CN104252175B - Automatic working system and its method for antinoise signal interference - Google Patents
Automatic working system and its method for antinoise signal interference Download PDFInfo
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- CN104252175B CN104252175B CN201310269207.4A CN201310269207A CN104252175B CN 104252175 B CN104252175 B CN 104252175B CN 201310269207 A CN201310269207 A CN 201310269207A CN 104252175 B CN104252175 B CN 104252175B
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Abstract
The present invention relates to a kind of method that automatic working system and its antinoise signal are disturbed, by set sideband signal have predetermined characteristic time interval and corresponding automatic running device reference characteristic time interval, compare the characteristic time interval and the characteristic time interval of reference of detection signal, determine that the detection signal is corresponding with sideband signal if the characteristic time interval of detection signal is matched with the characteristic time interval referred to, otherwise determine it is uncorrelated so that automatic working system can effectively reduce interference of other ambient signals to this automatic working system.
Description
Technical field
The present invention relates to a kind of automatic working system, the side of particularly a kind of automatic working system and its antinoise signal interference
Method.
Background technology
With the development of science and technology, intelligent automatic running device is well known, because automatic running device can
The inter-related task pre-set is performed with the program pre-set automatically, without artificial operation and intervention, therefore should in industry
With and family product on application widely.On robot of the industrial application as performed various functions, family product
Using such as hay mover, dust catcher etc., these intelligent automatic running devices dramatically saves on the time of people, to industrial production
And life staying idle at home all brings great convenience.
To ensure that above-mentioned automatic running device works in predetermined working range, generally using automatic working system to certainly
The working range of dynamic walking arrangement is controlled.Automatic working system includes being laid on the boundary line of earth's surface, is connected with boundary line
Signal generation apparatus, detecting signal unit on automatic running device and signal is handled and controls automatically walk to set
The control unit of standby walking path.When the sideband signal that signal generation apparatus is sent flows through boundary line, produced in boundary line both sides
Electromagnetic field signal in opposite direction, the electromagnetic field signal that the control unit of automatic running device is detected according to detecting signal unit
Whether walking direction automatic running device is currently located in working range.However, can in the surrounding environment of automatic running device
Can also there are other electromagnetic field signals, the sideband signal that particularly other neighbouring automatic working systems are sent, these signals can
Automatic running device can be interfered, cause automatic running device None- identified sideband signal or by mistake know other signals
Not Wei sideband signal, and then cause automatic running device can not work or go astray from the group.Can be effective it is therefore desirable to design one kind
The method for excluding automatic working system that above-mentioned various types of signal disturbed sideband signal and its antinoise signal interference.
The content of the invention
Present invention solves the technical problem that being：A kind of automatic working system that can be excluded the interference signal and its anti-letter are provided
Number interference method.
In order to solve the above technical problems, the technical scheme is that：A kind of automatic working system, including boundary module and
Automatic running device, the boundary module includes the signal generation apparatus for generating sideband signal and filled with the signal
Electric connection, the boundary line for defining automatic running device working region are put, the automatic running device is in the workspace
Worked in domain according to preset program, the signal generation apparatus has fisrt feature time interval setting unit, set border to believe
Number two characteristic points between predetermined characteristic time interval；Transmit the sideband signal in the boundary line；The automatic row
Walking equipment includes：Second feature time interval setting unit, for setting the ginseng matched with the predetermined characteristic time interval
The characteristic time interval examined；Detection unit, detects ambient signal present in the automatic running device surrounding environment and changes
For corresponding detection signal；Processing unit, receives the detection signal and calculates the characteristic time interval of the detection signal, and
Judge whether the characteristic time interval of the detection signal matches with the characteristic time interval of the reference, the place if matching
Reason unit determines that the detection signal is corresponding with sideband signal；Otherwise the processing unit determine the detection signal and sideband signal without
Close.
It is preferred that, the sideband signal is single pulse signal, and two characteristic points of the sideband signal are respectively rising edge
With trailing edge, the predetermined characteristic time interval is the predetermined pwm value of single pulse signal, between the characteristic time of the reference
It is divided into the pwm value scope of reference.
It is preferred that, the sideband signal be with close to the first pulse and the second pulse dipulse signal, it is described pre-
Fixed characteristic time interval is the predetermined time interval between the first pulse and the second pulse, between the characteristic time of the reference
It is divided into the time interval of reference corresponding with predetermined time interval.
It is preferred that, the predetermined time interval for the first pulse rising edge and the second pulse rising edge between when
Between be spaced, or the time interval between the trailing edge of the first pulse and the trailing edge of the second pulse.
It is preferred that, the fisrt feature time interval setting unit has first selector, for selecting multiple first spies
One in time interval is levied as predetermined characteristic time interval.
It is preferred that, when the automatic running device is connected with the signal generation apparatus, between the second feature time
Communicate and set automatically according to predetermined characteristic time interval with the fisrt feature time interval setting unit every setting unit
The characteristic time interval of the reference.
It is preferred that, the second feature time interval setting unit and the fisrt feature time interval setting unit are wireless
The characteristic time interval for communicating and being referred to according to predetermined characteristic time interval Auto-matching.
It is preferred that, the automatic running device takes a round along the boundary line row, records each ambient signal received
Characteristic time interval；The characteristic time interval of record is transferred to the of the signal generation apparatus by the automatic running device
One characteristic time interval setting unit, the fisrt feature time interval setting unit was set between each characteristic time of record
Every different predetermined characteristic time intervals, the second feature time interval setting unit is according to predetermined characteristic time interval
The characteristic time interval of the reference is set.
It is preferred that, the sideband signal has predetermined period, and the value of the predetermined period is prime number.
The present invention also provides a kind of method of automatic working system antinoise signal interference, and the automatic working system includes border
Module and automatic running device, the boundary module include being used for generating the signal generation apparatus of sideband signal, and with the letter
Number generating means is electrically connected with, the boundary line for defining automatic running device working region, and the automatic running device is in institute
State in working region and to be worked according to preset program, the signal generation apparatus has fisrt feature time interval setting unit, institute
Stating automatic running device has second feature time interval setting unit, the described method comprises the following steps：The fisrt feature
Time interval setting unit sets the predetermined characteristic time interval between two characteristic points of the sideband signal；The border
Line transmits the sideband signal；The second feature time interval setting unit sets the spy of the reference of the automatic running device
Levy time interval, the characteristic time interval correspondence predetermined characteristic time interval of the reference；The automatic running device
Ambient signal present in detection surrounding environment is simultaneously converted to corresponding detection signal；The automatic running device receives the inspection
Survey signal and calculate the characteristic time interval of the detection signal；Judge it is described detection signal characteristic time interval whether with institute
State the characteristic time interval matching of reference；If the characteristic time interval and the characteristic time interval of the reference of the detection signal
Matching, it is determined that the detection signal is corresponding with sideband signal, otherwise determines that detection signal is unrelated with the sideband signal.
It is preferred that, the sideband signal is single pulse signal, and two characteristic points of the sideband signal are respectively rising edge
With trailing edge, the predetermined characteristic time interval is the predetermined pwm value of single pulse signal, between the characteristic time of the reference
It is divided into the pwm value scope of reference.
It is preferred that, the sideband signal be with close to the first pulse and the second pulse dipulse signal, it is described pre-
Fixed characteristic time interval is the predetermined time interval between the first pulse and the second pulse, between the characteristic time of the reference
It is divided into the time interval of reference corresponding with predetermined time interval.
It is preferred that, the predetermined time interval for the first pulse rising edge and the second pulse rising edge between when
Between be spaced, or the time interval between the trailing edge of the first pulse and the trailing edge of the second pulse.
It is preferred that, select one in multiple fisrt feature time intervals to be used as the predetermined characteristic time interval.
It is preferred that, when the automatic running device is connected with the signal generation apparatus, between the second feature time
Communicate and set automatically according to predetermined characteristic time interval with the fisrt feature time interval setting unit every setting unit
The characteristic time interval of the reference.
It is preferred that, the second feature time interval setting unit and the fisrt feature time interval setting unit are wireless
The characteristic time interval for communicating and being referred to according to predetermined characteristic time interval Auto-matching.
It is preferred that, the automatic running device takes a round along the boundary line row, records each ambient signal received
Characteristic time interval；The characteristic time interval of record is transferred to the of the signal generation apparatus by the automatic running device
One characteristic time interval setting unit, the fisrt feature time interval setting unit was set between each characteristic time of record
Every different predetermined characteristic time intervals, the second feature time interval setting unit is according to predetermined characteristic time interval
The characteristic time interval of the reference is set.
It is preferred that, the sideband signal has predetermined period, and the value of the predetermined period is prime number.
Beneficial effects of the present invention are：By setting sideband signal to there is predetermined characteristic time interval and corresponding automatic
The characteristic time interval of the reference of walking arrangement, compares the characteristic time interval and the characteristic time interval of reference of detection signal,
The detection signal and sideband signal pair are determined if the characteristic time interval of detection signal is matched with the characteristic time interval referred to
Should, otherwise determine it is uncorrelated so that automatic working system can effectively exclude other ambient signals to this automatic working system
Interference.
Brief description of the drawings
Technical problem, technical scheme and the beneficial effect that invention described above is solved can by following
The detailed description of the preferably specific embodiment of the present invention is realized, describes and clearly obtains in combination with accompanying drawing.
Identical label and symbol in accompanying drawing and specification are used to represent identical or equivalent element.
Fig. 1 is the schematic diagram of the automatic working system of a better embodiment of the invention；
Fig. 2 is the block diagram of the signal generation apparatus in Fig. 1；
Fig. 3 is the waveform diagram for the sideband signal that signal generation apparatus is sent；
Fig. 4 is pulsewidth schematic diagram of the single pulse signal at signal generation apparatus, at boundary line and at automatic running device；
Fig. 5 is automatic running device with nearest boundary line apart from schematic diagram；
Fig. 6 is the block diagram of the automatic running device in Fig. 1；
Fig. 7 be dipulse signal in another better embodiment of the invention when not decaying, less decay when and compared with
Schematic diagram during big decay；
Fig. 8 is the schematic flow sheet of the method for automatic working system antinoise signal interference of the present invention.
The boundary module of 100 automatic working system 1
The processing unit of 2 automatic running device 9
The signal generator of 3 boundary line 61
The memory cell of 4 working region 62 first
The fisrt feature time interval setting unit of 5 non-active area 63
The second feature time interval setting unit of 6 signal generation apparatus 21
The memory cell of 7 electromagnetic field 22 second
8 detection units
Embodiment
Detailed description for the present invention and technology contents, coordinate brief description of the drawings as follows, but appended accompanying drawing only provides ginseng
Examine and illustrate, not for being any limitation as to the present invention.
Automatic working system 100 shown in Fig. 1 includes boundary module 1 and automatic running device 2.Boundary module 1 is further
Including signal generation apparatus 6 and boundary line 3.Signal generation apparatus 6 generates sideband signal, and sets two features of sideband signal
Predetermined characteristic time interval between point；Work of the boundary line 3 with signal generation apparatus 6 for planning automatic running device 2
Region in region, boundary line 3 is that the region outside working region 4, boundary line 3 is non-active area 5, and automatic running device 2 exists
Worked in working region 4 according to predetermined formula.Boundary line 3 is electrically connected with the signal generation apparatus 6, to transmit the border
Signal, and generate electromagnetic field 7.
In present embodiment, the sideband signal is pulse signal.In other embodiment, the sideband signal can also
To be loaded with the sine wave signal of pulse signal, pulse signal modulation is loaded into sine wave signal by signal generation apparatus 6；Automatically
Walking arrangement 2 is received after sideband signal, is demodulated, and obtains detection signal corresponding with pulse signal.
Automatic running device 2 includes detection unit 8 and processing unit 9.Environment letter present in the detection environment of detection unit 8
Number, particularly electromagnetic field signal, and be converted to corresponding detection signal.Processing unit 9 receives the detection signal of detection unit 8,
There is the signal of predetermined characteristic time interval in recognition detection signal.In this way, automatic working system 100 can reduce predetermined spy
Interference of the interference signal beyond time interval to the system is levied, the antijamming capability of the system is improved.Those skilled in the art
It is understood that processing unit 9 can also be arranged on the place beyond automatic running device 2, now processing unit 9 and detection
Signal can be transmitted by wired mode or wireless mode between unit 8.
Fig. 2 and Fig. 3 is refer to, there is the signal generation apparatus 6 signal generator 61 and fisrt feature time interval to set
Unit 63 is put, signal generator 61 is used to produce sideband signal, and fisrt feature time interval setting unit 63 is used to set described
The predetermined characteristic time interval of sideband signal.
In present embodiment, the sideband signal is single pulse signal, and two characteristic points of the sideband signal are respectively
Rising edge and trailing edge, fisrt feature time interval setting unit 63 set the predetermined pwm value of the sideband signal.
So that predetermined characteristic time interval is predetermined pwm value as an example, fisrt feature time interval setting unit 63 is set
The mode of predetermined characteristic time interval can be one kind in the following manner：
(1) manual set-up mode.The signal generation apparatus 6 also includes the first memory cell 62, for storing multiple the
One pwm value, such as 100 μ s, 150 μ s or 200 μ s；Fisrt feature time interval setting unit 63 has the first pulse-length discriminator (figure
Do not show), the first pulse-length discriminator is operated by user to select one in multiple first pwm values to be used as predetermined pwm value.
(2) Automatic Styles.The automatic running device 2 takes a round along the row of boundary line 3, what record was received
The pwm value of each ambient signal；When automatic running device 2 is returned and docked with signal generation apparatus 6, by docking terminal (figure
Do not show) pwm value of record is transferred to the fisrt feature time interval setting unit 63 of signal generation apparatus 6, described first is special
Levy time interval setting unit 63 and the predetermined pwm values different from each pwm value recorded, the second feature time are set
It is arranged at intervals the pwm value scope that unit 21 sets the reference according to predetermined pwm value.By setting the arteries and veins with ambient signal
The different predetermined pwm value of width values can substantially reduce the possibility of sideband signal and ambient signal pulse overlap.
Fig. 4 is refer to, because the pulsewidth of pulse signal can decay in the transmitting procedure of boundary line 3 and air so that
The pwm value that automatic running device 2 is received will be less than the predetermined pulse width value.The decay of pwm value and the length of boundary line 3
And automatic running device 2 is apart from the distance dependent of boundary line 3, i.e.,：Boundary line 3 is longer, and the decay of pwm value is bigger；Automatically walk
Equipment 2 is more remote apart from boundary line 3, and the decay of pwm value is bigger.A in Fig. 4 represents pulse signal at signal generation apparatus
Pulsewidth, such as 200 μ s；B in Fig. 4 represents pulsewidth of the pulse signal at boundary line, such as 190 μ s；C in Fig. 4 represents that pulse is believed
Pulsewidth number at automatic running device, such as 170 μ s.
As shown in figure 5, when working region 4 is determined, the length d1 of boundary line 3 is certain value；Automatic running device 2 is preferential
The nearest boundary line 3 of detecting, when automatic running device 2 is located at the center O of working region 4, the distance with nearest boundary line 3
D2 is farthest.
One pulsewidth lower limit of the pwm value that automatic running device 2 is received can be obtained according to experiment or test.
Automatic running device 2 sets the pwm value scope of a reference, and its higher limit is predetermined pwm value, and lower limit experiment is obtained
Pulsewidth lower limit.The detection signal identification of pwm value in the range of pwm value with reference is border by automatic running device 2
Signal, and confirm pwm value and be less than pulsewidth lower limit and unrelated with sideband signal higher than the detection signal of predetermined pwm value.
Refer to Fig. 6, automatic running device 2 also includes second feature time interval setting unit 21, for set or
Characteristic time interval with reference corresponding with the predetermined characteristic time interval.
By the characteristic time interval of reference for reference pwm value scope exemplified by, the second pulsewidth setting unit 21 set or
The mode of pwm value scope with reference can be one kind in the following manner：
(1) manual set-up mode.Automatic running device 2 also includes the second memory cell 22, for storing multiple second arteries and veins
Width values scope, every one second pwm value scope is corresponding with one first pwm value；Second feature time interval setting unit 21 has
Second pulse-length discriminator (not shown), the second pulse-length discriminator is operated to select one in multiple second pwm value scopes by user
It is individual.
(2) Auto-matching mode：When automatic running device 2 is docked with signal generation apparatus 6, second feature time interval
Setting unit 21 is predetermined by dock that the fisrt feature time interval setting unit 63 of terminal reception signal generation apparatus 6 sets
Pwm value, and the pwm value scope of reference is set according to predetermined pwm value.The pwm value scope of reference and predetermined pulsewidth
The matching process of value fully automated can be carried out, or operate a pulsewidth set key on automatic running device 2 (to scheme not by user
Show), to start Auto-matching process.
The second feature time interval setting unit 21 also can be with the nothing of fisrt feature time interval setting unit 63
Line communicates, such as bluetooth, WIFI, purple honeybee (Zigbee) wireless communication technology.The second feature time interval setting unit 21
The predetermined pwm value set according to fisrt feature time interval setting unit 63 corresponds to the pwm value of the setting reference automatically
Scope.In other embodiment, the second feature time interval setting unit 21 and the fisrt feature time interval are set
Unit 63 can also realize the setting of predetermined pwm value with control platform (not shown) radio communication in control platform, or
Matching between the pwm value scope of reference and predetermined pwm value.
Processing unit 9 receives after the detection signal of the detection unit 8 and calculates the pwm value of the detection signal.Specifically
Method is：Start timing during a rising edge for receiving detection signal, stop timing when receiving a trailing edge, timing
Time interval is the pwm value of the detection signal.
In order to prevent the pulse of sideband signal from may calculate pwm value with the pulse overlap of interference signal and causing inaccurate,
Multiple pulses of the detection detection signal of processing unit 9, such as 20 pulses exclude the irregular portion wherein caused by pulse overlap
Sectors is rushed, to reduce error when calculating pwm value.
As shown in figure 3, by the value of predetermined period be set to can only by 1 and the prime number itself divided exactly, such as 11ms, 13ms or
17ms, it is possible to reduce the possibility of sideband signal and other signal overlaps.The prime number that the value of predetermined period is used is bigger, border letter
It is number lower with the possibilities of other signal overlaps.By taking 19ms as an example, if being simultaneously emitted by initial pulse, in below 38ms, only week
The sideband signal generation that phase is 1ms and 19ms signal just can be 19ms with predetermined period is repeatedly overlapping, with other periodic quantities
Signal will not with the sideband signal occur repeatedly it is overlapping.In other embodiment, the pulse spacing of the sideband signal
Value uses prime number, and the pulse spacing is between the time between the trailing edge of a upper pulse and the rising edge of next pulse
Every.
Whether processing unit 9 determines whether the pwm value of the detection signal in the range of the pwm value referred to.If
It is that then the processing unit 9 determines that the detection signal is corresponding with sideband signal, automatic running device 2 is i.e. with the pulsewidth afterwards
The detection signal of value is walked in the range of defining without running out of the scope；Otherwise the processing unit 9 determine the detection signal with
Sideband signal is unrelated.
Whether the processing unit 9 judges automatic running device 2 in work according to detection signal corresponding with sideband signal
In region 4, and automatic running device 2 is controlled to be walked in working region 4.
The electromagnetic field 7 that is produced inside and outside boundary line 3 is in opposite direction, strength matching, in boundary line, with sideband signal pair
The direction for the detection signal answered must be corresponding with the direction of electromagnetic field 7 in boundary line.Processing unit 9 is believed according to reception with border
The direction of number corresponding detection signal is that can determine whether that current automatic running device 2 is located at working region 4 still in non-active area
5。
Returned for the ease of control automatic running device 2, the quantity of detection unit 8 is two, is respectively arranged at automatic row
Walk the left and right sides of equipment 2.During recurrence, the processing unit 9 controls automatic running device 2 across boundary line 3, even if derived from dynamic
The detection unit 8 of the left and right sides of walking arrangement 2 be respectively received in the opposite direction, detection signal corresponding with sideband signal.Afterwards
Processing unit 9 control automatic running device 2 according to the predetermined generating means of return signal clockwise or counterclockwise 6 at.
When only having an automatic working system in certain region, only existed in surrounding environment from this automatic job family
Electromagnetic field 7 and small part noise signal that the boundary line 3 of system 100 is produced, automatic running device 2 is by comparing the arteries and veins of detection signal
The wide pwm value scope with reference, can avoid interference of the noise signal in environment to this automatic working system.
When there is multiple adjacent automatic working systems in certain area, such as the first work system and the second work system,
The predetermined pwm value for setting the sideband signal of the first automatic working system is the first predetermined pulse width value, such as 100 μ s, sets second
The predetermined pwm value of the sideband signal of work system is the second predetermined pulse width value, such as 200 μ s.
The pwm value scope for being correspondingly arranged or matching the reference of the automatic running device of the first work system is 85 μ s-100 μ
S, the pwm value scope for setting the reference of the automatic running device of the second work system is 170 μ s-200 μ s.Above-mentioned reference
The μ s of lower limit 85 and 170 μ s of pwm value scope according to experiment and calculate learn, herein by way of example only.
The processing unit 9 of the automatic running device of first work system is received after the detection signal of the detection unit 8 simultaneously
Calculate the pwm value of the detection signal.The detection signal has some pulses, and pwm value contains 85 μ s-100 μ s, 170 μ
S-200 μ s, other pwm values of small part and part irregular pwm value caused by pulse overlap.
The exclusive segment first of processing unit 9 irregular pwm value caused by pulse overlap；Processing unit 9 is calculated again
85 μ s-100 μ s, 170 μ s-200 μ s and small part other pwm values；Whether processing unit 9 judges these pwm values in reference
The μ s-100 μ s of pwm value scope 85 in, so that it is determined that the detection signal is corresponding with sideband signal, the detection signal of other pulsewidths
It is unrelated with sideband signal.
Similarly, the μ s-200 μ s of pulsewidth 170 detection signal is defined as and the by the automatic running device of the second work system
The sideband signal correspondence of two work systems.
In this way, the automatic running device of different automatic working systems recognizes respective border respectively by different pwm values
Signal, so as to avoid interfering.
In another better embodiment of automatic working system 100 of the present invention, also have in the second memory cell 22 with
The corresponding reference cycle value of predetermined period value of sideband signal, processing unit 9 also calculates inspection after calculating the pwm value of detection signal
The periodic quantity of signal is surveyed, and compares the periodic quantity and reference cycle value of detection signal.If detecting the pwm value and periodic quantity of signal
Matched respectively with the pwm value scope and reference cycle value of reference, then the processing unit 9 determines that the detection signal is believed with border
Number correspondence；If detecting that the pwm value of signal is worth with the pwm value scope mismatch of reference or periodic quantity with the reference cycle to mismatch,
Then the processing unit 9 determines that the detection signal is unrelated with sideband signal.In other embodiment, above-mentioned periodic quantity can also use arteries and veins
Punching interval is replaced.
Refer in Fig. 7, other embodiment, the sideband signal be dipulse signal, with close to the first pulse
And second pulse dipulse signal.
Fisrt feature time interval setting unit 63 sets the predetermined time interval between the first pulse and the second pulse.
When two characteristic points of sideband signal be respectively the first pulse rising edge and the second pulse rising edge when, when described predetermined
Between at intervals of the time interval between the rising edge of the first pulse and the rising edge of the second pulse；When two features of sideband signal
When the point respectively trailing edge of the first pulse and the trailing edge of the second pulse, predetermined time interval is the trailing edge of the first pulse
Time interval between the trailing edge of the second pulse.
Second feature time interval setting unit 21 was set between the time of reference corresponding with the predetermined time interval
Every.
T1 in Fig. 7 represents time interval of the dipulse signal when not decaying between the first pulse and the second pulse；t2
Time interval of the dipulse signal in less decay between the first pulse and the second pulse is represented, such as in shorter boundary line
At 3, or apart from boundary line 3 more nearby；T3 represent dipulse signal in larger decay the first pulse and the second pulse it
Between time interval, such as at longer boundary line 3, apart from boundary line 3 remotely, or even in boundary line 3 it is longer in the case of
Apart from boundary line 3 remotely.
Even if it can be seen that the pulsewidth for the dipulse signal that automatic running device 2 is received changes, automatically
Time interval t2 or t3 between the first pulse and the second pulse that walking arrangement 2 is received can't change, by detecing
The time interval surveyed between the first pulse and the second pulse of dipulse signal can be accurately identified sideband signal.
In the present invention, automatic running device 2 can be the diversified forms such as hay mover, dust catcher, industrial robot.From
When dynamic walking arrangement 2 is hay mover, cutting mechanism is still further comprised, cutting mechanism includes cutting motor and cutting blade, cut
When being worked in the working region 4 that careless machine is planned in boundary line 3, cutting motor driving cutting blade rotation, cutting lawns.
The present invention also provides a kind of method of automatic working system antinoise signal interference, and the automatic working system includes border
Module 1 and automatic running device 2, the boundary module 1 include being used for generating the signal generation apparatus 6 of sideband signal, and with institute
State signal generation apparatus 6 be electrically connected with, the boundary line 3 of working region 4 for defining automatic running device 2.The automatic row
Equipment 2 is walked to work according to preset program in the working region 4.
Fig. 8 is refer to, be the described method comprises the following steps：
Step S1：The predetermined characteristic time of the sideband signal is set by fisrt feature time interval setting unit 63
Interval.
Step S2：Transmit the sideband signal in the boundary line 3.
Step S3：The spy of the reference of the automatic running device 2 is set by second feature time interval setting unit 21
Levy time interval, the characteristic time interval correspondence predetermined characteristic time interval of the reference.
Step S4：Ambient signal present in the detection surrounding environment of automatic running device 2 is simultaneously converted to corresponding detection letter
Number.
Step S5：The automatic running device 2 receives the detection signal and calculates the characteristic time of the detection signal
Interval.
Step S6：Judge it is described detection signal characteristic time interval whether the characteristic time interval with the reference
Match somebody with somebody.It is then to enter step S7, otherwise into step S8.
Step S7：If the characteristic time interval of the detection signal is matched with the characteristic time interval of the reference, really
The fixed detection signal is corresponding with sideband signal.
Step S8：If characteristic time interval of the characteristic time interval of the detection signal not with the reference is matched,
It is determined that detection signal is unrelated with the sideband signal.
In above-mentioned steps S1, one in multiple fisrt feature time intervals is selected to be used as the predetermined characteristic time
Interval.
In another better embodiment, above-mentioned steps S1 can also be：The automatic running device 2 is along the boundary line
3 rows take a round, and record the characteristic time interval of each ambient signal received；The automatic running device 2 is by the spy of record
The fisrt feature time interval setting unit 63 that time interval is transferred to the signal generation apparatus 6 is levied, during the fisrt feature
Between be arranged at intervals unit 63 different predetermined characteristic time intervals of each characteristic time interval with record, described second be set
Characteristic time interval setting unit 21 sets the characteristic time interval of the reference according to predetermined characteristic time interval.
In another better embodiment, above-mentioned steps S3 can be：When the automatic running device 2 and the signal are sent out
When generating apparatus 6 is connected, the second feature time interval setting unit 21 and the fisrt feature time interval setting unit 63
Communicate and set automatically according to predetermined characteristic time interval the characteristic time interval of the reference.
In another better embodiment, above-mentioned steps S3 can be：The second feature time interval setting unit 21
With the radio communication of fisrt feature time interval setting unit 63 and according to predetermined characteristic time interval Auto-matching
The characteristic time interval of reference.
The sideband signal has predetermined period, and the value of the predetermined period is prime number, and such as 11ms, 13ms or 17ms are used
In the reduction sideband signal pulse possibility overlapping with interference signal pulse.
The method of automatic working system and its antinoise signal interference of the present invention is by setting sideband signal to have predetermined feature
Time interval, the corresponding automatic running device of setting have the characteristic time interval of reference, compare the characteristic time of detection signal
Interval and the characteristic time interval of reference, it is true if the characteristic time interval of detection signal is matched with the characteristic time interval referred to
The fixed detection signal is corresponding with sideband signal, otherwise determine it is uncorrelated so that automatic working system can effectively exclude other
Interference of the ambient signal to this automatic working system.
The present invention is not limited to lifted specific embodiment structure and method, and structure and method based on present inventive concept are equal
Belong to the scope of the present invention.
Claims (18)
1. a kind of automatic working system, including boundary module and automatic running device, it is characterised in that the boundary module includes
Signal generation apparatus for generating sideband signal, and be electrically connected with, with the signal generation apparatus for defining automatically walk
The boundary line of equipment working region, the automatic running device works in the working region according to preset program, wherein：
The signal generation apparatus has fisrt feature time interval setting unit, between two characteristic points for setting sideband signal
Predetermined characteristic time interval；
Transmit the sideband signal in the boundary line；
The automatic running device includes：
Second feature time interval setting unit, the feature for setting the reference matched with the predetermined characteristic time interval
Time interval；
Detection unit, detects ambient signal present in the automatic running device surrounding environment and is converted to corresponding detection letter
Number；
Processing unit, receives the detection signal and calculates the characteristic time interval of the detection signal, and judge the detection
Whether the characteristic time interval of signal matches with the characteristic time interval of the reference, and the processing unit determines to be somebody's turn to do if matching
Detect that signal is corresponding with sideband signal；Otherwise the processing unit determines that the detection signal is unrelated with sideband signal.
2. automatic working system according to claim 1, it is characterised in that：The sideband signal is single pulse signal, institute
Two characteristic points for stating sideband signal are respectively rising edge and trailing edge, and the predetermined characteristic time interval is single pulse signal
Predetermined pwm value, the characteristic time interval of the reference is the pwm value scope of reference.
3. automatic working system according to claim 1, it is characterised in that：The sideband signal be with close to first
Pulse and the dipulse signal of the second pulse, the predetermined characteristic time interval are pre- between the first pulse and the second pulse
Fixed time interval, the characteristic time interval of the reference is the time interval of reference corresponding with predetermined time interval.
4. automatic working system according to claim 3, it is characterised in that：The predetermined time interval is the first pulse
Rising edge and the second pulse rising edge between time interval, or the first pulse trailing edge and the decline of the second pulse
Time interval between.
5. automatic working system according to claim 1, it is characterised in that：The fisrt feature time interval setting unit
With first selector, for selecting one in multiple very first time intervals as predetermined characteristic time interval.
6. automatic working system according to claim 1, it is characterised in that：When the automatic running device and the signal
When generating means is connected, the second feature time interval setting unit communicates with the fisrt feature time interval setting unit
And the characteristic time interval of the reference is set automatically according to predetermined characteristic time interval.
7. automatic working system according to claim 1, it is characterised in that：The second feature time interval setting unit
Join with the fisrt feature time interval setting unit radio communication and according to predetermined characteristic time interval Auto-matching
The characteristic time interval examined.
8. automatic working system according to claim 1, it is characterised in that：The automatic running device is along the boundary line
Row takes a round, and records the characteristic time interval of each ambient signal received；The automatic running device is by the feature of record
Time interval is transferred to the fisrt feature time interval setting unit of the signal generation apparatus, the fisrt feature time interval
Setting unit sets the predetermined characteristic time intervals different from each characteristic time interval recorded, the second feature time
It is arranged at intervals the characteristic time interval that unit sets the reference according to predetermined characteristic time interval.
9. automatic working system according to claim 1, it is characterised in that：The sideband signal has predetermined period, institute
The value for stating predetermined period is prime number.
10. a kind of method of automatic working system antinoise signal interference, the automatic working system includes boundary module and automatic row
Equipment is walked, the boundary module includes the signal generation apparatus for being used to generate sideband signal, and electric with the signal generation apparatus
Property connection, the boundary line for defining automatic running device working region, the automatic running device is in the working region
Worked according to preset program, it is characterised in that the signal generation apparatus has fisrt feature time interval setting unit, described
Automatic running device has second feature time interval setting unit, the described method comprises the following steps：
The fisrt feature time interval setting unit sets the predetermined feature between two characteristic points of the sideband signal
Time interval；
Transmit the sideband signal in the boundary line；
The second feature time interval setting unit sets the characteristic time interval of the reference of the automatic running device, described
The characteristic time interval correspondence predetermined characteristic time interval of reference；
Ambient signal present in the automatic running device detection surrounding environment is simultaneously converted to corresponding detection signal；
The automatic running device receives the detection signal and calculates the characteristic time interval of the detection signal；
Judge whether the characteristic time interval of the detection signal matches with the characteristic time interval of the reference；
If the characteristic time interval of the detection signal is matched with the characteristic time interval of the reference, it is determined that the detection letter
It is number corresponding with sideband signal, otherwise determine that detection signal is unrelated with the sideband signal.
11. method according to claim 10, it is characterised in that：The sideband signal is single pulse signal, the border
Two characteristic points of signal are respectively rising edge and trailing edge, and the predetermined characteristic time interval is that single pulse signal is predetermined
Pwm value, the characteristic time interval of the reference is the pwm value scope of reference.
12. method according to claim 10, it is characterised in that：The sideband signal be with close to the first pulse and
The dipulse signal of second pulse, when the predetermined characteristic time interval is predetermined between the first pulse and the second pulse
Between be spaced, the characteristic time interval of the reference is the time interval of reference corresponding with predetermined time interval.
13. method according to claim 12, it is characterised in that：The predetermined time interval is the rising of the first pulse
Along the time interval between the rising edge of the second pulse, or between the trailing edge of the first pulse and the trailing edge of the second pulse
Time interval.
14. method according to claim 10, it is characterised in that：One in multiple fisrt feature time intervals is selected to make
For the predetermined characteristic time interval.
15. method according to claim 10, it is characterised in that：When the automatic running device is filled with the signal
When putting connection, the second feature time interval setting unit communicates and basis with the fisrt feature time interval setting unit
Predetermined characteristic time interval sets the characteristic time interval of the reference automatically.
16. method according to claim 10, it is characterised in that：The second feature time interval setting unit with it is described
Fisrt feature time interval setting unit radio communication and the spy referred to according to predetermined characteristic time interval Auto-matching
Levy time interval.
17. method according to claim 10, it is characterised in that：The automatic running device along the boundary line walk one
Circle, records the characteristic time interval of each ambient signal received；The automatic running device is by between the characteristic time of record
Every the fisrt feature time interval setting unit for being transferred to the signal generation apparatus, the fisrt feature time interval sets single
Member sets the predetermined characteristic time intervals different from each characteristic time interval recorded, and the second feature time interval is set
Put the characteristic time interval that unit sets the reference according to predetermined characteristic time interval.
18. method according to claim 10, it is characterised in that：The sideband signal has predetermined period, described predetermined
The value in cycle is prime number.
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| US11003192B2 (en) | 2015-11-10 | 2021-05-11 | Positec Power Tools (Suzhou) Co., Ltd. | Automatic working system and control method thereof and automatic moving device |
| CN105334859A (en) * | 2015-11-28 | 2016-02-17 | 宁波市德霖机械有限公司 | Self-walking equipment system |
| CN111352429A (en) * | 2016-04-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN107589739A (en) * | 2016-07-07 | 2018-01-16 | 苏州宝时得电动工具有限公司 | A kind of control system of self-propelling device, self-propelling device system and manufacture method |
| CN107957263B (en) * | 2016-10-14 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Boundary line signal detection method and device and automatic walking equipment |
| CN107957262B (en) * | 2016-10-14 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Boundary line signal detection method and device and automatic walking equipment |
| CN107728217A (en) * | 2017-09-09 | 2018-02-23 | 浙江亚特电器有限公司 | Detect circuit and method in zone boundary for intelligent grass-removing |
| CN108548945B (en) * | 2018-03-29 | 2020-08-14 | 江苏瑞恩电气股份有限公司 | Anti-interference testing device for high-voltage line |
| CN113805574B (en) * | 2020-06-01 | 2023-08-18 | 上海山科机器人有限公司 | Method for identifying boundary signal and autonomous working equipment |
| CN113852364A (en) * | 2020-06-28 | 2021-12-28 | 莱克电气绿能科技(苏州)有限公司 | Boundary signal generation and detection method, boundary signal generation system and mowing robot |
| CN115202348A (en) * | 2022-07-13 | 2022-10-18 | 北京顺造科技有限公司 | Control method, device and equipment of automatic walking equipment and storage medium |
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| SE510524C2 (en) * | 1997-09-19 | 1999-05-31 | Electrolux Ab | Electronic demarcation system |
| KR20010064133A (en) * | 1999-12-24 | 2001-07-09 | 박종섭 | Method for driving plasma display panel |
| JP2005210654A (en) * | 2004-01-19 | 2005-08-04 | Masatoshi Nakajima | Lan communication system for equipment control |
| US8046103B2 (en) * | 2006-09-29 | 2011-10-25 | F Robotics Acquisitions Ltd. | System and method for determining the location of a machine |
| DE102010037100A1 (en) * | 2010-08-23 | 2012-02-23 | Vorwerk & Co. Interholding Gmbh | Automatically movable device |
| CN102475015B (en) * | 2010-11-30 | 2014-11-26 | 苏州宝时得电动工具有限公司 | Automatic running device |
| EP3876068B1 (en) * | 2011-04-28 | 2024-10-09 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system, automatic walking device and steering method thereof |
| CN102889850A (en) * | 2011-07-18 | 2013-01-23 | 上海热流环境科技有限公司 | Boundary identification method for mowing robot |
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