CN113759920A - Automatic walking equipment, base station and boundary line signal interaction method - Google Patents
Automatic walking equipment, base station and boundary line signal interaction method Download PDFInfo
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Abstract
The application provides automatic walking equipment, a base station and a boundary line signal interaction method. According to the wireless communication method and the wireless communication device, the wireless interaction unit and the wireless communication unit are respectively arranged in the base station and the automatic walking device, so that the signal type of the boundary line signal is confirmed in a wireless communication mode, interference signals received by the automatic walking device are eliminated, and false identification is avoided. The invention can also feed back the receiving and identifying conditions of the border line signal by the automatic walking equipment end to the base station in a wireless communication mode, so that the base station can correspondingly adjust in a self-adaptive manner according to the actual identifying condition of the border line signal. According to the method and the device, the boundary line signal strength can be automatically improved when needed, the transmitting power of the boundary line signal can be automatically reduced when the high-strength boundary line signal is not needed, so that electric energy is saved, and interference to other wireless equipment is reduced. This application need not artifical the setting to the adjustment process of boundary line signal, has improved the ease for use of product to can effectively guarantee the discernment rate of automatic walking equipment to the boundary line signal.
Description
Technical Field
The application relates to the field of automatic walking equipment, in particular to automatic walking equipment, a base station and a boundary line signal interaction method.
Background
At present, a plurality of self-walking devices set the working area of the devices by embedding boundary signal wires. The method is widely used by the mowing robot for trimming the domestic lawn in European and American areas.
The basic principle of using the boundary signal line to set the working area of the self-traveling apparatus is: the base station stimulates the boundary signal line to emit electromagnetic field signals with certain rules, and then the signal receiving device on the automatic walking equipment detects and identifies the electromagnetic field signals. Since the electromagnetic field signals received by the automatic walking equipment in the working area are different from those received by the automatic walking equipment outside the working area, the automatic walking equipment can know whether the equipment is currently in the working area or outside the working area through the electromagnetic field signals of the boundary line. The reliable and accurate detection and identification of boundary signals is of great importance to the operation of such self-propelled devices.
In the prior art, a manufacturer generally debugs signal transmission power according to the maximum working area of the automatic walking device, and provides at least 2 signal types for a user to manually select so as to switch signals when boundary line signals received by the automatic walking device carry large interference components.
However, in practical applications, since the shapes of the actual operating areas are different, the borderline signal with the same transmission power may be severely attenuated when transmitted to a specific area, which results in unstable signal reception, and may also cause energy waste and potential interference to other radio devices in the specific area due to excessive signal transmission power. In addition, in the prior art, a user needs to manually select a signal when using the automatic walking device, so that the operation requirement not only reduces the usability of the product, but also reduces the reliability and stability of the product due to untimely signal type switching when a boundary line signal is interfered.
Disclosure of Invention
The application aims at the defects of the prior art and provides the automatic walking equipment, the base station and the boundary line signal interaction method, and the boundary line signal can be automatically adjusted so as to improve the accuracy of the automatic walking equipment in recognizing the boundary line signal and reduce the interference of other signals to the boundary line signal. The technical scheme is specifically adopted in the application.
Firstly, in order to achieve the above object, a boundary line signal interaction method for an automatic walking device is provided, wherein the interaction step of the automatic walking device comprises: receiving boundary line signals and signal types transmitted by the base station through wireless communication; and identifying the boundary line signal according to the signal type, transmitting an adjusting signal to the base station in a wireless communication mode when the boundary line signal is abnormally received, and triggering the base station to update the boundary line signal according to the adjusting signal.
Optionally, the boundary line signal interaction method for the automatic walking device as described in any one of the above, wherein the boundary line signal reception abnormality includes any one or a combination of the following: the amplitude of the boundary line signal is lower than the lower limit of a preset threshold value; the amplitude of the boundary line signal is higher than the upper limit of a preset threshold value; the error rate in the boundary line signal identification process exceeds the interference threshold.
Optionally, the boundary line signal interaction method for the automatic walking device as described in any one of the above, where the adjustment signal transmitted from the automatic walking device to the base station includes: when the boundary line signal amplitude is lower than the lower limit of a preset threshold value, triggering the base station to increase an adjusting signal of the boundary line signal transmitting power; when the amplitude of the boundary line signal is higher than the upper limit of a preset threshold, triggering a base station to reduce an adjusting signal of the transmission power of the boundary line signal; and when the error rate in the boundary line signal identification process exceeds an interference threshold, triggering the base station to switch the signal type of the boundary line signal or triggering the base station to switch the adjustment signal of the boundary line signal transmission interval time.
Optionally, the boundary line signal interaction method for the automatic walking device as described in any one of the above, wherein the bit error rate in the boundary line signal identification process is statistically obtained by the following steps: respectively recording correctly identified boundary line signals and incorrectly identified boundary line signals in a preset statistical period; and calculating the proportion of boundary line signals for identifying errors in the statistical period to obtain the error rate.
Simultaneously, for realizing above-mentioned purpose, this application still provides an automatic walking equipment, and it includes: a boundary line signal detection unit for receiving a boundary line signal; the main control unit is used for identifying the boundary line signal according to the signal type received by the wireless communication unit; and the wireless communication unit is used for receiving the signal type transmitted by the base station, transmitting an adjusting signal to the base station when the main control unit identifies the abnormal boundary line signal, and triggering the base station to update the boundary line signal according to the adjusting signal.
Optionally, the automatic walking device as described in any above, wherein the main control unit further includes: and the error rate counting unit is used for respectively recording the correctly identified boundary line signals and the incorrectly identified boundary line signals in a preset counting period, calculating the proportion of the incorrectly identified boundary line signals in the counting period to obtain the error rate, and triggering the wireless communication unit to transmit an adjusting signal to enable the base station to switch the signal type of the boundary line signals or enable the base station to switch the transmission interval time of the boundary line signals when the error rate exceeds an interference threshold.
Optionally, the automatic walking device as described in any of the above, wherein the wireless communication unit sends an adjustment signal to trigger the base station to increase the boundary line signal transmission power when the boundary line signal amplitude is lower than a preset lower threshold; and when the amplitude of the boundary line signal is higher than the upper limit of the preset threshold, sending an adjusting signal to trigger the base station to reduce the transmitting power of the boundary line signal.
In addition, this application still provides a base station, the base station is connected with the boundary line that surrounds automatic walking equipment work area, wherein, the base station includes: the boundary line signal driving unit is used for driving the boundary line to send a boundary line signal; and the wireless interaction unit is used for transmitting the signal type matched with the current boundary line signal to the automatic walking equipment, receiving an adjusting signal of the automatic walking equipment and triggering the boundary line signal driving unit to update the boundary line signal according to the adjusting signal.
Optionally, the base station as described in any of the above, wherein the boundary line signal driving unit increases the boundary line signal transmission power in response to an adjustment signal when the amplitude of the boundary line signal at the end of the automatic walking apparatus is lower than a preset threshold lower limit; or, in response to an adjusting signal when the amplitude of the boundary line signal of the end of the automatic walking equipment is higher than the upper limit of a preset threshold, reducing the transmitting power of the boundary line signal; or responding to an adjusting signal when the error rate of the automatic walking equipment exceeds the interference threshold, and switching the signal type of the boundary line signal or changing the sending interval time of the boundary line signal.
Optionally, the base station as described in any of the above, wherein the wireless interaction unit further retransmits the signal type matching the updated boundary line signal to the automatic walking device after switching the signal type of the boundary line signal each time.
Advantageous effects
According to the wireless communication method and the wireless communication device, the wireless interaction unit and the wireless communication unit are respectively arranged in the base station and the automatic walking device, so that the signal type of the boundary line signal is confirmed in a wireless communication mode, interference signals received by the automatic walking device are eliminated, and false identification is avoided. The invention can also feed back the receiving and identifying conditions of the border line signal by the automatic walking equipment end to the base station in a wireless communication mode, so that the base station can correspondingly adjust in a self-adaptive manner according to the actual identifying condition of the border line signal. According to the method and the device, the boundary line signal strength can be automatically improved when needed, the transmitting power of the boundary line signal can be automatically reduced when the high-strength boundary line signal is not needed, so that electric energy is saved, and interference to other wireless equipment is reduced. This application need not artifical the setting to the adjustment process of boundary line signal, has improved the ease for use of product to can effectively guarantee the discernment rate of automatic walking equipment to the boundary line signal.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a schematic diagram of the interaction between the autonomous walking device and the base station of the present application;
FIG. 2 is a flowchart illustrating the steps of adaptively updating the boundary line signal transmission power between the automatic traveling apparatus and the base station according to the present application;
FIG. 3 is a flowchart illustrating the steps of adaptively updating boundary line signal types between the automatic traveling apparatus and the base station according to the present application;
FIG. 4 is a flowchart illustrating the steps of adaptively updating the boundary line signal transmission interval between the automatic traveling apparatus and the base station according to the present application
FIG. 5 is a schematic diagram of the boundary line signal and the interference signal corresponding to the step of FIG. 4;
fig. 6 is a flowchart illustrating a procedure of statistically obtaining a boundary line signal error rate by the automatic walking device according to the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including 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. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The meaning of "inside and outside" in this application means that the direction pointing inside the rail system is inside and vice versa with respect to the rail system itself; and not as a specific limitation on the mechanism of the device of the present application.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
Fig. 1 shows a base station and at least one mobile device adapted to the base station according to the present application. The base station is connected with a boundary line surrounding a working area of the automatic walking equipment, and the automatic walking equipment runs in the working area surrounded by the boundary line so as to carry out operations such as mowing or sweeping on the ground of the working area.
The present application is provided in a base station with:
a boundary line signal driving unit which is connected with a boundary line surrounding the periphery of the working area and is used for driving the boundary line to send a boundary line signal;
and the wireless interaction unit, such as Bluetooth, WIFI and the like, is used for transmitting signal type data matched with the current boundary line signal to the automatic walking equipment, receiving an adjusting signal fed back by the automatic walking equipment, and triggering the boundary line signal driving unit to update the boundary line signal in response to the adjusting signal.
Each automatic walking device running in the working area surrounded by the boundary line can be correspondingly provided with:
the walking driving unit is used for driving the automatic walking equipment to walk;
the operation unit is used for performing maintenance operations such as cutting and impurity removal on the lawn on the ground of the working area through the mowing blade or performing other types of maintenance operations on the ground of the working area through other operation devices such as spraying, blowing or dust collection in the process that the automatic walking equipment walks to traverse the working area surrounded by the boundary line;
a boundary line signal detection unit for receiving a boundary line signal;
the wireless communication unit, such as a bluetooth module, a WIFI transceiver, etc., is used for performing communication interaction with the wireless interaction unit of the base station;
the walking drive unit, the operation unit, the boundary line signal detection unit and the wireless communication unit are all connected to the main control unit, and the main control unit judges whether the signals received by the boundary line signal detection unit are boundary line signals according to the types of the signals received by the wireless communication unit and transmitted by the base station, so that the boundary line signals are identified and the influence of other interference signals on the automatic walking equipment is eliminated; the main control unit is also used for transmitting an adjusting signal to the base station through the wireless communication unit when the main control unit identifies that the boundary line signal is abnormal, so as to trigger the base station to update the boundary line signal according to the adjusting signal.
Therefore, wireless communication connection can be established between the base station and the automatic walking equipment, so that the base station can transmit the boundary line signal and simultaneously synchronously transmit the waveform type corresponding to the boundary line signal to the automatic walking equipment through wireless communication. Therefore, the automatic walking equipment in the working area can use the waveform data received in a wireless communication mode as a reference sample, compares whether the boundary line signal actually received by the boundary line signal detection unit accords with the waveform characteristics of the current boundary line signal, and can directly ignore the non-boundary line signal and accurately identify the correct boundary line signal with consistent waveform characteristic matching by comparing the signal waveforms. The main control unit of the automatic walking equipment can also trigger the base station to switch the type of the boundary line signal sent by the base station in a wireless interaction mode by checking the receiving error rate of the boundary line signal and when the receiving error rate of the boundary line signal exceeds an interference threshold value, so that the influence of the interference signal which is close to the waveform type of the current boundary line signal in the environment on the identification of the boundary line by the automatic walking equipment is avoided.
In a general working scene, the automatic walking equipment identifies boundary line signals and usually has the following abnormal conditions: the amplitude of the boundary line signal is lower than the detection sensitivity requirement of the boundary line signal detection unit or lower than the lower limit of the amplitude of the signal which can be processed by the automatic walking equipment control unit, so that the boundary line signal cannot be effectively identified; the amplitude of the boundary line signal is higher than the upper limit of the working range of the signal which can be correctly detected and obtained by the circuit device of the detection unit; or the error rate in the boundary line signal identification process exceeds the interference threshold.
For the former two cases, the present invention can preset a preset threshold range for the magnitude of the boundary signal amplitude. The boundary line signal detection unit and the control unit of the automatic traveling apparatus can effectively recognize and process the boundary line signal between the upper and lower limits of the preset threshold value. Boundary line signals that exceed or fall below this amplitude range may cause erroneous judgment or misidentification of the boundary line signal or make the boundary line signal detection unit unable to detect a valid signal. Generally, the lower limit of the preset threshold range of the boundary signal amplitude is slightly higher than the detection sensitivity requirement of the boundary signal detection unit or slightly higher than the lower limit of the signal amplitude that can be processed by the control unit of the automatic walking device to provide a certain margin, and the upper limit of the preset threshold range of the boundary signal amplitude can be set to be slightly lower than the upper limit of the working range in which the circuit device of the detection unit can correctly detect the obtained signal to ensure the recognition effect of the boundary signal within the preset threshold range.
Therefore, the method can further set the automatic walking to perform boundary line signal identification and interaction in a mode shown in FIG. 2:
after the base station sends the boundary signal, the boundary signal is received by a boundary signal detection unit on the automatic walking equipment, meanwhile, a signal amplitude detection module in the automatic walking equipment amplifies the received signal with a fixed multiplying power, and then the maximum amplitude of the amplified signal is measured;
and when the measured signal amplitude is smaller than the lower limit of the preset threshold value of the boundary signal amplitude, the automatic walking equipment sends an adjusting signal for increasing the transmitting power of the boundary signal to the base station through the wireless communication unit. After receiving the adjustment signal, the base station increases the signal transmitting power if the transmitting power does not reach the maximum value at present. If the maximum power is reached, the boundary signal system is indicated to be in fault, and the base station can be triggered to send out a related instruction to alarm;
and when the measured signal amplitude is larger than the preset threshold of the boundary signal amplitude and is on line, the automatic walking equipment sends an adjusting signal for reducing the transmitting power of the boundary signal to the base station through the wireless communication unit. After receiving the adjusting signal, the base station reduces the transmitting power of the boundary signal;
when the measured signal amplitude is between the preset lower threshold and the upper threshold of the boundary line signal amplitude, the current boundary line signal can be considered to be effectively identified, and therefore the emission intensity of the current boundary line signal can be directly maintained unchanged.
The above-mentioned mode of dynamically and adaptively adjusting the boundary line signal transmitting power not only ensures the necessary signal intensity required by the automatic walking equipment end to effectively receive signals, but also can effectively reduce unnecessary signal transmitting power loss and save energy. By properly increasing the amplitude of the boundary line signal to cover the low-power interference signal, the influence of an external interference signal on the equipment can be reduced, and meanwhile, the transmission power of the boundary line signal is saved by maintaining the boundary line signal in a proper power range, so that the potential interference of the boundary line signal of the system on other equipment outside the system is limited.
In consideration of the fact that in practical application, even if the boundary line signal received by the boundary line signal detection unit is between the upper and lower threshold values, the automatic traveling apparatus control unit may not recognize and obtain correct boundary line signal information due to the interference component superimposed on the received signal by the external environment. Therefore, the application can further set the automatic walking device to adaptively adjust the type of the boundary line signal of the base station according to the mode shown in fig. 3, so as to reduce the influence of the specific environmental interference factor on the identification of the boundary line signal.
In the implementation shown in fig. 3: after the boundary signal sent by the base station is received by the boundary signal detection unit on the automatic walking equipment, the signal error rate detection module can carry out error rate statistics on the signal received by the automatic walking equipment, and the statistical result is output to the control unit of the automatic walking equipment;
therefore, when the counted signal error rate is lower than a given threshold value, the current boundary line signal can be stably received, so that the current signal type can be maintained unchanged; when the error rate counted in unit time is too high and exceeds the interference threshold, it can be judged that the boundary line signal currently adopted by the base station is seriously interfered or the boundary line signal of the type is not suitable for being transmitted in the working area under the current environment. Therefore, the control unit of the automatic walking device can trigger the wireless communication unit to send an adjusting signal for triggering the base station to switch the signal type of the boundary line signal in a wireless communication signal mode. After receiving the command, the base station selects a signal from the signal type library according to a preset sequence or directly at random, and sends the signal type data to the automatic walking equipment through the wireless interaction unit to inform the automatic walking equipment. And the automatic walking equipment feeds back a confirmation message to the base station after receiving the new boundary line signal type information. After receiving the confirmation message of the automatic walking equipment, the base station adjusts the boundary line signal into the signal type and sends the base station signal by adopting the new signal type, therefore, the automatic walking equipment can detect the signal again according to the new signal type so as to avoid the interference generated to the specific boundary signal type in the working area environment.
Similarly, it is considered that the working signals of various devices such as signal base stations, fountains, irrigation systems, sensing and monitoring networks and the like around the working environment of the automatic walking device also interfere with boundary line signals. The time occupied by the effective boundary signal transmitted by the base station in a unit time is short, but the signal detection of the base station is influenced after the interference of the interference signal with certain periodicity. Therefore, in addition to switching the boundary line signal type, the present application may also shift the boundary line signal from the interference signal in the time domain by adaptively adjusting the time interval between the boundary line signals transmitted by the base station in the manner of fig. 4, so as to avoid the influence of the interference signal on the boundary line signal recognized by the autonomous moving equipment.
The specific value of the given threshold of the bit error rate may be a preset unchangeable value or a value which can be artificially changed, and generally the given threshold should not exceed 30%, and in a limit case, the given threshold of the bit error rate should not exceed 50%. Since there may be a variety of different device operating signals in a machine environment, different values may be used for a given threshold of error rate in different operating environments. For example: when no other working equipment exists in the working range of the machine, the given threshold of the error rate can be adjusted to be high, so that the frequent replacement of signals can be reduced, and when the other working equipment exists in the working range of the machine, the given threshold of the error rate can be adjusted to be low, so that the accuracy of signal identification is improved. Or when the machine working range has a plurality of different types of signals reaching certain strength, the given threshold of the error rate is reduced, the different types of signals refer to signals which can be detected by sensors of the machine in the working range and have certain strength, such as wifi, 2.4G, 3G, 4G, 5G, magnetic field and the like, and can be detected by the sensors of the machine, the plurality of signals with equivalent strength coexist, and interference can be caused to the identification of the boundary signals of the machine, and the given threshold of the error rate is reduced at the moment, so that the accuracy of signal identification is improved; when the number of different types of models which can be detected in the working range of the machine is small, the given threshold value of the error rate can be increased, and the boundary signal is prevented from being adjusted frequently. The adjustment of a given threshold may be set manually, for example, by a user adjusting through the machine's own control panel or corresponding app, and the machine's own control program may write the relevant function implementation. Alternatively, the adjustment may be performed by the machine itself. The specific adjustment mode may include:
a. the machine adjusts the given threshold value through the number of different signals received by a self boundary model sensor, specifically, when the number of the received signals exceeds 1, the given threshold value of the error rate is reduced, for example, the given threshold value of the error rate is adjusted to 20%, and when the error rate exceeds 20%, the machine adjusts the signals; when the number of received signals is one, the given threshold of the error rate is increased, for example, the given threshold of the error rate is adjusted to 50%, and when the error rate exceeds 50%, the machine performs signal adjustment.
b. The machine adjusts the given threshold value through the number of different types of signals received by the sensor, specifically, for example, the machine itself has related elements related to receiving signals, such as a bluetooth sensor, a boundary line signal sensor, a 4G communication module, a GPS positioning module, and the like, and the machine can receive the bluetooth signal, the boundary line signal and the GPS signal with certain intensity in the operation process, and then the given threshold value is adjusted to be lower by the machine; and in the running process of the machine, the boundary line signal with certain strength can be received, and the machine is increased by a given threshold value. The signal intensity value is a certain signal intensity value which can meet the requirement that the relevant components of the machine work normally or is set manually.
c. By the means, the boundary line signal can be received, detected and adjusted by the machine better.
The specific implementation of the machine adjusting boundary line signal is shown in fig. 4 and 5: the base station sends boundary line signals at fixed time intervals, the sent boundary signals are received by a boundary line signal detection unit on the automatic walking equipment, meanwhile, a signal error rate detection module can carry out error rate statistics on the signals received by the automatic walking equipment, and the statistical results are output to a control unit of the automatic walking equipment;
therefore, when the counted signal error rate is lower than a given threshold value, the current boundary line signal can be stably received, so that the sending interval time between the current boundary line signals can be kept unchanged; and when the error rate counted in unit time is too high and exceeds the interference threshold, the boundary line signal adopted by the base station at present can be judged to be seriously interfered. Therefore, the control unit of the automatic walking device can trigger the wireless communication unit to send an adjusting signal for triggering the base station to adjust the interval time between the boundary line signals in a wireless communication signal mode. After receiving the command, the base station can adaptively change the interval between the transmission times of the boundary line signals according to the set step length, and move the boundary line signals forward or lag for a certain time, or randomly adjust the interval between the transmission times of the boundary line signals, so that the boundary line signals are gradually adjusted to a time period with less interference signals through a mode shown in fig. 5, the probability of collision between the boundary line signals and the interference signals is reduced, and the efficiency of signal detection is improved.
In the above manner of triggering switching, adjusting the signal type of the boundary line signal or adjusting the sending interval time of the boundary line signal based on the error rate of the boundary line signal according to the recognition condition of the boundary line signal, the error rate of the boundary line signal received by the automatic traveling apparatus may be specifically evaluated by using the manner shown in fig. 6:
firstly, setting a statistical period, and respectively recording a correctly identified boundary line signal and an incorrectly identified boundary line signal in the preset statistical period;
when a statistical period is finished, calculating the proportion of boundary line signals with errors identified in the statistical period, namely calculating the proportion of the number of times of receiving errors of the boundary signals to the total number of times, obtaining an error rate, using the index to represent the accuracy of receiving the boundary line signals, and meanwhile, triggering the wireless communication unit to transmit an adjusting signal to enable the base station to switch the signal type of the boundary line signals or enable the base station to switch the transmission interval time of the boundary line signals when the error rate of the statistical period exceeds an interference threshold or when the error rates of a plurality of adjacent statistical periods exceed the interference threshold as a judgment of relevant function adjustment.
In summary, the present application realizes an adaptive boundary line signal adjusting mechanism between a base station and an automatic traveling device through a wireless interaction unit disposed in the base station and a wireless communication unit disposed on the automatic traveling device in a working area to which the base station belongs: the method comprises the steps that a base station synchronously transmits a signal waveform to automatic traveling equipment in a wireless communication mode while transmitting a boundary line signal, the automatic traveling equipment takes the waveform received in wireless communication as a sample to be compared with the actually received boundary line signal, signals with consistent waveforms are identified as the boundary line signal, the error rate of the received boundary line signal is checked, and according to the size of the received error rate, the signal type, the signal transmission interval or the signal amplitude of the boundary line signal transmitted by the base station are automatically adjusted through interaction of the automatic traveling equipment and the base station, or all parameters of the boundary line signal are comprehensively adjusted.
According to the boundary line signal coordination process, manual setting of a user is not needed, user operation steps are simplified, and product usability is improved. Moreover, the automatic interaction mode of the boundary line signals can effectively reduce the probability of collision between the boundary line signals and other signals, reduce signal receiving interference and improve the success rate of signal receiving.
According to the method, the base station and the automatic walking equipment represent the accuracy of boundary line signal receiving within a certain time according to the boundary signal line signal receiving error rate index in the process of carrying out interaction coordination on the boundary line signal. The recognition abnormity of the boundary line signal can be rapidly recognized through the judgment of the error rate in the statistical period, so that the boundary line signal which is seriously interfered is rapidly adjusted, the boundary line signal can be always maintained in a state of lower error code and interference in the running process of the automatic walking equipment, the interaction efficiency of the boundary line signal is improved, and the stable and safe running of the automatic walking equipment is ensured.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. 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 protection scope of the present application.
Claims (10)
1. A boundary line signal interaction method for automatic walking equipment is characterized in that the interaction step of the automatic walking equipment end comprises the following steps:
receiving boundary line signals and signal types transmitted by the base station through wireless communication;
and identifying the boundary line signal according to the signal type, transmitting an adjusting signal to the base station in a wireless communication mode when the boundary line signal is abnormally received, and triggering the base station to update the boundary line signal according to the adjusting signal.
2. A boundary line signal interaction method for an automatic walking device as claimed in claim 1, wherein the boundary line signal reception abnormality includes any one or a combination of the following:
the amplitude of the boundary line signal is lower than the lower limit of a preset threshold value;
the amplitude of the boundary line signal is higher than the upper limit of a preset threshold value;
the error rate in the boundary line signal identification process exceeds the interference threshold.
3. A boundary line signal interaction method for an automatic traveling apparatus according to claim 2, wherein the adjustment signal transmitted from the automatic traveling apparatus to the base station includes:
when the boundary line signal amplitude is lower than the lower limit of a preset threshold value, triggering the base station to increase an adjusting signal of the boundary line signal transmitting power;
when the amplitude of the boundary line signal is higher than the upper limit of a preset threshold, triggering a base station to reduce an adjusting signal of the transmission power of the boundary line signal;
and when the error rate in the boundary line signal identification process exceeds an interference threshold, triggering the base station to switch the signal type of the boundary line signal or triggering the base station to switch the adjustment signal of the boundary line signal transmission interval time.
4. A boundary line signal interaction method for an automatic walking device as claimed in claim 2, wherein the error rate in the boundary line signal identification process is statistically obtained by the steps of:
respectively recording correctly identified boundary line signals and incorrectly identified boundary line signals in a preset statistical period;
and calculating the proportion of boundary line signals for identifying errors in the statistical period to obtain the error rate.
5. An automated walking device, comprising:
a boundary line signal detection unit for receiving a boundary line signal;
the main control unit is used for identifying the boundary line signal according to the signal type received by the wireless communication unit;
and the wireless communication unit is used for receiving the signal type transmitted by the base station, transmitting an adjusting signal to the base station when the main control unit identifies the abnormal boundary line signal, and triggering the base station to update the boundary line signal according to the adjusting signal.
6. The automated walking device of claim 5, wherein said master control unit further comprises: and the error rate counting unit is used for respectively recording the correctly identified boundary line signals and the incorrectly identified boundary line signals in a preset counting period, calculating the proportion of the incorrectly identified boundary line signals in the counting period to obtain the error rate, and triggering the wireless communication unit to transmit an adjusting signal to enable the base station to switch the signal type of the boundary line signals or enable the base station to switch the transmission interval time of the boundary line signals when the error rate exceeds an interference threshold.
7. The automatic walking device of claim 5, wherein the wireless communication unit sends an adjustment signal to trigger the base station to increase the boundary line signal transmission power when the boundary line signal amplitude is lower than a preset lower threshold;
and when the amplitude of the boundary line signal is higher than the upper limit of the preset threshold, sending an adjusting signal to trigger the base station to reduce the transmitting power of the boundary line signal.
8. A base station to which a boundary line surrounding an operating area of an automatic traveling apparatus is connected, comprising:
the boundary line signal driving unit is used for driving the boundary line to send a boundary line signal;
and the wireless interaction unit is used for transmitting the signal type matched with the current boundary line signal to the automatic walking equipment, receiving an adjusting signal of the automatic walking equipment and triggering the boundary line signal driving unit to update the boundary line signal according to the adjusting signal.
9. The base station of claim 8, wherein the boundary line signal driving unit increases the boundary line signal transmission power in response to an adjustment signal when the amplitude of the boundary line signal at the end of the autonomous traveling apparatus is lower than a preset threshold lower limit;
or, in response to an adjusting signal when the amplitude of the boundary line signal of the end of the automatic walking equipment is higher than the upper limit of a preset threshold, reducing the transmitting power of the boundary line signal;
or responding to an adjusting signal when the error rate of the automatic walking equipment exceeds the interference threshold, and switching the signal type of the boundary line signal or changing the sending interval time of the boundary line signal.
10. The base station of claim 8, wherein the wireless interactive unit further retransmits a signal type matching the updated boundary line signal to the automatic walking device after each switching of the signal type of the boundary line signal.
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