CN111179568B - Mowing robot communication method and system based on boundary electromagnetic signals - Google Patents
Mowing robot communication method and system based on boundary electromagnetic signals Download PDFInfo
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- CN111179568B CN111179568B CN201911359856.7A CN201911359856A CN111179568B CN 111179568 B CN111179568 B CN 111179568B CN 201911359856 A CN201911359856 A CN 201911359856A CN 111179568 B CN111179568 B CN 111179568B
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
- G08C19/16—Electric signal transmission systems in which transmission is by pulses
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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Abstract
The invention discloses a mowing robot communication method and system based on boundary electromagnetic signals, which comprises the following steps: receiving a boundary electromagnetic signal sent by a base station, wherein the boundary electromagnetic signal is a carrier signal formed by modulating a low-frequency source signal and a high-frequency signal, and the low-frequency source signal comprises a complete periodic waveform and an incomplete periodic waveform; amplifying the boundary electromagnetic signal; filtering the amplified boundary electromagnetic signal; demodulating according to the filtered boundary electromagnetic signal to obtain the low-frequency source signal, identifying the combined information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal, comparing the identified combined information with a preset action instruction, and executing corresponding action according to the comparison result. The invention realizes the communication between the base station and the mowing robot on the basis of not increasing the equipment cost, and has strong anti-interference capability.
Description
Technical Field
The application belongs to the technical field of boundary signals, and particularly relates to a mowing robot communication method and system based on boundary electromagnetic signals.
Background
Along with the rapid development of economy, modern construction of cities in various countries surpasses our country, the greening degree of municipal greening and family gardens is higher and higher, and a large number of lawn in parks, football fields and GOLF fields are very heavy in trimming work and high in repeatability. With the development of artificial intelligence and internet of things, a full-automatic intelligent mowing robot utilizing a modern electronic technology and an intelligent control technology is produced at the same time, and traditional mowing equipment is certainly replaced in the near future.
A mowing robot belongs to the field of civil outdoor mobile robots, integrates multiple disciplines such as machinery, sensors, intelligent control, human-computer interaction, computers and the like, applies sensor technology, positioning technology, boundary recognition technology, whole-area coverage path planning technology, autonomous recharging technology, power supply technology and the like to realize full-automatic lawn maintenance operation, and has the characteristics of high efficiency, safety, convenience, simplicity in use, small environmental pollution and the like.
Mowing robots generally have the following functions: automatic mowing, grass scrap cleaning, automatic rain sheltering, automatic walking, automatic obstacle sheltering, electronic virtual fencing, automatic return charging, network control and the like; possess safety inspection and battery power and detect the function, possess certain climbing ability, adjustable pruning height, available APP is controlled, is a middle-size and small-size equipment that is fit for places such as family courtyard, public greenery patches and carries out lawn mowing maintenance.
In order to realize that the mowing robot can automatically mow grass and ensure the safety of the mowing robot, a boundary needs to be defined for the mowing robot, and then the mowing robot can automatically mow grass within the boundary range. Therefore, the boundary transmitting and detecting device which is reasonable and efficient and has certain confidentiality plays a great role in automation and safety of the mowing robot.
At present, boundary processing systems in the market all send electromagnetic signals in an electronic fence, and a mowing robot detects the electromagnetic signals and correspondingly processes the electromagnetic signals to judge whether the robot is in the electronic fence or not. Such electromagnetic signals are usually realized by a single pulse or a combination of multiple pulses, and the pulse signals have poor interference resistance and cannot realize communication between a base station and a robot.
For example, patent application No. 201110200675.7, provides a boundary system. The signal generating device in the boundary system generates a preset boundary signal and sends the preset boundary signal to the boundary line, the preset boundary signal is a signal with a first state and a second state which alternately appear, a sudden change exists at the junction of the first state and the second state, the control unit comprises a signal processing unit and a microprocessor, the detection signal comprises a first signal corresponding to the first state of the preset boundary signal and a second signal corresponding to the second state of the preset boundary signal, the signal processing unit determines the starting point of the second signal according to the change between the first signal and the second signal corresponding to the sudden change and generates a processing signal representing the waveform of the second signal, and the microprocessor determines whether the automatic walking equipment is in a working area according to the processing signal. But the scheme does not have high anti-interference capability and cannot realize the communication between the base station and the robot.
As another example, patent document No. 201610334140.1 provides a borderline pulse signal recognition system, method and intelligent mowing system, wherein a pulse scheme with high anti-interference capability is provided, which is to generate a high pulse signal and a plurality of low pulse signals in which the high pulse signal is continuously distributed within a period T; or several low pulse signals and one or more high pulse signals distributed between said low pulse signals are generated within a period T. At the same time, the sensors have different sensitivities. The combination of high pulse corresponding to high sensitivity can tell the intelligent mower that the borderline currently exists, and the combination of low pulse and low detection sensitivity can filter most interference signals, so that the anti-interference capability is improved. However, the scheme requires sensors with different amplification factors, and needs to transmit waveforms with different amplitudes, so that the cost is high, communication between the base station and the robot cannot be realized, and co-frequency interference signals are difficult to avoid.
Disclosure of Invention
The application aims to provide a mowing robot communication method and system based on boundary electromagnetic signals, communication between a base station and a mowing robot is achieved on the basis that equipment cost is not increased, and the anti-jamming capability is high.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a mowing robot communication method based on boundary electromagnetic signals is used for realizing communication between a base station and a mowing robot, and comprises the following steps:
receiving a boundary electromagnetic signal sent by a base station, wherein the boundary electromagnetic signal is a carrier signal formed by modulating a low-frequency source signal and a high-frequency signal, the low-frequency source signal comprises a complete periodic waveform and an incomplete periodic waveform, the complete periodic waveform in the low-frequency source signal represents a data bit 1, and the incomplete periodic waveform in the low-frequency source signal represents a data bit 0;
amplifying the boundary electromagnetic signal;
filtering the amplified boundary electromagnetic signal;
demodulating according to the filtered boundary electromagnetic signal to obtain the low-frequency source signal, identifying the combined information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal, comparing the identified combined information with a preset action instruction, and executing corresponding action according to the comparison result;
superposing communication information in the low-frequency source signal, wherein the communication information comprises a data head, data content and a check code, and the communication information consists of a data bit 0 and a data bit 1; the identifying of the combination information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal comprises:
1) and (3) judging the reference voltage: taking a section of received signal data, and taking the average value of the voltage of the section of signal data as a reference voltage if the voltage fluctuation of the section of signal data is within a preset voltage threshold;
2) judging an initial position: if a reverse low-amplitude waveform and two forward high-amplitude waveforms exist in the signal data, and each half-wave period detected by a zero crossing point is within a preset period range, the current waveform position is taken as the start bit of the signal data, the average value of the three half-wave periods is taken as the half-wave period T of the signal data, and the average amplitude of the two forward high-amplitude waveforms is taken as the signal amplitude V of the signal data;
3) and (3) judging data bits: detecting whether a half-wave period of a pulse after a start bit in signal data is within a range of T +/-Terr through a zero crossing point, if so, determining that the half-wave period is an effective period, namely, the pulse is an effective pulse; otherwise, the pulse is an interference pulse; terr is the allowed half-wave period error;
4) and (3) judging the data content: judging whether the positive amplitude of the effective pulse is in the range of V + Verr, if so, the effective pulse is a data bit 1; otherwise, the effective pulse is data 0, and all effective pulses in the section of signal data are identified to obtain the combined information of complete periodic waveform and incomplete periodic waveform in the data content; verr is the allowable positive amplitude error;
5) and (4) judging the check code: checking and judging a check code in the received signal data, and if the check code is wrong, determining that the signal is an interference signal; otherwise, the signal is a low-frequency source signal in the boundary electromagnetic signal.
Preferably, the lawn mowing robot communication method based on the boundary electromagnetic signal further includes:
matching signal receiving frequency after receiving the signal, and if the matching is successful, determining the signal to be an effective boundary electromagnetic signal; otherwise, it is an invalid interference signal.
Preferably, the lawn mowing robot communication method based on the boundary electromagnetic signal further includes:
judging whether the mowing robot is currently within the boundary line or outside the boundary line according to the phase of the received boundary electromagnetic signal: if the phase of the received boundary electromagnetic signal is normal, the mowing robot is currently in the boundary line; if the phase of the received boundary electromagnetic signal is opposite, the mowing robot is out of the boundary line currently.
The application also provides a robot mowing communication system based on the boundary electromagnetic signal, the robot mowing communication system based on the boundary electromagnetic signal comprises a mowing robot and a base station, and the robot mowing communication system based on the boundary electromagnetic signal executes the following operations:
the base station is used for generating and transmitting a boundary electromagnetic signal, the boundary electromagnetic signal is a carrier signal formed by modulating a low-frequency source signal and a high-frequency signal, the low-frequency source signal comprises a complete periodic waveform and an incomplete periodic waveform, the complete periodic waveform in the low-frequency source signal represents a data bit 1, and the incomplete periodic waveform in the low-frequency source signal represents a data bit 0;
the mowing robot is used for receiving the boundary electromagnetic signal and amplifying the boundary electromagnetic signal; filtering the amplified boundary electromagnetic signal; demodulating according to the filtered boundary electromagnetic signal to obtain the low-frequency source signal, identifying the combined information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal, comparing the identified combined information with a preset action instruction, and executing corresponding action according to the comparison result;
superposing communication information in the low-frequency source signal, wherein the communication information comprises a data head, data content and a check code, and the communication information consists of a data bit 0 and a data bit 1; the mowing robot identifies the combined information of complete periodic waveforms and incomplete periodic waveforms in low-frequency source signals, and executes the following operations:
1) and (3) judging the reference voltage: taking a section of received signal data, and taking the average value of the voltage of the section of signal data as a reference voltage if the voltage fluctuation of the section of signal data is within a preset voltage threshold;
2) judging an initial position: if a reverse low-amplitude waveform and two forward high-amplitude waveforms exist in the signal data, and each half-wave period detected by a zero crossing point is within a preset period range, the current waveform position is taken as the start bit of the signal data, the average value of the three half-wave periods is taken as the half-wave period T of the signal data, and the average amplitude of the two forward high-amplitude waveforms is taken as the signal amplitude V of the signal data;
3) and (3) judging data bits: detecting whether a half-wave period of a pulse after a start bit in signal data is within a range of T +/-Terr through a zero crossing point, if so, determining that the half-wave period is an effective period, namely, the pulse is an effective pulse; otherwise, the pulse is an interference pulse; terr is the allowed half-wave period error;
4) and (3) judging the data content: judging whether the positive amplitude of the effective pulse is in the range of V + Verr, if so, the effective pulse is a data bit 1; otherwise, the effective pulse is data 0, and all effective pulses in the section of signal data are identified to obtain the combined information of complete periodic waveform and incomplete periodic waveform in the data content; verr is the allowable positive amplitude error;
5) and (4) judging the check code: checking and judging a check code in the received signal data, and if the check code is wrong, determining that the signal is an interference signal; otherwise, the signal is a low-frequency source signal in the boundary electromagnetic signal.
Preferably, the mowing robot further performs the following operations:
matching signal receiving frequency after receiving the signal, and if the matching is successful, determining the signal to be an effective boundary electromagnetic signal; otherwise, the signal is an invalid interference signal;
and judging whether the mowing robot is currently within or outside the boundary line according to the phase of the received boundary electromagnetic signal: if the phase of the received boundary electromagnetic signal is normal, the mowing robot is currently in the boundary line; if the phase of the received boundary electromagnetic signal is opposite, the mowing robot is out of the boundary line currently.
Preferably, the base station comprises an MCU, an amplifying circuit, a transmitting circuit and an electromagnetic coil, wherein the MCU is used for generating the carrier signal, the amplifying circuit is used for amplifying the carrier signal, and the transmitting circuit is used for transmitting the amplified carrier signal to the electromagnetic coil;
and a coil open circuit detection circuit is also connected between the base station and the electromagnetic coil and is used for detecting the open circuit condition of the electromagnetic coil and feeding back the open circuit condition to the base station.
Compared with the prior art, the mowing robot communication method and system based on the boundary electromagnetic signals have the following beneficial effects:
1) the frequency of data transmitted by communication is low, and if the data is transmitted according to the frequency of the data, the data is not beneficial to receiving and synchronizing. The data receiving method and the data receiving device have the advantages that carrier transmission is used, data signals are loaded onto the carrier signals, a receiving party receives the data signals according to the frequency of the carrier, meaningful data signals are extracted from the data signals, and data receiving and synchronization are facilitated.
2) The communication between the base station and the mowing robot is realized by the combination of the complete periodic waveform and the incomplete periodic waveform, a user can control the robot to do corresponding actions at the base station, and the robot can identify specific position information through the coding function and the selection of the base station, so that mutual interference between adjacent household electronic fences is prevented.
3) The communication function of the communication system is low in cost, and a special communication module is not needed.
4) The transmitted data has a verification function, and if the data is not verified in the receiving process, the verification is considered to be failed, so that the anti-interference performance is high.
Drawings
FIG. 1 is a schematic diagram of a signal combination according to the present application;
FIG. 2 is a schematic diagram of a transmit waveform and a receive pulse of the present application;
fig. 3 is a schematic structural diagram of a base station according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In one embodiment, a mowing robot communication method based on boundary electromagnetic signals is provided and used for communication and positioning between a base station and a mowing robot.
Specifically, the mowing robot communication method based on the boundary electromagnetic signal is implemented on the mowing robot side, and includes:
and receiving boundary electromagnetic signals sent by the base station.
Amplifying the boundary electromagnetic signal.
And filtering the amplified boundary electromagnetic signal.
Demodulating according to the filtered boundary electromagnetic signal to obtain the low-frequency source signal, identifying the combined information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal, comparing the identified combined information with a preset action instruction, and executing corresponding action according to the comparison result.
As shown in fig. 1, the boundary electromagnetic signal is a carrier signal formed by modulating a low-frequency source signal and a high-frequency signal, each signal period is T, and the boundary electromagnetic signal includes a high-frequency signal, a low-frequency source signal and a null signal. The low-frequency source signal comprises a complete periodic waveform and a non-complete periodic waveform.
In this embodiment, the mowing robot is preset with action instructions, different action instructions are different combinations of complete periodic waveforms and incomplete periodic waveforms, and each action instruction corresponds to a corresponding action.
On the basis of not increasing additional communication equipment, the communication information is superposed in the original low-frequency signal to complete the communication between the base station and the mowing robot, and the communication mode is simple and low in cost.
In order to overcome the defect that the low-frequency signal is not beneficial to receiving and synchronizing, the embodiment loads the low-frequency source signal on which the communication information is superimposed on the high-frequency signal to form a carrier signal for transmission, so as to improve the reliability of signal transmission.
In one embodiment, data bit 1 is represented by a complete periodic waveform in the low frequency source signal and data bit 0 is represented by an incomplete periodic waveform in the low frequency source signal. And the communication information comprises a data header, data content and a check code, and is composed of a data bit 0 and a data bit 1.
Therefore, the low-frequency source signal contains data content and a check code, and is used for verifying the signal by the mowing robot, so that the anti-interference capability is improved.
Because various electromagnetic signals may exist in the environment, except signals sent by a base station corresponding to the mowing robot, the rest are interference signals, in one embodiment, after the mowing robot receives the signals, the signal receiving frequency is firstly matched, and if the matching is successful, the boundary electromagnetic signals are effective; otherwise, it is an invalid interference signal.
The interpretation and identification of the data is an important element in the communication, and in one embodiment, as shown in fig. 2, the upper part in fig. 2 is a schematic pulse of the transmitted carrier signal, the lower part is a schematic waveform of the received boundary electromagnetic signal, and the transmitted data is transmitted for the whole frame.
In order to improve the reliability and accuracy of data analysis, an analysis method is provided as follows:
1) and (3) judging the reference voltage: and taking a section of received signal data, and taking the average value of the voltage of the section of signal data as the reference voltage if the voltage fluctuation of the section of signal data is within a preset voltage threshold.
2) Judging an initial position: if a reverse low-amplitude waveform and two forward high-amplitude waveforms exist in the signal data, and each half-wave period detected by the zero crossing point is within a preset period range, the current waveform position is used as the start bit of the signal data, the average value of the three half-wave periods is used as the half-wave period T of the signal data, and the average amplitude of the two forward high-amplitude waveforms is used as the signal amplitude V of the signal data.
3) And (3) judging data bits: detecting whether a half-wave period of a pulse after a start bit in signal data is within a range of T +/-Terr through a zero crossing point, if so, determining that the half-wave period is an effective period, namely, the pulse is an effective pulse; otherwise, the pulse is an interference pulse; terr is the allowable half-wave period error.
4) And (3) judging the data content: judging whether the positive amplitude of the effective pulse is in the range of V + Verr, if so, the effective pulse is a data bit 1; otherwise, the effective pulse is data 0, and all effective pulses in the section of signal data are identified to obtain the combined information of complete periodic waveform and incomplete periodic waveform in the data content; verr is the allowed positive amplitude error.
5) And (4) judging the check code: checking and judging a check code in the received signal data, and if the check code is wrong, determining that the signal is an interference signal; otherwise, the signal is a low-frequency source signal in the boundary electromagnetic signal.
According to the common electromagnetic signal identified by the signal of the mowing robot, in one embodiment, the preset voltage threshold in the step 1) is preferably set to be 0.5V, and the preset period range in the step 2) is preferably set to be 90 us-110 us, namely about 100us, so as to ensure universality.
In order to ensure the safety of the robot during the operation of the robot, the position of the robot needs to be determined at regular time, and in one embodiment, a simple determining method is provided as follows:
judging whether the mowing robot is currently within the boundary line or outside the boundary line according to the phase of the received boundary electromagnetic signal: if the phase of the received boundary electromagnetic signal is normal, the mowing robot is currently in the boundary line; if the phase of the received boundary electromagnetic signal is opposite, the mowing robot is out of the boundary line currently.
The provided judgment method is simple and high in judgment speed, and is beneficial to timely correcting the position of the mowing robot so as to reduce the damage rate of the mowing robot.
In another embodiment, a lawn mowing robot communication system based on boundary electromagnetic signals is further provided, and comprises a lawn mowing robot and a base station. The system is mainly used for realizing a virtual electronic fence function and ensuring that the mowing robot runs in the area. Meanwhile, the system also has a communication function, so that the base station can send data and instructions to the robot and control the robot to do corresponding actions.
The mowing robot communication system based on the boundary electromagnetic signal of the embodiment executes the following operations:
the base station is used for generating and transmitting boundary electromagnetic signals, the boundary electromagnetic signals are carrier signals formed by modulating low-frequency source signals and high-frequency signals, and the low-frequency source signals comprise complete periodic waveforms and incomplete periodic waveforms.
The mowing robot is used for receiving the boundary electromagnetic signal and amplifying the boundary electromagnetic signal; filtering the amplified boundary electromagnetic signal; demodulating according to the filtered boundary electromagnetic signal to obtain the low-frequency source signal, identifying the combined information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal, comparing the identified combined information with a preset action instruction, and executing corresponding action according to the comparison result.
Specifically, communication information is superimposed in the low-frequency source signal, a complete periodic waveform in the low-frequency source signal represents a data bit 1, and an incomplete periodic waveform in the low-frequency source signal represents a data bit 0; the communication information comprises a data header, data content and a check code, and the communication information consists of a data bit 0 and a data bit 1.
In order to improve the anti-interference performance, the mowing robot matches the signal receiving frequency after receiving the signal, and if the matching is successful, the mowing robot is an effective boundary electromagnetic signal; otherwise, it is an invalid interference signal.
And the mowing robot judges whether the mowing robot is currently within or outside the boundary line according to the phase of the received boundary electromagnetic signal: if the phase of the received boundary electromagnetic signal is normal, the mowing robot is currently in the boundary line; if the phase of the received boundary electromagnetic signal is opposite, the mowing robot is out of the boundary line currently.
When the mowing robot analyzes the received signal, the following operations are performed:
1) and (3) judging the reference voltage: taking a section of received signal data, and taking the average value of the voltage of the section of signal data as a reference voltage if the voltage fluctuation of the section of signal data is within a preset voltage threshold;
2) judging an initial position: if a reverse low-amplitude waveform and two forward high-amplitude waveforms exist in the signal data, and each half-wave period detected by a zero crossing point is within a preset period range, the current waveform position is taken as the start bit of the signal data, the average value of the three half-wave periods is taken as the half-wave period T of the signal data, and the average amplitude of the two forward high-amplitude waveforms is taken as the signal amplitude V of the signal data;
3) and (3) judging data bits: detecting whether a half-wave period of a pulse after a start bit in signal data is within a range of T +/-Terr through a zero crossing point, if so, determining that the half-wave period is an effective period, namely, the pulse is an effective pulse; otherwise, the pulse is an interference pulse; terr is the allowed half-wave period error;
4) and (3) judging the data content: judging whether the positive amplitude of the effective pulse is in the range of V + Verr, if so, the effective pulse is a data bit 1; otherwise, the effective pulse is data 0, and all effective pulses in the section of signal data are identified to obtain the combined information of complete periodic waveform and incomplete periodic waveform in the data content; verr is the allowable positive amplitude error;
5) and (4) judging the check code: checking and judging a check code in the received signal data, and if the check code is wrong, determining that the signal is an interference signal; otherwise, the signal is a low-frequency source signal in the boundary electromagnetic signal.
As shown in fig. 3, in an embodiment, the base station includes an MCU, an amplifying circuit, a transmitting circuit, and an electromagnetic coil, the MCU is configured to generate the carrier signal, the amplifying circuit is configured to amplify the carrier signal, and the transmitting circuit is configured to transmit the amplified carrier signal to the electromagnetic coil.
And a coil open circuit detection circuit is connected between the base station and the electromagnetic coil and used for detecting the open circuit condition of the electromagnetic coil and feeding back the open circuit condition to the base station. It should be noted that the amplifying circuit, the transmitting circuit, and the coil open circuit detection circuit in this embodiment are all implemented by using existing circuits, and are not described in detail.
In the embodiment, the base station can monitor the open circuit condition of the electromagnetic coil in real time through the coil open circuit detection circuit, and can timely generate a countermeasure to avoid the influence on the normal operation of the mowing robot due to the fact that the base station cannot transmit signals.
For further definition of the lawn mowing robot communication system based on the boundary electromagnetic signal, reference is made to the above definition of the lawn mowing robot communication method based on the boundary electromagnetic signal.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A mowing robot communication method based on boundary electromagnetic signals is used for realizing communication between a base station and a mowing robot, and is characterized in that the mowing robot communication method based on the boundary electromagnetic signals comprises the following steps:
receiving a boundary electromagnetic signal sent by a base station, wherein the boundary electromagnetic signal is a carrier signal formed by modulating a low-frequency source signal and a high-frequency signal, the low-frequency source signal comprises a complete periodic waveform and an incomplete periodic waveform, the complete periodic waveform in the low-frequency source signal represents a data bit 1, and the incomplete periodic waveform in the low-frequency source signal represents a data bit 0;
amplifying the boundary electromagnetic signal;
filtering the amplified boundary electromagnetic signal;
demodulating according to the filtered boundary electromagnetic signal to obtain the low-frequency source signal, identifying the combined information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal, comparing the identified combined information with a preset action instruction, and executing corresponding action according to the comparison result;
superposing communication information in the low-frequency source signal, wherein the communication information comprises a data head, data content and a check code, and the communication information consists of a data bit 0 and a data bit 1; the identifying of the combination information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal comprises:
1) and (3) judging the reference voltage: taking a section of received signal data, and taking the average value of the voltage of the section of signal data as a reference voltage if the voltage fluctuation of the section of signal data is within a preset voltage threshold;
2) judging an initial position: if a reverse low-amplitude waveform and two forward high-amplitude waveforms exist in the signal data, and each half-wave period detected by a zero crossing point is within a preset period range, the current waveform position is taken as the start bit of the signal data, the average value of the three half-wave periods is taken as the half-wave period T of the signal data, and the average amplitude of the two forward high-amplitude waveforms is taken as the signal amplitude V of the signal data;
3) and (3) judging data bits: detecting whether a half-wave period of a pulse after a start bit in signal data is within a range of T +/-Terr through a zero crossing point, if so, determining that the half-wave period is an effective period, namely, the pulse is an effective pulse; otherwise, the pulse is an interference pulse; terr is the allowed half-wave period error;
4) and (3) judging the data content: judging whether the positive amplitude of the effective pulse is in the range of V + Verr, if so, the effective pulse is a data bit 1; otherwise, the effective pulse is data 0, and all effective pulses in the section of signal data are identified to obtain the combined information of complete periodic waveform and incomplete periodic waveform in the data content; verr is the allowable positive amplitude error;
5) and (4) judging the check code: checking and judging a check code in the received signal data, and if the check code is wrong, determining that the signal is an interference signal; otherwise, the signal is a low-frequency source signal in the boundary electromagnetic signal.
2. The boundary electromagnetic signal-based lawn mowing robot communication method according to claim 1, further comprising:
matching signal receiving frequency after receiving the signal, and if the matching is successful, determining the signal to be an effective boundary electromagnetic signal; otherwise, it is an invalid interference signal.
3. The boundary electromagnetic signal-based lawn mowing robot communication method according to claim 1, further comprising:
judging whether the mowing robot is currently within the boundary line or outside the boundary line according to the phase of the received boundary electromagnetic signal: if the phase of the received boundary electromagnetic signal is normal, the mowing robot is currently in the boundary line; if the phase of the received boundary electromagnetic signal is opposite, the mowing robot is out of the boundary line currently.
4. A robot lawnmower communication system based on boundary electromagnetic signals is characterized by comprising a lawnmower robot and a base station, wherein the robot lawnmower communication system based on boundary electromagnetic signals performs the following operations:
the base station is used for generating and transmitting a boundary electromagnetic signal, the boundary electromagnetic signal is a carrier signal formed by modulating a low-frequency source signal and a high-frequency signal, the low-frequency source signal comprises a complete periodic waveform and an incomplete periodic waveform, the complete periodic waveform in the low-frequency source signal represents a data bit 1, and the incomplete periodic waveform in the low-frequency source signal represents a data bit 0;
the mowing robot is used for receiving the boundary electromagnetic signal and amplifying the boundary electromagnetic signal; filtering the amplified boundary electromagnetic signal; demodulating according to the filtered boundary electromagnetic signal to obtain the low-frequency source signal, identifying the combined information of the complete periodic waveform and the incomplete periodic waveform in the low-frequency source signal, comparing the identified combined information with a preset action instruction, and executing corresponding action according to the comparison result;
superposing communication information in the low-frequency source signal, wherein the communication information comprises a data head, data content and a check code, and the communication information consists of a data bit 0 and a data bit 1; the mowing robot identifies the combined information of complete periodic waveforms and incomplete periodic waveforms in low-frequency source signals, and executes the following operations:
1) and (3) judging the reference voltage: taking a section of received signal data, and taking the average value of the voltage of the section of signal data as a reference voltage if the voltage fluctuation of the section of signal data is within a preset voltage threshold;
2) judging an initial position: if a reverse low-amplitude waveform and two forward high-amplitude waveforms exist in the signal data, and each half-wave period detected by a zero crossing point is within a preset period range, the current waveform position is taken as the start bit of the signal data, the average value of the three half-wave periods is taken as the half-wave period T of the signal data, and the average amplitude of the two forward high-amplitude waveforms is taken as the signal amplitude V of the signal data;
3) and (3) judging data bits: detecting whether a half-wave period of a pulse after a start bit in signal data is within a range of T +/-Terr through a zero crossing point, if so, determining that the half-wave period is an effective period, namely, the pulse is an effective pulse; otherwise, the pulse is an interference pulse; terr is the allowed half-wave period error;
4) and (3) judging the data content: judging whether the positive amplitude of the effective pulse is in the range of V + Verr, if so, the effective pulse is a data bit 1; otherwise, the effective pulse is data 0, and all effective pulses in the section of signal data are identified to obtain the combined information of complete periodic waveform and incomplete periodic waveform in the data content; verr is the allowable positive amplitude error;
5) and (4) judging the check code: checking and judging a check code in the received signal data, and if the check code is wrong, determining that the signal is an interference signal; otherwise, the signal is a low-frequency source signal in the boundary electromagnetic signal.
5. The boundary electromagnetic signal-based lawn mowing robot communication system of claim 4, wherein the lawn mowing robot further performs the following operations:
matching signal receiving frequency after receiving the signal, and if the matching is successful, determining the signal to be an effective boundary electromagnetic signal; otherwise, the signal is an invalid interference signal;
and judging whether the mowing robot is currently within or outside the boundary line according to the phase of the received boundary electromagnetic signal: if the phase of the received boundary electromagnetic signal is normal, the mowing robot is currently in the boundary line; if the phase of the received boundary electromagnetic signal is opposite, the mowing robot is out of the boundary line currently.
6. The boundary electromagnetic signal-based lawn mowing robot communication system of claim 4, wherein the base station comprises an MCU, an amplifying circuit, a transmitting circuit and an electromagnetic coil, wherein the MCU is used for generating the carrier signal, the amplifying circuit is used for amplifying the carrier signal, and the transmitting circuit is used for transmitting the amplified carrier signal to the electromagnetic coil;
and a coil open circuit detection circuit is also connected between the base station and the electromagnetic coil and is used for detecting the open circuit condition of the electromagnetic coil and feeding back the open circuit condition to the base station.
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