一检测信号和第二检测信号所对应的编码组对称的次数是否大于预设次数N；具体的，初始计数为0，若S15的判断结果为是，则计数加1，当计数大于预设次数N，则执行S18；若不是，则返回S13。设置预设时间T或预设次数N，是为了保证自移动设备1在学习模式中已经检测到当前环境中可能发生干扰的磁场信号。预设时间T或预设次数N可以根据自移动设备工作系统10临近区域中的工作系统数量进行设置。通过多次检测和判断，确认周围环境中没有与当前编码组匹配的磁场信号，使得自移动设备1在工作过程中不易受到干扰。
当自移动设备1满足预设条件时，自移动设备工作系统10才会进入学习模式。本实施例中，预设条件具体包括自移动设备1首次启动。自移动设备1首次启动时会进入学习模式，完成自移动设备1与基站11编码组的配对，从而避免受到临近区域的信号干扰。
在其中一个实施例中，预设条件包括第一检测信号对应的编码组和/或第二检测信号对应的编码组不满足识别条件。具体的，识别条件包括：在第一检测信号和第二检测信号与参考信号匹配的情况下，第一检测信号对应的编码组和/或第二信号对应的编码组变化不超过预设次数或预设时间。在自移动设备1的工作过程中，若工作系统10和工作系统30所用的边界信号SC对应的编码组都为AAAA，在某些时间段内第一检测信号与参考信号匹配的情况下(即第一检测信号对应的编码组为AAAA或BBBB)，若在第一时间段内第一检测信号对应的编码组为AAAA，第二时间段内第一检测信号对应的编码组为BBBB，第三时间段内第一检测信号对应的编码组为AAAA，第三时间段内第一检测信号对应的编码组为BBBB，从第一时间段到第四时间段变化次数为3次，可能 会导致自移动设备1无法识别其相对于边界线21的位置。即，当第一检测信号对应的编码组的变化次数超过预设次数或者变化时间超过预设时间，第一检测信号对应的编码组就不满足识别条件，会导致自移动设备1无法判断移动方向。因此，当自移动设备1在工作过程中无法根据第一检测信号和第二检测信号判断自移动设备1是否在工作区域内，控制单元9控制自移动设备1执行学习模式。
如图6所示，在工作过程中，若自移动设备工作系统10的附近存在至少一个工作系统30，自移动设备1会时而检测到基站11发出的信号，时而检测到工作系统30的信号。在工作系统30使用了与基站11相匹配的编码组的情况下，自移动设备1无法分辨出有效信号。具体的，若工作系统10和工作系统30所用的边界信号SC对应的编码组都为AABB，如果自移动设备1在边界线21内，则可能出现某些时间段内检测到第一检测信号和第二检测信号对应的编码组都为AABB(此时自移动设备1检测到工作系统10发出的边界信号)，另一些时间段内检测到第一检测信号和第二检测信号对应的编码组都为BBAA(此时自移动设备1检测到工作系统30发出的边界信号)，就会导致控制单元9无法判断自移动设备1在边界线21内还是在边界线21外。在这种情况下，控制单元9控制自移动设备1执行学习模式。由于自移动设备工作系统10具有学习模式，通过对磁场信号的检测和处理，不使用工作系统30的编码组，排除了工作系统30的干扰，因此在不需要用户干预的情况下，自移动设备1能够更加可靠地识别工作区域。
在其中一个实施例中，自移动设备工作系统10包括重置单元，预设条件包括重置单元被触发。该重置单元可以安装于自移动设备1上，也可以安装于基站11上，也可以是远程控制设备。当控制单元9接收到重置单元发出的重置信号，即满足预设条件，进入学习模式。具体的，当用户发现自移动设备1工作异常，或出现其他需要自移动设备1重新与基站11进行配对的情况时，可以由用户触发重置单元。当自移动设备1在基站11时，若重置单元被触发，则自移动设备工作系统10开始进入学习模式；当自移动设备1不在基站11时，若重置单元被触发，则自移动设备1启动回归模式，使得自移动设备1回到基站11。在其他实施例中，若自移动设备工作系统10自动更新了编码组，或出现其他需要自移动设备1重新与基站11进行配对的情况时，控制单元9可以自动触发所述重置单元。
在其中一个实施例中，在学习模式中需确认自移动设备1与基站11对接。若自移动设备1满足预设条件，但自移动设备1并未与基站11对接，则自移动设备1启动回归模式，控制回归基站11并完成对接。本实施例中，自移动设备1能够接收基站11发出的特定形式的无线电信号，从而基于该无线电信号引导回归。在其他实施例中，可以设置基站11与单向线连接，自移动设备1检测单向线上的信号回归基站11；可以利用卫星定位获取基站11和自移动设备1的坐标，从而引导自移动设备1回归基站11；也可以利用非接触式传感器检测自移动设备1与基站11的相对位置关系，或其他方式引导自移动设备1回归基站11，使得自移动设备工作系统10能够再次执行学习模式，根据环境信息重新完成编码组的选择和学习。
在其中一个实施例中，自移动设备1包括提醒装置，若满足了预设条件需要进入学习模式，而自移动设备1并未与基站11对接，那么控制单元9控制提醒装置发出提示信号，提醒用户干预，使得自移动设备1完成与基站11对接，才开始执行学习模式。提醒装置可以为自移动设备1本身的显示装置或与自移动设备1通信连接的移动设备等，提示信息可以包括LED灯发出的光信号或蜂鸣器发出的声音信号等，这里不再赘述。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (28)

  1. 一种自移动设备工作系统，包括边界系统和自移动设备，
    所述边界系统包括基站和边界线，所述基站向限定所述自移动设备工作区域的所述边界线发送与预设的编码组对应的边界信号，所述编码组为预设的多个编码组中的一组，所述边界信号沿所述边界线传导生成磁场信号；
    所述自移动设备包括第一检测单元和第二检测单元，用于检测所述磁场信号并生成第一检测信号和第二检测信号；
    所述自移动设备还包括控制单元，根据第一检测信号和第二检测信号识别所述工作区域；其特征在于，
    所述自移动设备工作系统具有学习模式，在所述学习模式中，所述第一检测单元和第二检测单元分别位于所述边界线两侧，所述控制单元可设定地存储有参考信号，若所述第一检测信号和/或第二检测信号与所述参考信号匹配，则判断所述第一检测信号对应的编码组和第二检测信号对应的所述编码组是否对称。
  2. 根据权利要求1所述的自移动设备工作系统，其特征在于，至少基于所述编码组不对称，所述控制单元控制所述基站变更所述编码组。
  3. 根据权利要求2所述的自移动设备工作系统，其特征在于，所述编码组不对称包括所述编码组相同。
  4. 根据权利要求1所述的自移动设备工作系统，其特征在于，至少基于所述编码组对称，所述控制单元保存所述编码组。
  5. 根据权利要求1所述的自移动设备工作系统，其特征在于，所述自移动设备包括第一通信单元，所述基站包括第二通信单元，所述第一通信单元与所述第二通信单元通信连接。
  6. 根据权利要求5所述的自移动设备工作系统，其特征在于，所述第一通信单元和/或第二通信单元包括对接端子，所述对接端子用于电连接。
  7. 根据权利要求5所述的自移动设备工作系统，其特征在于，所述第一通信单元和/或第二通信单元包括无线充电单元。
  8. 根据权利要求5所述的自移动设备工作系统，其特征在于，所述第一通信单元和/或第二通信单元包括无线通信单元，所述无线通信单元用于无线连接。
  9. 根据权利要求8所述的自移动设备工作系统，其特征在于，所述无线通信单元包括射频通信单元或射频识别单元或蓝牙通信单元或Wi-Fi通信单元。
  10. 根据权利要求5所述的自移动设备工作系统，其特征在于，至少基于所述编 码组不对称，所述控制单元控制所述第一通信单元发送反馈信号；所述第二通信单元接收所述反馈信号，所述基站基于反馈信号变更所述边界信号对应的所述编码组。
  11. 根据权利要求5所述的自移动设备工作系统，其特征在于，在所述学习模式中，所述第二通信单元发送所述参考信号，所述控制单元存储所述第一通信单元接收的所述参考信号。
  12. 根据权利要求11所述的自移动设备工作系统，其特征在于，所述参考信号包括所述边界信号对应的所述编码组。
  13. 根据权利要求11所述的自移动设备工作系统，其特征在于，所述第一检测信号和/或第二检测信号与所述参考信号匹配包括所述第一检测信号和/或所述第二检测信号对应的所述编码组与所述边界信号对应的所述编码组相同或对称。
  14. 根据权利要求1所述的自移动设备工作系统，其特征在于，若所述自移动设备工作系统满足预设条件，则进入所述学习模式。
  15. 根据权利要求14所述的自移动设备工作系统，其特征在于，所述预设条件包括所述自移动设备首次启动。
  16. 根据权利要求14所述的自移动设备工作系统，其特征在于，所述预设条件包括所述第一检测信号对应的编码组和/或所述第二检测信号对应的编码组不满足识别条件。
  17. 根据权利要求14所述的自移动设备工作系统，其特征在于，所述自移动设备工作系统还包括重置单元，所述预设条件包括所述重置单元被触发。
  18. 根据权利要求1所述的自移动设备工作系统，其特征在于，所述边界线部分设置于所述基站，使得当所述自移动设备与所述基站对接时，所述第一检测单元和第二检测单元分别位于所述边界线两侧。
  19. 根据权利要求18所述的自移动设备工作系统，其特征在于，在所述学习模式中，所述自移动设备与所述基站对接。
  20. 一种自移动设备工作系统的控制方法，所述自移动设备工作系统包括边界系统和自移动设备，所述边界系统包括基站和边界线，所述基站向限定所述自移动设备工作区域的所述边界线发送与预设的编码组对应的边界信号，所述编码组为预设的多个编码组中的一组，所述边界信号沿所述边界线传导生成磁场信号，所述自移动设备包括第一检测单元和第二检测单元，用于检测所述磁场信 号；其特征在于，
    所述自移动设备工作系统具有学习模式，在所述学习模式中，所述第一检测单元和第二检测单元位于所述边界线两侧，所述控制单元可设定地存储有参考信号；所述学习模式执行如下步骤：
    检测所述边界线两侧的所述磁场信号，并生成第一检测信号和第二检测信号；判断所述第一检测信号和/或所述第二检测信号是否与所述参考信号匹配；
    基于所述第一检测信号和/或所述第二检测信号与所述参考信号匹配，判断所述第一检测信号对应的所述编码组和所述第二检测信号对应的所述编码组是否对称。
  21. 根据权利要求20所述的控制方法，其特征在于，所述学习模式还包括：至少基于所述编码组不对称，变更所述边界信号对应的所述编码组。
  22. 根据权利要求21所述的自移动设备工作系统，其特征在于，变更所述编码组对应的边界信号包括以下步骤：控制所述自移动设备发送反馈信号；所述基站根据所述反馈信号变更所述边界信号对应的所述编码组。
  23. 根据权利要求20所述的控制方法，其特征在于，所述参考信号包括所述边界信号对应的所述编码组。
  24. 根据权利要求23所述的控制方法，其特征在于，所述判断所述第一检测信号和/或所述第二检测信号是否与所述参考信号匹配包括：判断所述第一检测信号和/或所述第二检测信号对应的所述编码组与所述边界信号对应的所述编码组是否相同或对称。
  25. 根据权利要求20所述的控制方法，其特征在于，当自移动设备工作系统满足预设条件时，进入所述学习模式。
  26. 根据权利要求25所述的控制方法，其特征在于，所述预设条件包括所述自移动设备首次启动。
  27. 根据权利要求25所述的控制方法，其特征在于，所述预设条件包括所述第一检测信号对应的编码组和/或所述第二检测信号对应的编码组不满足识别条件。
  28. 根据权利要求25所述的控制方法，其特征在于，所述自移动设备工作系统还包括重置单元，所述预设条件包括所述重置单元被触发。
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