CN104252175A - Automatic working system and single interference resisting method thereof - Google Patents
Automatic working system and single interference resisting method thereof Download PDFInfo
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- CN104252175A CN104252175A CN201310269207.4A CN201310269207A CN104252175A CN 104252175 A CN104252175 A CN 104252175A CN 201310269207 A CN201310269207 A CN 201310269207A CN 104252175 A CN104252175 A CN 104252175A
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Abstract
The invention relates to an automatic working system and a single interference resisting method thereof. The method includes setting a predetermined characteristic time interval for a boundary signal and a reference characteristic time interval of corresponding automatic walking equipment, comparing a characteristic time interval of a detection signal with the reference characteristic time interval, if the characteristic time interval of the detection signal and the reference characteristic time interval are matched, determining that the detection signal is corresponding to the boundary signal, and determining that the detection signal is uncorrelated to the boundary signal otherwise. Therefore, by the automatic working system, interference on the automatic working system due to other environmental signals can be reduced effectively.
Description
Technical field
The present invention relates to a kind of automatic working system, a kind of method of particularly automatic working system and antinoise signal interference thereof.
Background technology
Along with the development of science and technology, the automatic running device of intelligence is well known, the program that can automatically pre-set due to automatic running device performs the inter-related task pre-set, operation that need not be artificial and intervention, and the application therefore in commercial Application and family product widely.Industrial application is as performed the robot of various function, and the application on family product is as mower, suction cleaner etc., and the automatic running device of these intelligence dramatically saves on the time of people, all brings great convenience to commercial production and life staying idle at home.
For ensureing that above-mentioned automatic running device works in predetermined working range, the working range of automatic working system to automatic running device is usually adopted to control.Automatic working system comprises the boundary line being laid on earth's surface, the signal generation apparatus be connected with boundary line, the detecting signal unit on automatic running device and process signal and control the control module of automatic running device walking path.When the sideband signal that signal generation apparatus sends flows through boundary line, at the electromagnetic field signal that generation direction, both sides, boundary line is contrary, whether the walking direction automatic running device of the electromagnetic field signal that the control module of automatic running device detects according to detecting signal unit is current is positioned at working range.But, may also there is other electromagnetic field signals in the surrounding environment of automatic running device, the sideband signal that other automatic working systems particularly send, these signals may cause interference to automatic running device, causing automatic running device None-identified sideband signal or missing other Signal analysis is sideband signal, and then causes automatic running device to work or to go astray from the group.Therefore be necessary to design a kind of method effectively can getting rid of automatic working system that above-mentioned various types of signal disturbs sideband signal and antinoise signal interference thereof.
Summary of the invention
The technical matters that the present invention solves is: a kind of method providing automatic working system that can exclude the interference signal and antinoise signal interference thereof.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of automatic working system, comprise boundary module and automatic running device, described boundary module comprises the signal generation apparatus for generating sideband signal and is electrically connected with described signal generation apparatus, for defining the boundary line of automatic running device perform region, described automatic running device in described perform region according to preset program work, described signal generation apparatus has fisrt feature time interval setting unit, the predetermined characteristic time interval between two unique points arranging sideband signal; Described sideband signal is transmitted in described boundary line; Described automatic running device comprises: second feature time interval setting unit, for arranging the characteristic time interval of the reference of mating with described predetermined characteristic time interval; Detecting unit, detects the ambient signal that exists in described automatic running device surrounding environment and is converted to corresponding detection signal; Processing unit, receive described detection signal and calculate the characteristic time interval of described detection signal, and judge whether the characteristic time interval of described detection signal mates with the characteristic time interval of described reference, if coupling, described processing unit determines that this detection signal is corresponding with sideband signal; Otherwise described processing unit determines that this detection signal and sideband signal have nothing to do.
Preferably, described sideband signal is single pulse signal, two unique points of described sideband signal are respectively rising edge and negative edge, and described predetermined characteristic time interval is the predetermined pwm value of single pulse signal, and the characteristic time interval of described reference is the pwm value scope of reference.
Preferably, described sideband signal is have first pulse of next-door neighbour and the dipulse signal of the second pulse, described predetermined characteristic time interval is the predetermined time interval between the first pulse and the second pulse, and the characteristic time interval of described reference is the time interval of the reference corresponding with predetermined time interval.
Preferably, described predetermined time interval is the time interval between the rising edge of the first pulse and the rising edge of the second pulse, or the time interval between the negative edge of the negative edge of the first pulse and the second pulse.
Preferably, described fisrt feature time interval setting unit has first selector, for selecting in multiple fisrt feature time interval one as predetermined characteristic time interval.
Preferably, when described automatic running device is connected with described signal generation apparatus, described second feature time interval setting unit communicates and the characteristic time interval of reference according to predetermined characteristic time interval Lookup protocol with described fisrt feature time interval setting unit.
Preferably, described second feature time interval setting unit and described fisrt feature time interval setting unit radio communication the characteristic time interval of reference according to predetermined characteristic time interval Auto-matching.
Preferably, described automatic running device takes a round along described boundary line row, records the characteristic time interval of each ambient signal received; The characteristic time interval of record is transferred to the fisrt feature time interval setting unit of described signal generation apparatus by described automatic running device, described fisrt feature time interval setting unit arranges the predetermined characteristic time interval different from each characteristic time interval of record, and described second feature time interval setting unit arranges the characteristic time interval of described reference according to predetermined characteristic time interval.
Preferably, described sideband signal has predetermined period, and the value of described predetermined period is prime number.
A kind of method that the present invention also provides automatic working system antinoise signal to disturb, described automatic working system comprises boundary module and automatic running device, described boundary module comprises the signal generation apparatus for generating sideband signal, and be electrically connected with described signal generation apparatus, for defining the boundary line of automatic running device perform region, described automatic running device in described perform region according to preset program work, described signal generation apparatus has fisrt feature time interval setting unit, described automatic running device has second feature time interval setting unit, said method comprising the steps of: described fisrt feature time interval setting unit arranges the predetermined characteristic time interval between two unique points of described sideband signal, described sideband signal is transmitted in described boundary line, described second feature time interval setting unit arranges the characteristic time interval of the reference of described automatic running device, the corresponding described predetermined characteristic time interval of characteristic time interval of described reference, the ambient signal existed in described automatic running device detection surrounding environment is also converted to corresponding detection signal, described automatic running device receives described detection signal and calculates the characteristic time interval of described detection signal, judge whether the characteristic time interval of described detection signal mates with the characteristic time interval of described reference, if the characteristic time interval of described detection signal mates with the characteristic time interval of described reference, then determine that described detection signal is corresponding with sideband signal, otherwise determine that detection signal and described sideband signal have nothing to do.
Preferably, described sideband signal is single pulse signal, two unique points of described sideband signal are respectively rising edge and negative edge, and described predetermined characteristic time interval is the predetermined pwm value of single pulse signal, and the characteristic time interval of described reference is the pwm value scope of reference.
Preferably, described sideband signal is have first pulse of next-door neighbour and the dipulse signal of the second pulse, described predetermined characteristic time interval is the predetermined time interval between the first pulse and the second pulse, and the characteristic time interval of described reference is the time interval of the reference corresponding with predetermined time interval.
Preferably, described predetermined time interval is the time interval between the rising edge of the first pulse and the rising edge of the second pulse, or the time interval between the negative edge of the negative edge of the first pulse and the second pulse.
Preferably, one in multiple fisrt feature time interval is selected as described predetermined characteristic time interval.
Preferably, when described automatic running device is connected with described signal generation apparatus, described second feature time interval setting unit communicates and the characteristic time interval of reference according to predetermined characteristic time interval Lookup protocol with described fisrt feature time interval setting unit.
Preferably, described second feature time interval setting unit and described fisrt feature time interval setting unit radio communication the characteristic time interval of reference according to predetermined characteristic time interval Auto-matching.
Preferably, described automatic running device takes a round along described boundary line row, records the characteristic time interval of each ambient signal received; The characteristic time interval of record is transferred to the fisrt feature time interval setting unit of described signal generation apparatus by described automatic running device, described fisrt feature time interval setting unit arranges the predetermined characteristic time interval different from each characteristic time interval of record, and described second feature time interval setting unit arranges the characteristic time interval of described reference according to predetermined characteristic time interval.
Preferably, described sideband signal has predetermined period, and the value of described predetermined period is prime number.
Beneficial effect of the present invention is: the characteristic time interval by arranging sideband signal with the reference of the automatic running device of predetermined characteristic time interval and correspondence, the relatively characteristic time interval of detection signal and the characteristic time interval of reference, if the characteristic time interval of detection signal mates with the characteristic time interval of reference, determine that this detection signal is corresponding with sideband signal, otherwise determine uncorrelated, so make automatic working system effectively can get rid of the interference of other ambient signals to this automatic working system.
Accompanying drawing explanation
The technical matters that above-described the present invention solves, technical scheme and beneficial effect by the detailed description that can realize preferably specific embodiment of the present invention below, can describe and clearly obtain simultaneously by reference to the accompanying drawings.
Identical label in accompanying drawing and instructions and symbol are for representing identical or equivalent element.
Fig. 1 is the schematic diagram of the automatic working system of the present invention one better embodiment;
Fig. 2 is the block diagram of the signal generation apparatus in Fig. 1;
Fig. 3 is the waveform schematic diagram of the sideband signal that signal generation apparatus sends;
Fig. 4 be single pulse signal at signal generation apparatus place, the pulsewidth schematic diagram at boundary line place and automatic running device place;
Fig. 5 is the distance schematic diagram of automatic running device and nearest boundary line;
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 present invention when not decaying, less decay time and larger decay time schematic diagram;
Fig. 8 is the schematic flow sheet of the method for automatic working system antinoise signal of the present invention interference.
100 automatic working system 1 boundary module
2 automatic running device 9 processing units
3 boundary line 61 signal generators
4 perform region 62 first storage unit
5 non-active area 63 fisrt feature time interval setting units
6 signal generation apparatus 21 second feature time interval setting units
7 electromagnetic field 22 second storage unit
8 detecting units
Embodiment
Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, but appended accompanying drawing only provides reference and explanation, is not used for being limited the present invention.
Automatic working system 100 shown in Fig. 1 comprises boundary module 1 and automatic running device 2.Boundary module 1 comprises signal generation apparatus 6 and boundary line 3 further.Signal generation apparatus 6 generates sideband signal, and the predetermined characteristic time interval between two unique points that sideband signal is set; Boundary line 3 and signal generation apparatus 6 are for planning the perform region of automatic running device 2, and the region in boundary line 3 is perform region 4, and the region outside boundary line 3 is non-active area 5, and automatic running device 2 works according to predetermined formula in perform region 4.Boundary line 3 and described signal generation apparatus 6 are electrically connected, and to transmit described sideband signal, and generate electromagnetic field 7.
In present embodiment, described sideband signal is pulse signal.In other embodiments, described sideband signal also can for being loaded with the sine wave signal of pulse signal, and pulse signal modulation is loaded into sine wave signal by signal generation apparatus 6; After automatic running device 2 receives sideband signal, carried out demodulation, obtained the detection signal corresponding with pulse signal.
Automatic running device 2 comprises detecting unit 8 and processing unit 9.The ambient signal, particularly electromagnetic field signal that exist in detecting unit 8 testing environment, and be converted to corresponding detection signal.Processing unit 9 receives the detection signal of detecting unit 8, has the signal of predetermined characteristic time interval in recognition detection signal.So, automatic working system 100 can reduce the predetermined characteristic time interval beyond undesired signal to the interference of native system, improve the antijamming capability of native system.It will be appreciated by persons skilled in the art that processing unit 9 also can be arranged on the place beyond automatic running device 2, now between processing unit 9 and detecting unit 8 by wired mode or wireless mode transmission of signal.
Please refer to Fig. 2 and Fig. 3, described signal generation apparatus 6 has signal generator 61 and fisrt feature time interval setting unit 63, signal generator 61 is for generation of sideband signal, and fisrt feature time interval setting unit 63 is for arranging the predetermined characteristic time interval of described sideband signal.
In present embodiment, described sideband signal is single pulse signal, and two unique points of described sideband signal are respectively rising edge and negative edge, and fisrt feature time interval setting unit 63 arranges the predetermined pwm value of described sideband signal.
For the pwm value that predetermined characteristic time interval is predetermined, fisrt feature time interval setting unit 63 arranges the mode of predetermined characteristic time interval can for the one in following mode:
(1) manual set-up mode.Described signal generation apparatus 6 also comprises the first storage unit 62, for storing multiple first pwm value, as 100 μ s, 150 μ s or 200 μ s; Fisrt feature time interval setting unit 63 has the first pulse-length discriminator (not shown), the first pulse-length discriminator by user operation to select in multiple first pwm value one as predetermined pwm value.
(2) Automatic Styles.Described automatic running device 2 takes a round along described boundary line 3 row, records the pwm value of each ambient signal received; When automatic running device 2 returns and docks with signal generation apparatus 6, by docking terminal (not shown), the pwm value of record is transferred to the fisrt feature time interval setting unit 63 of signal generation apparatus 6, described fisrt feature time interval setting unit 63 arranges the predetermined pwm value different from each pwm value of record, and described second feature time interval setting unit 21 arranges the pwm value scope of described reference according to predetermined pwm value.The possibility of sideband signal and ambient signal pulse overlap greatly can be reduced by arranging the predetermined pwm value different from the pwm value of ambient signal.
Please refer to Fig. 4, because the pulsewidth of pulse signal can decay in the transmitting procedure of boundary line 3 and air, the pwm value that automatic running device 2 is received will lower than described predetermined pulse width value.The decay of pwm value and the length of boundary line 3 and automatic running device 2 are apart from the distance dependent of boundary line 3, that is: boundary line 3 is longer, and the decay of pwm value is larger; Automatic running device 2 is far away apart from boundary line 3, and the decay of pwm value is larger.The pulsewidth of a indicating impulse signal at signal generation apparatus place in Fig. 4, as 200 μ s; The pulsewidth of b indicating impulse signal at boundary line place in Fig. 4, as 190 μ s; The pulsewidth of c indicating impulse signal at automatic running device place in Fig. 4, as 170 μ s.
As shown in Figure 5, when perform region 4 is determined, the length d1 of boundary line 3 is certain value; Automatic running device 2 boundary line 3 that preferentially detecting is nearest, when automatic running device 2 is positioned at the center O of perform region 4, with the distance d2 of nearest boundary line 3 farthest.
Experimentally or test can obtain a pulsewidth lower limit of the pwm value that automatic running device 2 receives.Set the pwm value scope of a reference at automatic running device 2, its higher limit is predetermined pwm value, and lower limit is test the pulsewidth lower limit obtained.The detection signal of the pwm value had within the scope of the pwm value of reference is identified as sideband signal by automatic running device 2, and confirms that pwm value has nothing to do lower than pulsewidth lower limit and higher than the detection signal of predetermined pwm value and sideband signal.
Please refer to Fig. 6, automatic running device 2 also comprises second feature time interval setting unit 21, for arranging or mate the characteristic time interval of the reference corresponding with described predetermined characteristic time interval.
The pwm value scope being reference for the characteristic time interval of reference, the mode of the pwm value scope that the second pulsewidth setting unit 21 arranges or mates reference can for the one in following mode:
(1) manual set-up mode.Automatic running device 2 also comprises the second storage unit 22, and for storing multiple second pwm value scope, each second pwm value scope is corresponding with one first pwm value; Second feature time interval setting unit 21 has the second pulse-length discriminator (not shown), the second pulse-length discriminator by user operation to select in multiple second pwm value scope.
(2) Auto-matching mode: when automatic running device 2 docks with signal generation apparatus 6, the predetermined pwm value that second feature time interval setting unit 21 is arranged by the fisrt feature time interval setting unit 63 of docking terminal Received signal strength generating means 6, and the pwm value scope of reference is set according to predetermined pwm value.The pwm value scope of reference and the matching process of predetermined pwm value can carry out completely automatically, or arrange key (not shown) by the pulsewidth of on user operation automatic running device 2, to start Auto-matching process.
Described second feature time interval setting unit 21 also can with described fisrt feature time interval setting unit 63 radio communication, as wireless communication technologys such as bluetooth, WIFI, purple honeybees (Zigbee).The predetermined pwm value corresponding pwm value scope setting described reference automatically that described second feature time interval setting unit 21 is arranged according to fisrt feature time interval setting unit 63.In other embodiments, described second feature time interval setting unit 21 and described fisrt feature time interval setting unit 63 also can with parametric controller (not shown) radio communication, the setting of predetermined pwm value is realized in parametric controller, or mating between the pwm value scope of reference and predetermined pwm value.
The pwm value of described detection signal is calculated after processing unit 9 receives the detection signal of described detecting unit 8.Concrete grammar is: start timing when receiving a rising edge of detection signal, and stop timing when receiving a negative edge, the time interval of timing is the pwm value of described detection signal.
Inaccurate in order to prevent the pulse of sideband signal from may cause calculating pwm value with the pulse overlap of undesired signal, processing unit 9 detects multiple pulses of detection signal, as 20 pulses, get rid of wherein because of the irregular partial pulse that pulse overlap causes, to reduce error when calculating pwm value.
As shown in Figure 3, the value of predetermined period is set to by 1 and the prime number of itself dividing exactly, as 11ms, 13ms or 17ms, can only to reduce the possibility of sideband signal and other signal overlaps.The prime number that the value of predetermined period adopts is larger, and the possibility of sideband signal and other signal overlaps is lower.For 19ms, if send initial pulse simultaneously, at below 38ms, only have the cycle be 1ms and 19ms signal just can and predetermined period be 19ms sideband signal occurs repeatedly overlapping, the signal with other periodic quantities all can not occur repeatedly overlapping with this sideband signal.In other embodiments, the value in the recurrent interval of described sideband signal adopts prime number, and the described recurrent interval is the time interval between the negative edge of a upper pulse and the rising edge of next pulse.
Processing unit 9 judges whether the pwm value of described detection signal is within the scope of the pwm value of reference further.If then described processing unit 9 determines that this detection signal is corresponding with sideband signal, namely automatic running device 2 walks and does not run out of this scope in the scope that the detection signal with this pwm value defines afterwards; Otherwise described processing unit 9 determines that this detection signal and sideband signal have nothing to do.
Described processing unit 9 judges automatic running device 2 whether in perform region 4 according to the detection signal corresponding with sideband signal, and controls automatic running device 2 and walk in perform region 4.
Electromagnetic field 7 direction that inside and outside boundary line 3, both sides produce is contrary, strength matching, and in boundary line, the direction of corresponding with sideband signal detection signal must be corresponding with electromagnetic field 7 direction in boundary line.According to the direction of the detection signal corresponding with sideband signal received, processing unit 9 can judge that current automatic running device 2 is positioned at perform region 4 still in non-active area 5.
Return for the ease of controlling automatic running device 2, the quantity of detecting unit 8 is two, is arranged at the left and right sides of automatic running device 2 respectively.During recurrence, described processing unit 9 controls automatic running device 2 cross edge boundary line 3, even if the detecting unit 8 obtaining automatic running device 2 left and right sides receives contrary, corresponding with the sideband signal detection signal in direction respectively.Post-processing unit 9 control automatic running device 2 according to predetermined clockwise or counterclockwise return signal generating means 6 place.
When only having an automatic working system in certain region, electromagnetic field 7 and small part noise signal that the boundary line 3 from this automatic working system 100 produces only is there is in surrounding environment, automatic running device 2, by the pwm value scope of the pulsewidth and reference that compare detection signal, can avoid the noise signal in environment to the interference of this automatic working system.
When there being multiple adjacent automatic working system in certain area, as the first work system and the second work system, the predetermined pwm value arranging the sideband signal of the first automatic working system is the first predetermined pulse width value, as 100 μ s, the predetermined pwm value arranging the sideband signal of the second work system is the second predetermined pulse width value, as 200 μ s.
The pwm value scope of the reference of the automatic running device of corresponding setting or coupling the first work system is 85 μ s-100 μ s, and the pwm value scope arranging the reference of the automatic running device of the second work system is 170 μ s-200 μ s.The lower limit 85 μ s of the pwm value scope of above-mentioned reference and 170 μ s experimentally and calculate learn, be only at this and illustrate.
The pwm value of described detection signal is calculated after the processing unit 9 of the automatic running device of the first work system receives the detection signal of described detecting unit 8.Described detection signal has some pulses, and pwm value contains the irregular pwm value that 85 μ s-100 μ s, 170 μ s-200 μ s, other pwm values of small part and part cause because of pulse overlap.
Processing unit 9 is the irregular pwm value that causes because of pulse overlap of exclusive segment first; Processing unit 9 calculates 85 μ s-100 μ s, 170 μ s-200 μ s and other pwm values of small part again; Processing unit 9 judges whether these pwm values are in the pwm value scope 85 μ s-100 μ s of reference, thus determines that this detection signal is corresponding with sideband signal, and the detection signal of other pulsewidths and sideband signal have nothing to do.
In like manner, the detection signal of pulsewidth 170 μ s-200 μ s is defined as corresponding with the sideband signal of the second work system by the automatic running device of the second work system.
So, the automatic running device of different automatic working system identifies respective sideband signal respectively by different pwm values, thus avoids mutual interference.
In another better embodiment of automatic working system 100 of the present invention, the reference cycle value corresponding with the predetermined period value of sideband signal is also had in second storage unit 22, processing unit 9 also calculates the periodic quantity of detection signal after calculating the pwm value of detection signal, and compares periodic quantity and the reference cycle value of detection signal.If the pwm value of detection signal and periodic quantity are mated with the pwm value scope of reference and reference cycle value respectively, then described processing unit 9 determines that this detection signal is corresponding with sideband signal; If the pwm value of detection signal does not mate with the pwm value scope of reference or periodic quantity is not mated with reference cycle value, then described processing unit 9 determines that this detection signal and sideband signal have nothing to do.In other embodiments, above-mentioned periodic quantity also available pulse interval replaces.
Please refer to Fig. 7, in other embodiments, described sideband signal is dipulse signal, has first pulse of next-door neighbour and the dipulse signal of the second pulse.
Fisrt feature time interval setting unit 63 arranges the predetermined time interval between the first pulse and the second pulse.When two unique points of sideband signal are respectively the rising edge of the rising edge of the first pulse and the second pulse, described predetermined time interval is the time interval between the rising edge of the first pulse and the rising edge of the second pulse; When two unique points of sideband signal are respectively the negative edge of the negative edge of the first pulse and the second pulse, predetermined time interval is the time interval between the negative edge of the first pulse and the negative edge of the second pulse.
Second feature time interval setting unit 21 arranges the time interval of the reference corresponding with described predetermined time interval.
T1 in Fig. 7 represents the time interval of dipulse signal when not decaying between the first pulse and the second pulse; T2 represents the time interval of dipulse signal when less decay between the first pulse and the second pulse, and as at shorter boundary line 3 place, or distance boundary line 3 more nearby; T3 represents the time interval of dipulse signal when larger decay between the first pulse and the second pulse, and as at longer boundary line 3 place, remotely, even when boundary line 3 is longer, distance boundary line 3 is remotely in distance boundary line 3.
As can be seen from the figure, even if the pulsewidth of the dipulse signal that automatic running device 2 receives changes, the time interval t2 or t3 between the first pulse that automatic running device 2 receives and the second pulse can't change, and can be accurately identified sideband signal by the time interval detected between the first pulse of dipulse signal and the second pulse.
In the present invention, automatic running device 2 can be the various ways such as mower, suction cleaner, industrial robot.When automatic running device 2 is mower, also comprise cutting mechanism further, cutting mechanism comprises cutting motor and cutting blade, and when mower works in the perform region 4 that boundary line 3 is planned, cutting motor drives cutting blade to rotate, cutting lawns.
A kind of method that the present invention also provides automatic working system antinoise signal to disturb, described automatic working system comprises boundary module 1 and automatic running device 2, described boundary module 1 comprises the signal generation apparatus 6 for generating sideband signal, and is electrically connected with described signal generation apparatus 6, for defining the boundary line 3 of the perform region 4 of automatic running device 2.Described automatic running device 2 in described perform region 4 according to preset program work.
Please refer to Fig. 8, said method comprising the steps of:
Step S1: the predetermined characteristic time interval that described sideband signal is set by fisrt feature time interval setting unit 63.
Step S2: described sideband signal is transmitted in described boundary line 3.
Step S3: the characteristic time interval that the reference of described automatic running device 2 is set by second feature time interval setting unit 21, the corresponding described predetermined characteristic time interval of characteristic time interval of described reference.
Step S4: automatic running device 2 detects the ambient signal that exists in surrounding environment and is converted to corresponding detection signal.
Step S5: described automatic running device 2 receives described detection signal and calculates the characteristic time interval of described detection signal.
Step S6: judge whether the characteristic time interval of described detection signal mates with the characteristic time interval of described reference.Be enter step S7, otherwise enter step S8.
Step S7: if the characteristic time interval of described detection signal mates with the characteristic time interval of described reference, then determine that described detection signal is corresponding with sideband signal.
Step S8: if the characteristic time interval of described detection signal does not mate with the characteristic time interval of described reference, then determine that detection signal and described sideband signal have nothing to do.
In above-mentioned steps S1, select one in multiple fisrt feature time interval as described predetermined characteristic time interval.
In another better embodiment, above-mentioned steps S1 also can be: described automatic running device 2 takes a round along described boundary line 3 row, records the characteristic time interval of each ambient signal received; The characteristic time interval of record is transferred to the fisrt feature time interval setting unit 63 of described signal generation apparatus 6 by described automatic running device 2, described fisrt feature time interval setting unit 63 arranges the predetermined characteristic time interval different from each characteristic time interval of record, and described second feature time interval setting unit 21 arranges the characteristic time interval of described reference according to predetermined characteristic time interval.
In another better embodiment, above-mentioned steps S3 can be: when described automatic running device 2 is connected with described signal generation apparatus 6, and described second feature time interval setting unit 21 communicates and the characteristic time interval of reference according to predetermined characteristic time interval Lookup protocol with described fisrt feature time interval setting unit 63.
In another better embodiment, above-mentioned steps S3 can be for: described second feature time interval setting unit 21 is with described fisrt feature time interval setting unit 63 radio communication and the characteristic time interval of reference according to predetermined characteristic time interval Auto-matching.
Described sideband signal has predetermined period, and the value of described predetermined period is prime number, as 11ms, 13ms or 17ms, for reducing the sideband signal pulse possibility overlapping with interference signal pulse.
The method of automatic working system of the present invention and antinoise signal interference thereof having predetermined characteristic time interval by arranging sideband signal, arranging the characteristic time interval that corresponding automatic running device has reference, the relatively characteristic time interval of detection signal and the characteristic time interval of reference, if the characteristic time interval of detection signal mates with the characteristic time interval of reference, determine that this detection signal is corresponding with sideband signal, otherwise determine uncorrelated, so make automatic working system effectively can get rid of the interference of other ambient signals to this automatic working system.
The present invention is not limited to lifted specific embodiment structure and method, and the structure conceived based on the present invention and method all belong to scope.
Claims (18)
1. an automatic working system, comprise boundary module and automatic running device, it is characterized in that, described boundary module comprises the signal generation apparatus for generating sideband signal, and be electrically connected with described signal generation apparatus, for defining the boundary line of automatic running device perform region, described automatic running device in described perform region according to preset program work, wherein:
Described signal generation apparatus has fisrt feature time interval setting unit, the predetermined characteristic time interval between two unique points arranging sideband signal;
Described sideband signal is transmitted in described boundary line;
Described automatic running device comprises:
Second feature time interval setting unit, for arranging the characteristic time interval of the reference of mating with described predetermined characteristic time interval;
Detecting unit, detects the ambient signal that exists in described automatic running device surrounding environment and is converted to corresponding detection signal;
Processing unit, receive described detection signal and calculate the characteristic time interval of described detection signal, and judge whether the characteristic time interval of described detection signal mates with the characteristic time interval of described reference, if coupling, described processing unit determines that this detection signal is corresponding with sideband signal; Otherwise described processing unit determines that this detection signal and sideband signal have nothing to do.
2. automatic working system according to claim 1, it is characterized in that: described sideband signal is single pulse signal, two unique points of described sideband signal are respectively rising edge and negative edge, described predetermined characteristic time interval is the predetermined pwm value of single pulse signal, and the characteristic time interval of described reference is the pwm value scope of reference.
3. automatic working system according to claim 1, it is characterized in that: described sideband signal is have first pulse of next-door neighbour and the dipulse signal of the second pulse, described predetermined characteristic time interval is the predetermined time interval between the first pulse and the second pulse, and the characteristic time interval of described reference is the time interval of the reference corresponding with predetermined time interval.
4. automatic working system according to claim 3, it is characterized in that: described predetermined time interval is the time interval between the rising edge of the first pulse and the rising edge of the second pulse, or the time interval between the negative edge of the negative edge of the first pulse and the second pulse.
5. automatic working system according to claim 1, is characterized in that: described fisrt feature time interval setting unit has first selector, for selecting in multiple very first time interval one as predetermined characteristic time interval.
6. automatic working system according to claim 1, it is characterized in that: when described automatic running device is connected with described signal generation apparatus, described second feature time interval setting unit communicates and the characteristic time interval of reference according to predetermined characteristic time interval Lookup protocol with described fisrt feature time interval setting unit.
7. automatic working system according to claim 1, is characterized in that: described second feature time interval setting unit and described fisrt feature time interval setting unit radio communication the characteristic time interval of reference according to predetermined characteristic time interval Auto-matching.
8. automatic working system according to claim 1, is characterized in that: described automatic running device takes a round along described boundary line row, records the characteristic time interval of each ambient signal received; The characteristic time interval of record is transferred to the fisrt feature time interval setting unit of described signal generation apparatus by described automatic running device, described fisrt feature time interval setting unit arranges the predetermined characteristic time interval different from each characteristic time interval of record, and described second feature time interval setting unit arranges the characteristic time interval of described reference according to predetermined characteristic time interval.
9. automatic working system according to claim 1, is characterized in that: described sideband signal has predetermined period, and the value of described predetermined period is prime number.
10. the method for an automatic working system antinoise signal interference, described automatic working system comprises boundary module and automatic running device, described boundary module comprises the signal generation apparatus for generating sideband signal, and be electrically connected with described signal generation apparatus, for defining the boundary line of automatic running device perform region, described automatic running device in described perform region according to preset program work, it is characterized in that, described signal generation apparatus has fisrt feature time interval setting unit, described automatic running device has second feature time interval setting unit, said method comprising the steps of:
Described fisrt feature time interval setting unit arranges the predetermined characteristic time interval between two unique points of described sideband signal;
Described sideband signal is transmitted in described boundary line;
Described second feature time interval setting unit arranges the characteristic time interval of the reference of described automatic running device, the corresponding described predetermined characteristic time interval of characteristic time interval of described reference;
The ambient signal existed in described automatic running device detection surrounding environment is also converted to corresponding detection signal;
Described automatic running device receives described detection signal and calculates the characteristic time interval of described detection signal;
Judge whether the characteristic time interval of described detection signal mates with the characteristic time interval of described reference;
If the characteristic time interval of described detection signal mates with the characteristic time interval of described reference, then determine that described detection signal is corresponding with sideband signal, otherwise determine that detection signal and described sideband signal have nothing to do.
11. methods according to claim 10, it is characterized in that: described sideband signal is single pulse signal, two unique points of described sideband signal are respectively rising edge and negative edge, described predetermined characteristic time interval is the predetermined pwm value of single pulse signal, and the characteristic time interval of described reference is the pwm value scope of reference.
12. methods according to claim 10, it is characterized in that: described sideband signal is have first pulse of next-door neighbour and the dipulse signal of the second pulse, described predetermined characteristic time interval is the predetermined time interval between the first pulse and the second pulse, and the characteristic time interval of described reference is the time interval of the reference corresponding with predetermined time interval.
13. methods according to claim 12, it is characterized in that: described predetermined time interval is the time interval between the rising edge of the first pulse and the rising edge of the second pulse, or the time interval between the negative edge of the negative edge of the first pulse and the second pulse.
14. methods according to claim 10, is characterized in that: select one in multiple fisrt feature time interval as described predetermined characteristic time interval.
15. methods according to claim 10, it is characterized in that: when described automatic running device is connected with described signal generation apparatus, described second feature time interval setting unit communicates and the characteristic time interval of reference according to predetermined characteristic time interval Lookup protocol with described fisrt feature time interval setting unit.
16. methods according to claim 10, is characterized in that: described second feature time interval setting unit and described fisrt feature time interval setting unit radio communication the characteristic time interval of reference according to predetermined characteristic time interval Auto-matching.
17. methods according to claim 10, is characterized in that: described automatic running device takes a round along described boundary line row, record the characteristic time interval of each ambient signal received; The characteristic time interval of record is transferred to the fisrt feature time interval setting unit of described signal generation apparatus by described automatic running device, described fisrt feature time interval setting unit arranges the predetermined characteristic time interval different from each characteristic time interval of record, and described second feature time interval setting unit arranges the characteristic time interval of described reference according to predetermined characteristic time interval.
18. methods according to claim 10, is characterized in that: described sideband signal has predetermined period, and the value of described predetermined period is prime number.
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