WO2020119323A1 - Method for identifying boundary signal and robot system - Google Patents

Method for identifying boundary signal and robot system Download PDF

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Publication number
WO2020119323A1
WO2020119323A1 PCT/CN2019/115050 CN2019115050W WO2020119323A1 WO 2020119323 A1 WO2020119323 A1 WO 2020119323A1 CN 2019115050 W CN2019115050 W CN 2019115050W WO 2020119323 A1 WO2020119323 A1 WO 2020119323A1
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signal
signal group
group
boundary
detection signal
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PCT/CN2019/115050
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French (fr)
Chinese (zh)
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朱绍明
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苏州科瓴精密机械科技有限公司
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Publication of WO2020119323A1 publication Critical patent/WO2020119323A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

Definitions

  • the invention relates to the field of intelligent control, in particular to a method and a robot system for identifying boundary signals.
  • the fixed continuous signal sent by the base station requires the user to store the code that generates the fixed continuous signal in the controller in advance, or manually input it during use, and additional wireless communication between the generator and the controller is required.
  • the flexibility is not enough and it is troublesome to use.
  • the recognition ability of the robot is weak, which results in insufficient anti-interference ability and the ability to distinguish adjacent signals.
  • an object of the present invention is to provide a method and a robot system for identifying boundary signals.
  • an embodiment of the present invention provides a method for identifying a boundary signal, the boundary signal includes signal groups that appear at intervals, and the signal group includes a front signal unit and a rear signal unit that appear sequentially;
  • the characteristics of the signal group are characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters;
  • the method includes the following steps: S1, generating the signal group parameters to make the signal group The parameter satisfies the limitation of the relationship function; S2, generating a signal group according to the signal group parameter to send out to form the boundary signal; S3, generating a detection signal group according to the detected signal, and analyzing the detection signal group To obtain the detection signal group parameters; wherein, the detection signal group is a front detection signal unit and a rear detection signal unit sequentially detected; the detection signal group parameters correspond to the signal group parameters one-to-one; Whether the parameters of the detection signal group satisfy the limitation of the relationship function; if yes, the detection signal group is recognized as
  • the step S1 includes: S11, configuring a preset range for at least two of the signal group parameters; S12, for the signal group parameter configured with a preset range, Values are assigned within the preset ranges corresponding to them, respectively.
  • step S11 when the range reset condition is satisfied, at least one of the preset ranges is reconfigured.
  • step S12 at least one of the signal group parameters is randomly or pseudo-randomly assigned.
  • a preset range set is configured for at least one of the signal group parameters, and the preset range is selected from the preset range set; wherein, in the preset range set There is no overlapping value range for any two of the preset ranges.
  • a relationship function set is configured, and the relationship function is selected from the relationship function set; wherein, any two of the relationship functions in the relationship function set are different.
  • a signal group is generated according to the signal group parameter and periodically sent out with a signal generation period T to form the boundary signal.
  • step S4 if so, the following steps are performed: S5, determining whether two adjacent detection signals are detected within the signal detection period t R of a signal detection period T D The time interval T tst between the groups is less than the signal generation period T; if it is, it is judged that there is a similar signal; if not, it is judged that there is no similar signal; wherein, T D ⁇ t R > 2T.
  • step S5 if so, the following steps are performed: S6, regenerating the signal group parameters and/or the relationship function; S7, performing steps S2 to Step S5 until it is determined in step S5 that there is no similar signal.
  • the first detection signal unit and the second detection signal unit are sequentially detected as a detection signal group; if in the step S4 executed thereafter, the If the detection signal group is identified as an interference signal, the first detection signal unit is determined to be an interference signal, and when the step S3 is performed next time, the second detection signal and the adjacent third detection signal are detected next As a detection signal group.
  • the step S4 includes: S41, sequentially determining whether each of the detection signal group parameters and the corresponding signal group parameters match; if a mismatch occurs, the detection The signal group is identified as an interference signal; if there is no mismatch, step S42 is executed; S42, any one of the detection signal group parameters is selected as the parameter to be compared, and the other detection signal group parameters other than the parameter to be compared are used Calculate the calculation parameters with the relationship function; S43, determine whether the parameters to be compared and the calculation parameters match; if not, identify the detection signal group as an interference signal; if yes, the detection signal group Recognized as a valid signal.
  • the steps S41 and S42 are replaced with: S41', any one of the detection signal group parameters is selected as the parameter to be compared; each other than the parameter to be compared is judged in turn Whether the detected signal group parameter matches the corresponding signal group parameter; if a mismatch occurs, the detected signal group is identified as an interference signal; if no mismatch occurs, steps S42'; S42' are performed,
  • the calculation parameters are calculated by using the detection signal group parameters and the relationship function other than the parameters to be compared.
  • the signal group parameters include a front signal unit feature value, a back signal unit feature value, and an associated feature value
  • the relationship function describes the front signal unit feature value and the back signal unit
  • the detection signal group parameters include the characteristic value of the front detection signal unit, the characteristic value of the rear detection signal unit, and the detection associated characteristic value.
  • the front signal unit and/or the rear signal unit are single pulses or pulse groups with n pulses.
  • the characteristic value of the front signal unit and/or the characteristic value of the rear signal unit include at least one of the pulse width time of the single pulse, the amplitude of the single pulse, or any of the pulse groups At least one of the pulse width time of a single pulse, the sum of the pulse width times of all single pulses in the pulse group, the total pulse width time of the pulse group, the frequency of the pulse group, and the pulse number n of the pulse group.
  • an embodiment of the present invention provides a robot system, a boundary device, the boundary device including a signal generation module for generating a boundary signal near the boundary of the work area;
  • a signal group the signal group including a front signal unit and a rear signal unit appearing in sequence, and the characteristics of the signal group are characterized by at least three signal group parameters and a relationship function describing the numerical relationship between the signal group parameters;
  • Robot equipment the robot equipment includes a boundary signal detection module and a control module; the boundary signal detection module is used to sense signals and generate a detection signal group;
  • the control module includes a signal analysis unit and a signal comparison unit, the signal analysis The unit is used to parse the detection signal group and obtain the detection signal group parameters.
  • the detection signal group is a front detection signal unit and a rear detection signal unit that are sequentially detected.
  • the detection signal group parameters and the signal The group parameters are in one-to-one correspondence; the signal comparison unit is used to determine whether the detection signal group parameters meet the limit of the relationship function. If yes, the detection signal group is recognized as a valid signal.
  • the detection signal group is identified as an interference signal.
  • the border device includes a base station and a border line, and the signal generation module is provided at the base station.
  • the boundary device includes a first storage unit for storing preset and/or generated signal group parameters and relationship functions; the robotic device includes a second A storage unit, where the second storage unit is used to store preset and/or generated signal group parameters and relationship functions corresponding to the first storage unit.
  • the method and robot system for identifying boundary signals of the present invention transmit and receive signal groups characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters, It can accurately distinguish whether the received detection signal group is a valid signal, has excellent anti-interference performance, is easy to implement, and improves the working efficiency of the robot.
  • FIG. 1 is a schematic structural diagram of a robot in an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for identifying a boundary signal according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a specific implementation of step S1 in FIG. 2;
  • FIG. 4 and 5 are schematic diagrams of specific implementation processes of step S4 in FIG. 2;
  • FIG. 6 is a schematic flowchart of a method for identifying a boundary signal provided by a preferred embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a first signal in the first specific example of the present invention.
  • FIG. 8 is a schematic diagram of a first signal in a second specific example of the present invention.
  • the robot system of the present invention may be a lawn mowing robot system, or a sweeping robot system, etc., which automatically walks in the work area for mowing and vacuuming.
  • the robot system is used as a mowing robot system as an example.
  • the working area may be a lawn.
  • a preferred embodiment of the present invention provides a mowing robot system, which includes a robot device and a boundary device.
  • the robot device is specifically a mowing robot.
  • the mowing robot includes a body 10, and the body 10 is provided with a mobile unit, a second storage unit, a boundary signal detection module, and a control module.
  • the boundary device includes a base station that is independent of the mowing robot and can be docked and charged by the mowing robot, and a boundary line connected to the base station and arranged along the periphery of the work area.
  • the base station is provided with a signal generation module and a first storage unit. When the signal generation module generates and transmits a boundary signal, the boundary signal is transmitted within the boundary line to form an electromagnetic signal near the boundary line.
  • the signal is a pulse code signal.
  • the mobile unit includes a driving wheel 21, a passive wheel 23, and a motor 25 for driving the driving wheel 21;
  • the motor 25 may be a brushless motor with a reduction box; after the motor 25 is started, the driving wheel 21 may be driven through the reduction box Walk, and control the rotation speed of the driving wheel 21, and further, in conjunction with the adjustment of the driving wheel 21, drive the entire robot to achieve forward, backward, turning and other actions.
  • the passive wheel 23 may be a universal wheel, which mainly serves to support balance.
  • the boundary signal detection module is used to sense the electromagnetic signal near the boundary line and convert the electromagnetic signal into a detection signal.
  • the boundary signal detection module includes two inductance coils, and the two inductance coils are arranged symmetrically with respect to the central axis of the body 10.
  • the control module includes a signal analysis unit and a signal comparison unit.
  • the signal analysis unit analyzes the detection signal generated by the boundary signal detection module to obtain the characteristics of the detection signal, and the signal comparison unit compares the characteristics of the detection signal with the characteristics of the boundary signal.
  • the controller determines whether the detection signal is a valid signal according to the comparison result, and further directly or indirectly controls the robot device and/or the boundary device according to the valid signal. For example, the control unit determines the relative positional relationship between the robot device and the boundary line through an effective signal, including but not limited to whether the robot device is located outside the boundary line, the distance between the robot device and the boundary line, and so on.
  • the control unit can determine the difference between the signal inside and outside the boundary line obtained by the boundary signal detection module according to the strength of the electromagnetic signal near the boundary line To control the operation of the motor 25, so that the robot device always runs along the boundary line or along the boundary line with an equal distance from the boundary line or inside or outside.
  • the mowing robot further includes an operation module, specifically a cutter head for mowing.
  • the mowing robot also includes various sensors for sensing the walking state of the robot, such as: dump, ground, and collision sensors, which will not be repeated here.
  • the boundary signal includes signal groups that appear at intervals, and the signal group includes a front signal unit and a rear signal unit that appear in sequence; characteristics of the signal group It is characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters.
  • the signal group parameter of the present invention includes the characteristic value of the front signal unit, the characteristic value of the rear signal unit, and the associated characteristic value, and the relationship function characterizes the characteristic value of the front signal unit, the characteristic value of the rear signal unit, and the relationship characteristic
  • a method for identifying a boundary signal includes the following steps:
  • the step S1 includes: S11, configuring a preset range for at least two of the signal group parameters; S12, for the signal configured with the preset range Group parameters are assigned within the corresponding preset ranges respectively.
  • At least one of the preset ranges is reconfigured.
  • at least one of the signal group parameters is randomly or pseudo-randomly assigned.
  • a preset range is configured for at least one of the signal group parameters Set, the preset range is selected from the preset range set; wherein there is no overlapping value range for any two of the preset ranges in the preset range set.
  • a relationship function set is configured, and the relationship function is selected from the relationship function set; wherein, any two of the relationship functions in the relationship function set are different.
  • the detection signal group is a front detection signal unit and a rear detection signal unit that are sequentially detected;
  • the detection signal group parameters correspond to the signal group parameters one-to-one.
  • the detection signal group parameters of the present invention include the characteristic value of the front detection signal unit, the characteristic value of the rear detection signal unit, and the detection associated characteristic value.
  • the step S4 specifically includes: S41, judging whether each of the detected signal group parameters and the corresponding signal group parameters match in sequence; if a mismatch occurs, Then, the detected signal group is identified as an interference signal; if there is no mismatch, as shown in FIG. 5, the following steps are performed: S42, select any one of the detected signal group parameters as the parameters to be compared, and use the Other than the comparison parameters, the detection signal group parameters and the relationship function are calculated to obtain calculation parameters; S43, determining whether the parameter to be compared and the calculation parameters match; if not, identifying the detection signal group as interference Signal; if yes, then identify the detection signal group as a valid signal.
  • the steps S41 and S42 are replaced with: S41', any one of the detection signal group parameters is selected as the parameter to be compared; each other than the parameter to be compared is judged in turn Whether the detected signal group parameter matches the corresponding signal group parameter; if a mismatch occurs, the detected signal group is identified as an interference signal; if no mismatch occurs, steps S42'; S42' are performed,
  • the calculation parameters are calculated by using the detection signal group parameters and the relationship function other than the parameters to be compared.
  • step S4 if it is determined that the detection signal group parameter satisfies the limit of the relationship function, the following steps are performed: S5, it is determined that a signal detection period T Whether the time interval T tst between two adjacent detection signal groups is detected within the signal detection period t R of D is less than the signal generation period T; if it is, it is judged that there is a similar signal; if not, it is judged that there is no similar signal; , T D ⁇ t R >2T.
  • the signal generation period T is configured to 4 ms
  • the signal detection period T D is configured to 15 ms
  • the signal detection period t R is configured to 10 ms.
  • step S5 if yes, perform the following steps: S6, regenerate the signal group parameters and/or the relationship function; S7, perform steps S2 to S5 until the step It is determined in S5 that there is no similar signal.
  • the first detection signal unit and the second detection signal unit are sequentially detected as a detection signal group; if the detection signal group is performed in the step S4 executed thereafter If it is recognized as an interference signal, the first detection signal unit is determined to be an interference signal, and when the step S3 is executed next time, the second detection signal and the adjacent third detection signal subsequently detected are used as a detection Signal group.
  • the front signal unit and/or the rear signal unit is a single pulse or a pulse group with pulse number n; correspondingly, the characteristic value of the front signal unit and/or the rear signal unit
  • the characteristic value includes at least one of the pulse width time of the single pulse, the amplitude of the single pulse, or the pulse width time of any single pulse in the pulse group, the sum of the pulse width times of all single pulses in the pulse group, and the total of the pulse group At least one of the pulse width time, the frequency of the pulse group, and the pulse number n of the pulse group.
  • the first signal unit are represented by S i
  • the signal units are represented by S t
  • the relationship between the function f t to said pre-signal unit are c i represents the characteristic value
  • the characteristic value of the signal unit All are denoted by c t
  • the associated feature values are denoted by c R
  • the eigenvalues of the pre-detection signal unit are denoted by c tsti
  • the eigenvalues of the post-detection signal unit are denoted by c ttst
  • the eigenvalues of the detected correlation feature are denoted by c Rtst .
  • the front unit and the signal unit signal are single pulse signals, wherein the signal unit before the value c i S i for the first pulse width signal unit time pw i, the signal unit wherein C t values of the signal S t means the time of a pulse width pw t, associated eigenvalues c R t is a time interval between the previous signal and the signal unit cell S i S t, F t is expressed as a function of the relationship: A represents the characteristic value of the front signal unit, B represents the characteristic value of the rear signal unit, and C represents the associated characteristic value.
  • the preset ranges are configured for c t and c R.
  • the preset ranges corresponding to c t and c R are respectively rang_c t and rang_t; further, pw t is in the preset range rang_c t Inner random/pseudo-random values, rang_c t for example (50 ⁇ s, 150 ⁇ s), t random/pseudo-random values in the preset range rang_t, rang_t for example (60 ⁇ s, 100 ⁇ s), through the relationship function
  • the signal group parameters obtained above are generated into a signal group, and periodically sent out with a signal generation period T to form the boundary signal.
  • a signal generation period T to form
  • the robot when the robot is walking along the patrol route, it receives the electromagnetic boundary signal in real time, and determines whether the actually received electromagnetic boundary signal is an interference signal by verifying whether the electromagnetic boundary signal actually received by the robot conforms to predetermined rules. If it is a non-interfering signal, confirm the robot's position and other information based on it.
  • the robot obtains the detection signal group parameters with reference to the signal group parameters; the post-detection signal unit characteristic value pw i.tst is used as the parameter to be compared; specifically, the pre-detection signal unit characteristic value pw t.tst , and t .tst associated feature value detection, determines whether the range pw t.tst (50 ⁇ s, 150 ⁇ s) pw t where, at the same time in the range t .tst (60 ⁇ s, 100 ⁇ s) t where, if not, the The detection signal group is identified as an interference signal; if it is, then the relationship function is combined Calculate the calculation parameters And determine whether pw i.cal is within the preset range (55 ⁇ s, 125 ⁇ s) where pw i.tst is located, and whether the relative error between pw i.cal and pw i.tst is less than the preset characteristic value threshold re, if
  • the front signal unit is a single pulse signal
  • the rear signal unit is a pulse group including n pulses with a fixed period T p and a fixed pulse width
  • c i is the pulse width of S i
  • the value pw i , c t is n
  • c R is the time interval t between S i and S t
  • a preset range is configured for c t and c R.
  • the parameter generates a signal group and sends it out periodically with a signal generation period T to form the boundary signal.
  • the specific values of the signal group parameters in the example shown in FIG. 8 can be modified accordingly, for example, T p and n are used as c t , and t is used as c R , which will not be repeated here.
  • the third specific example of the present invention is improved on the basis of the second example, the difference is that the front signal unit is a pulse signal group including a plurality of single pulse signals, and the associated characteristic value is front
  • the time interval between any pulse signal in the signal unit and the rear signal unit may be empty.
  • the pre-signal unit S i includes a first pilot pulse p i1 and a second pilot pulse p i1 appearing in sequence, and their pulse widths are pw i1 and pw i2 , respectively, and the time interval between the two is t i , p i1
  • the time interval between the first pulse signal in the post-signal unit is t 1
  • the time interval between p i2 and the first pulse signal in the post-signal unit is t 2
  • c R is empty
  • c i includes pw i1 And pw i2
  • c t includes n and T p
  • each signal group parameter can be obtained by this method.
  • the digital signal of the received signal may also be obtained by analog-to-digital conversion with a suitable sampling frequency, and the detection signal group parameters may be obtained through digital signal processing.
  • the method and robot system for identifying boundary signals of the present invention transmit and receive signal groups characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters, It can accurately distinguish whether the received detection signal group is a valid signal, has excellent anti-interference performance, is easy to implement, and improves the working efficiency of the robot.
  • the disclosed system, system, and method may be implemented in other ways.
  • the system implementation described above is only schematic.
  • the division of the modules is only a division of logical functions.
  • there may be other divisions for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or modules, and may be in electrical, mechanical or other forms.
  • modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware, or in the form of hardware plus software function modules.
  • the above integrated modules implemented in the form of software function modules may be stored in a computer-readable storage medium.
  • the above software function modules are stored in a storage medium, and include several instructions to enable a computer system (which may be a personal computer, a server, or a network system, etc.) or a processor (processor) to perform the methods described in the various embodiments of the present application. Partial steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

A method for identifying a boundary signal and a robot system. A boundary signal comprises a signal group which appears at intervals, and the signal group comprises a front signal unit and a rear signal unit which appear in sequence; the signal group is characterized by at least three signal group parameters and a relation function for describing a numerical relation among the signal group parameters. The method comprises: generating the signal group parameters so that the signal group parameters meet a limit of the relation function (S1); generating the signal group according to the signal group parameters and sending out the signal group to form the boundary signal (S2); generating a detected signal group according to detected signals, and parsing the detected signal group to obtain detected signal group parameters; determining whether the detected signal group parameters meet the limit of the relation function (S4); if yes, identifying the detected signal group as a valid signal; and if no, identifying the detected signal group as an interference signal. Whether a monitoring signal is a valid signal can be accurately distinguished, and excellent anti-interference performance is provided.

Description

识别边界信号的方法及机器人***Method and robot system for identifying boundary signals 技术领域Technical field
本发明涉及智能控制领域，尤其涉及一种识别边界信号的方法及机器人***。The invention relates to the field of intelligent control, in particular to a method and a robot system for identifying boundary signals.
背景技术Background technique
随着科学技术的不断进步，各种自动工作设备已经开始慢慢的走进人们的生活，例如：自动吸尘机器人、自动割草机器人等。这种自动工作设备具有行走装置、工作装置及自动控制装置，从而使得自动工作设备能够脱离人们的操作，在一定范围内自动行走并执行工作，在自动工作设备的储能装置能量不足时，其能够自动返回充电站装置进行充电，然后继续工作。With the continuous progress of science and technology, various automatic working equipment has begun to slowly enter people's lives, such as: automatic vacuum robots, automatic lawn mowing robots, etc. This automatic working equipment has a walking device, a working device and an automatic control device, so that the automatic working equipment can be separated from the operation of people, and it can automatically walk and perform work within a certain range. When the energy storage device of the automatic working equipment has insufficient energy, it It can automatically return to the charging station device for charging, and then continue to work.
以自动工作设备为割草机器人为例进行说明，基站沿工作区域的边界线发固定连续的信号以产生的电磁边界信号，割草机器人在工作过程中，接收该电磁边界信号以驱动机器人沿边界线行走以及工作。Taking an automatic working device as a mowing robot for example, the base station sends a fixed continuous signal along the boundary line of the working area to generate an electromagnetic boundary signal. During the working process, the mowing robot receives the electromagnetic boundary signal to drive the robot along the boundary line Walking and working.
现有技术中，基站发送的固定连续的信号，需要用户将产生固定连续信号的编码预先存储到控制器，或者在使用过程中人工输入，而且需额外增加发生器和控制器间的无线通信，灵活度不够且使用麻烦；另外，对于基站发送的固定连续的信号，机器人的识别能力较弱，导致其抗干扰能力以及区别相邻信号的能力不足。In the prior art, the fixed continuous signal sent by the base station requires the user to store the code that generates the fixed continuous signal in the controller in advance, or manually input it during use, and additional wireless communication between the generator and the controller is required. The flexibility is not enough and it is troublesome to use. In addition, for the fixed continuous signals sent by the base station, the recognition ability of the robot is weak, which results in insufficient anti-interference ability and the ability to distinguish adjacent signals.
发明内容Summary of the invention
为解决上述技术问题，本发明的目的在于提供一种识别边界信号的方法及机器人***。In order to solve the above technical problems, an object of the present invention is to provide a method and a robot system for identifying boundary signals.
为了实现上述发明目的之一，本发明一实施方式提供一种识别边界信号的方法，所述边界信号包括间隔出现的信号组，所述信号组包括依次出现的前信号单元和后信号单元；所述信号组的特征使用至少三个信号组参数和刻画所述 信号组参数之间数值关系的关系函数来表征；所述方法包括如下步骤：S1，生成所述信号组参数，使所述信号组参数满足所述关系函数的限定；S2，根据所述信号组参数生成信号组向外发送以形成所述边界信号；S3，根据检测到的信号生成检测信号组，对所述检测信号组进行解析，获取检测信号组参数；其中，所述检测信号组为依次检测到的前检测信号单元和后检测信号单元；所述检测信号组参数与所述信号组参数一一对应；S4，判断所述检测信号组参数是否满足所述关系函数的限定；若是，则将所述检测信号组识别为有效信号；若否，则将所述检测信号组识别为干扰信号。In order to achieve one of the above objects of the invention, an embodiment of the present invention provides a method for identifying a boundary signal, the boundary signal includes signal groups that appear at intervals, and the signal group includes a front signal unit and a rear signal unit that appear sequentially; The characteristics of the signal group are characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters; the method includes the following steps: S1, generating the signal group parameters to make the signal group The parameter satisfies the limitation of the relationship function; S2, generating a signal group according to the signal group parameter to send out to form the boundary signal; S3, generating a detection signal group according to the detected signal, and analyzing the detection signal group To obtain the detection signal group parameters; wherein, the detection signal group is a front detection signal unit and a rear detection signal unit sequentially detected; the detection signal group parameters correspond to the signal group parameters one-to-one; Whether the parameters of the detection signal group satisfy the limitation of the relationship function; if yes, the detection signal group is recognized as a valid signal; if not, the detection signal group is recognized as an interference signal.
作为本发明一实施方式的进一步改进，所述步骤S1包括：S11，为所述信号组参数中的至少两个配置预设范围；S12，对于被配置了预设范围的所述信号组参数，分别在与其相应的所述预设范围内被赋值。As a further improvement of an embodiment of the present invention, the step S1 includes: S11, configuring a preset range for at least two of the signal group parameters; S12, for the signal group parameter configured with a preset range, Values are assigned within the preset ranges corresponding to them, respectively.
作为本发明一实施方式的进一步改进，对于所述步骤S11，在满足范围重置条件时，重新配置至少一个所述预设范围。As a further improvement of an embodiment of the present invention, for step S11, when the range reset condition is satisfied, at least one of the preset ranges is reconfigured.
作为本发明一实施方式的进一步改进，对于所述步骤S12，至少一个所述信号组参数是被随机或伪随机地被赋值。As a further improvement of an embodiment of the present invention, for step S12, at least one of the signal group parameters is randomly or pseudo-randomly assigned.
作为本发明一实施方式的进一步改进，为所述信号组参数中的至少一个配置预设范围集合，所述预设范围从所述预设范围集合中选取；其中，所述预设范围集合中任意两个所述预设范围不存在重叠的取值范围。As a further improvement of an embodiment of the present invention, a preset range set is configured for at least one of the signal group parameters, and the preset range is selected from the preset range set; wherein, in the preset range set There is no overlapping value range for any two of the preset ranges.
作为本发明一实施方式的进一步改进，配置一关系函数集合，所述关系函数从所述关系函数集合中选取；其中，所述关系函数集合中任意两个所述关系函数均不相同。As a further improvement of an embodiment of the present invention, a relationship function set is configured, and the relationship function is selected from the relationship function set; wherein, any two of the relationship functions in the relationship function set are different.
作为本发明一实施方式的进一步改进，对于所述步骤S2，根据所述信号组参数生成信号组并以信号发生周期T、周期性地向外发送，以形成所述边界信号。As a further improvement of an embodiment of the present invention, for the step S2, a signal group is generated according to the signal group parameter and periodically sent out with a signal generation period T to form the boundary signal.
作为本发明一实施方式的进一步改进，对于所述步骤S4，若是，则执行如下步骤：S5，判断在一个信号检测周期T D的信号检测时段t R内是否检测到的两 个相邻检测信号组之间的时间间隔T tst小于信号发生周期T；若是，则判断存在相似信号；若否，则判断不存在相似信号；其中，T D≥t R>2T。 As a further improvement of an embodiment of the present invention, for step S4, if so, the following steps are performed: S5, determining whether two adjacent detection signals are detected within the signal detection period t R of a signal detection period T D The time interval T tst between the groups is less than the signal generation period T; if it is, it is judged that there is a similar signal; if not, it is judged that there is no similar signal; wherein, T D ≥ t R > 2T.
作为本发明一实施方式的进一步改进，对于所述步骤S5，若是，则执行如下步骤：S6，重新生成所述信号组参数和/或所述关系函数；S7，执行所述步骤S2至所述步骤S5，直到所述步骤S5中判断不存在相似信号为止。As a further improvement of an embodiment of the present invention, for step S5, if so, the following steps are performed: S6, regenerating the signal group parameters and/or the relationship function; S7, performing steps S2 to Step S5 until it is determined in step S5 that there is no similar signal.
作为本发明一实施方式的进一步改进，对于所述步骤S3，将依次检测到第一检测信号单元和第二检测信号单元作为一检测信号组；若在其后执行的所述步骤S4中，该检测信号组被识别为干扰信号，则判断所述第一检测信号单元为干扰信号，并在下一次执行所述步骤S3时，将所述第二检测信号和相邻随后检测到的第三检测信号作为一检测信号组。As a further improvement of an embodiment of the present invention, for the step S3, the first detection signal unit and the second detection signal unit are sequentially detected as a detection signal group; if in the step S4 executed thereafter, the If the detection signal group is identified as an interference signal, the first detection signal unit is determined to be an interference signal, and when the step S3 is performed next time, the second detection signal and the adjacent third detection signal are detected next As a detection signal group.
作为本发明一实施方式的进一步改进，所述步骤S4包括：S41，依次判断每个所述检测信号组参数与其相对应的所述信号组参数是否匹配；若出现不匹配，则将所述检测信号组识别为干扰信号；若未出现不匹配，则执行步骤S42；S42，选择任意一个所述检测信号组参数作为待比较参数，利用除所述待比较参数外的其他所述检测信号组参数和所述关系函数计算得到计算参数；S43，判断所述待比较参数与所述计算参数是否匹配；若否，则将所述检测信号组识别为干扰信号；若是，则将所述检测信号组识别为有效信号。As a further improvement of an embodiment of the present invention, the step S4 includes: S41, sequentially determining whether each of the detection signal group parameters and the corresponding signal group parameters match; if a mismatch occurs, the detection The signal group is identified as an interference signal; if there is no mismatch, step S42 is executed; S42, any one of the detection signal group parameters is selected as the parameter to be compared, and the other detection signal group parameters other than the parameter to be compared are used Calculate the calculation parameters with the relationship function; S43, determine whether the parameters to be compared and the calculation parameters match; if not, identify the detection signal group as an interference signal; if yes, the detection signal group Recognized as a valid signal.
作为本发明一实施方式的进一步改进，将所述步骤S41和S42替换为：S41’，选择任意一个所述检测信号组参数作为待比较参数；依次判断每个除所述待比较参数外的其他所述检测信号组参数与其相对应的所述信号组参数是否匹配；若出现不匹配，则将所述检测信号组识别为干扰信号；若未出现不匹配，则执行步骤S42’；S42’，利用除所述待比较参数外的其他所述检测信号组参数和所述关系函数计算得到计算参数。As a further improvement of an embodiment of the present invention, the steps S41 and S42 are replaced with: S41', any one of the detection signal group parameters is selected as the parameter to be compared; each other than the parameter to be compared is judged in turn Whether the detected signal group parameter matches the corresponding signal group parameter; if a mismatch occurs, the detected signal group is identified as an interference signal; if no mismatch occurs, steps S42'; S42' are performed, The calculation parameters are calculated by using the detection signal group parameters and the relationship function other than the parameters to be compared.
作为本发明一实施方式的进一步改进，所述信号组参数包括前信号单元特征值、后信号单元特征值、关联特征值，所述关系函数刻画所述前信号单元特征值、所述后信号单元特征值、所述关系特征值之间的数值关系；所述检测信 号组参数包括前检测信号单元特征值、后检测信号单元特征值、检测关联特征值。As a further improvement of an embodiment of the present invention, the signal group parameters include a front signal unit feature value, a back signal unit feature value, and an associated feature value, and the relationship function describes the front signal unit feature value and the back signal unit The characteristic value and the numerical relationship between the relationship characteristic values; the detection signal group parameters include the characteristic value of the front detection signal unit, the characteristic value of the rear detection signal unit, and the detection associated characteristic value.
作为本发明一实施方式的进一步改进，所述前信号单元和/或所述后信号单元为单脉冲或脉冲数为n的脉冲组。As a further improvement of an embodiment of the present invention, the front signal unit and/or the rear signal unit are single pulses or pulse groups with n pulses.
作为本发明一实施方式的进一步改进，所述前信号单元特征值和/或所述后信号单元特征值包括单脉冲的脉宽时间、单脉冲的幅值中的至少一个，或脉冲组中任一单脉冲的脉宽时间、脉冲组中所有单脉冲的脉宽时间之和、脉冲组的总脉宽时间、脉冲组的频率、脉冲组的脉冲数n中的至少一个。As a further improvement of an embodiment of the present invention, the characteristic value of the front signal unit and/or the characteristic value of the rear signal unit include at least one of the pulse width time of the single pulse, the amplitude of the single pulse, or any of the pulse groups At least one of the pulse width time of a single pulse, the sum of the pulse width times of all single pulses in the pulse group, the total pulse width time of the pulse group, the frequency of the pulse group, and the pulse number n of the pulse group.
为了实现上述发明目的之一，本发明一实施方式提供一种机器人***，边界设备，所述边界设备包括用于在工作区域边界附近产生边界信号的信号发生模块；所述边界信号包括间隔出现的信号组，所述信号组包括依次出现的前信号单元和后信号单元，所述信号组的特征使用至少三个信号组参数和刻画所述信号组参数之间的数值关系的关系函数来表征；机器人设备，所述机器人设备包括边界信号检测模块和控制模块；所述边界信号检测模块用于感测信号并生成检测信号组；所述控制模块包括信号解析单元和信号比较单元，所述信号解析单元用于对所述检测信号组进行解析并获取所述检测信号组参数，所述检测信号组为依次检测到的前检测信号单元和后检测信号单元，所述检测信号组参数与所述信号组参数一一对应；所述信号比较单元用于判断所述检测信号组参数是否满足所述关系函数的限定，若是，则将所述检测信号组识别为有效信号，若否，则将所述检测信号组识别为干扰信号。In order to achieve one of the above objects of the invention, an embodiment of the present invention provides a robot system, a boundary device, the boundary device including a signal generation module for generating a boundary signal near the boundary of the work area; A signal group, the signal group including a front signal unit and a rear signal unit appearing in sequence, and the characteristics of the signal group are characterized by at least three signal group parameters and a relationship function describing the numerical relationship between the signal group parameters; Robot equipment, the robot equipment includes a boundary signal detection module and a control module; the boundary signal detection module is used to sense signals and generate a detection signal group; the control module includes a signal analysis unit and a signal comparison unit, the signal analysis The unit is used to parse the detection signal group and obtain the detection signal group parameters. The detection signal group is a front detection signal unit and a rear detection signal unit that are sequentially detected. The detection signal group parameters and the signal The group parameters are in one-to-one correspondence; the signal comparison unit is used to determine whether the detection signal group parameters meet the limit of the relationship function. If yes, the detection signal group is recognized as a valid signal. The detection signal group is identified as an interference signal.
作为本发明一实施方式的进一步改进，所述边界设备包括基站和边界线，所述信号发生模块设置于所述基站。As a further improvement of an embodiment of the present invention, the border device includes a base station and a border line, and the signal generation module is provided at the base station.
作为本发明一实施方式的进一步改进，所述边界设备包括第一存储单元，所述第一存储单元用于存储预设和/或生成的信号组参数和关系函数；所述机器人设备包括第二存储单元，所述第二存储单元用于存储与所述第一存储单元相对应的预设和/生成的信号组参数和关系函数。As a further improvement of an embodiment of the present invention, the boundary device includes a first storage unit for storing preset and/or generated signal group parameters and relationship functions; the robotic device includes a second A storage unit, where the second storage unit is used to store preset and/or generated signal group parameters and relationship functions corresponding to the first storage unit.
与现有技术相比，本发明的识别边界信号的方法以及机器人***，通过发射及接收由至少三个信号组参数和刻画所述信号组参数之间数值关系的关系函数来表征的信号组，可以精确区分接收到检测到的检测信号组是否为有效信号，具有优良的抗干扰性能，实施方便，提高机器人的工作效率。Compared with the prior art, the method and robot system for identifying boundary signals of the present invention transmit and receive signal groups characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters, It can accurately distinguish whether the received detection signal group is a valid signal, has excellent anti-interference performance, is easy to implement, and improves the working efficiency of the robot.
附图说明BRIEF DESCRIPTION
图1是本发明一实施方式中机器人的结构示意图；FIG. 1 is a schematic structural diagram of a robot in an embodiment of the present invention;
图2是本发明一实施方式提供的识别边界信号的方法的流程示意图；2 is a schematic flowchart of a method for identifying a boundary signal according to an embodiment of the present invention;
图3是图2中步骤S1的具体实现流程示意图；FIG. 3 is a schematic flowchart of a specific implementation of step S1 in FIG. 2;
图4、图5分别是图2中步骤S4的具体实现流程示意图；4 and 5 are schematic diagrams of specific implementation processes of step S4 in FIG. 2;
图6是本发明以较佳实施方式提供的识别边界信号的方法的流程示意图；6 is a schematic flowchart of a method for identifying a boundary signal provided by a preferred embodiment of the present invention;
图7是本发明第一具体示例中第一信号示意图；7 is a schematic diagram of a first signal in the first specific example of the present invention;
图8是本发明第二具体示例中第一信号示意图；8 is a schematic diagram of a first signal in a second specific example of the present invention;
图9是本发明第三具体示例中第一信号示意图。9 is a schematic diagram of a first signal in a third specific example of the present invention.
具体实施方式detailed description
以下将结合附图所示的各实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。The present invention will be described in detail below with reference to the embodiments shown in the drawings. However, these embodiments do not limit the present invention, and structural, method, or functional changes made by those of ordinary skill in the art according to these embodiments are included in the protection scope of the present invention.
本发明的机器人***可以是割草机器人***，或者扫地机器人***等，其自动行走于工作区域以进行割草、吸尘工作，本发明具体示例中，以机器人***为割草机器人***为例做具体说明，相应的，所述工作区域可为草坪。The robot system of the present invention may be a lawn mowing robot system, or a sweeping robot system, etc., which automatically walks in the work area for mowing and vacuuming. In the specific example of the present invention, the robot system is used as a mowing robot system as an example. Specifically, correspondingly, the working area may be a lawn.
如图1所示，本发明的一较佳实施方式提供一种割草机器人***，其包括机器人设备和边界设备。其中，机器人设备具体为割草机器人，所述割草机器人包括本体10，所述本体10上设有移动单元、第二存储单元、边界信号检测模块和控制模块。边界设备包括独立于割草机器人存在的、可供割草机器人停靠和充电的基站，以及连接于所述基站且沿工作区域周侧布置的边界线。基站内设有信号发生模块和第一存储单元，信号发生模块生成并发射边界信号时， 边界信号在边界线内传输，以在边界线附近形成电磁信号。在本实施例中，所述信号为脉冲编码信号。As shown in FIG. 1, a preferred embodiment of the present invention provides a mowing robot system, which includes a robot device and a boundary device. Wherein, the robot device is specifically a mowing robot. The mowing robot includes a body 10, and the body 10 is provided with a mobile unit, a second storage unit, a boundary signal detection module, and a control module. The boundary device includes a base station that is independent of the mowing robot and can be docked and charged by the mowing robot, and a boundary line connected to the base station and arranged along the periphery of the work area. The base station is provided with a signal generation module and a first storage unit. When the signal generation module generates and transmits a boundary signal, the boundary signal is transmitted within the boundary line to form an electromagnetic signal near the boundary line. In this embodiment, the signal is a pulse code signal.
所述移动单元包括主动轮21、被动轮23以及用于驱动主动轮21的电机25；所述电机25可为带减速箱的无刷电机；电机25启动后，可通过减速箱带动主动轮21行走，并控制主动轮21的转速，进一步的，配合主动轮21调整，带动整个机器人实现前进、后推、转弯等动作。所述被动轮23可为万向轮，其主要起支撑平衡的作用。The mobile unit includes a driving wheel 21, a passive wheel 23, and a motor 25 for driving the driving wheel 21; the motor 25 may be a brushless motor with a reduction box; after the motor 25 is started, the driving wheel 21 may be driven through the reduction box Walk, and control the rotation speed of the driving wheel 21, and further, in conjunction with the adjustment of the driving wheel 21, drive the entire robot to achieve forward, backward, turning and other actions. The passive wheel 23 may be a universal wheel, which mainly serves to support balance.
边界信号检测模块用于感测边界线附近的电磁信号，并将该电磁信号转化为检测信号。在本实施方式中，边界信号检测模块包括两个电感线圈，该两个电感线圈关于机体10的中轴线对称地设置。The boundary signal detection module is used to sense the electromagnetic signal near the boundary line and convert the electromagnetic signal into a detection signal. In this embodiment, the boundary signal detection module includes two inductance coils, and the two inductance coils are arranged symmetrically with respect to the central axis of the body 10.
控制模块包括信号解析单元和信号比较单元。其中，信号解析单元将边界信号检测模块生成的检测信号进行解析，得到检测信号的特征，信号比较单元将检测信号的特征与边界信号的特征相对比。控制器根据对比结果判断该检测信号是否为有效信号，并进一步根据有效信号直接或间接地对机器人设备和/或边界设备进行控制。例如，控制单元通过有效信号判断机器人设备与边界线的相对位置关系，包括但不限于机器人设备是否位于边界线以外、机器人设备与边界线之间的距离等。The control module includes a signal analysis unit and a signal comparison unit. The signal analysis unit analyzes the detection signal generated by the boundary signal detection module to obtain the characteristics of the detection signal, and the signal comparison unit compares the characteristics of the detection signal with the characteristics of the boundary signal. The controller determines whether the detection signal is a valid signal according to the comparison result, and further directly or indirectly controls the robot device and/or the boundary device according to the valid signal. For example, the control unit determines the relative positional relationship between the robot device and the boundary line through an effective signal, including but not limited to whether the robot device is located outside the boundary line, the distance between the robot device and the boundary line, and so on.
由于信号发生模块沿边界线发射脉冲编码信号，以在边界线附近形成电磁信号，故，控制单元可根据边界线附近电磁信号的强弱以及其通过边界信号检测模块获取到的边界线内外信号的差异来控制电机25运行，从而使机器人设备始终沿边界线运行或沿距离边界线具有等距的边界线内或外运行。Since the signal generation module emits a pulse-coded signal along the boundary line to form an electromagnetic signal near the boundary line, the control unit can determine the difference between the signal inside and outside the boundary line obtained by the boundary signal detection module according to the strength of the electromagnetic signal near the boundary line To control the operation of the motor 25, so that the robot device always runs along the boundary line or along the boundary line with an equal distance from the boundary line or inside or outside.
所述割草机器人还包括作业模块，具体为用于割草的刀盘。割草机器人还包括用于感应机器人的行走状态的各种传感器，例如：倾倒、离地、碰撞传感器等，在此不做赘述。The mowing robot further includes an operation module, specifically a cutter head for mowing. The mowing robot also includes various sensors for sensing the walking state of the robot, such as: dump, ground, and collision sensors, which will not be repeated here.
需要说明的是，本发明所示的识别边界信号的方法中，所述边界信号包括间隔出现的信号组，所述信号组包括依次出现的前信号单元和后信号单元；所 述信号组的特征使用至少三个信号组参数和刻画所述信号组参数之间数值关系的关系函数来表征。It should be noted that in the method for identifying a boundary signal shown in the present invention, the boundary signal includes signal groups that appear at intervals, and the signal group includes a front signal unit and a rear signal unit that appear in sequence; characteristics of the signal group It is characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters.
本发明的所述信号组参数包括前信号单元特征值、后信号单元特征值、关联特征值，所述关系函数刻画所述前信号单元特征值、所述后信号单元特征值、所述关系特征值之间的数值关系，以下内容中还会详细描述。The signal group parameter of the present invention includes the characteristic value of the front signal unit, the characteristic value of the rear signal unit, and the associated characteristic value, and the relationship function characterizes the characteristic value of the front signal unit, the characteristic value of the rear signal unit, and the relationship characteristic The numerical relationship between the values will be described in detail in the following content.
结合图2所示，本发明一较佳实施提供的识别边界信号的方法，所述方法包括以下步骤：With reference to FIG. 2, a method for identifying a boundary signal provided by a preferred embodiment of the present invention includes the following steps:
S1，生成所述信号组参数，使所述信号组参数满足所述关系函数的限定。S1. Generate the signal group parameters so that the signal group parameters meet the limitation of the relationship function.
本发明较佳实施中，结合图3所示，所述步骤S1包括：S11，为所述信号组参数中的至少两个配置预设范围；S12，对于被配置了预设范围的所述信号组参数，分别在与其相应的所述预设范围内被赋值。In a preferred implementation of the present invention, as shown in FIG. 3, the step S1 includes: S11, configuring a preset range for at least two of the signal group parameters; S12, for the signal configured with the preset range Group parameters are assigned within the corresponding preset ranges respectively.
较佳的，对于所述步骤S11，在满足范围重置条件时，重新配置至少一个所述预设范围。对于所述步骤S12，至少一个所述信号组参数是被随机或伪随机地被赋值。Preferably, for the step S11, when the range reset condition is satisfied, at least one of the preset ranges is reconfigured. For the step S12, at least one of the signal group parameters is randomly or pseudo-randomly assigned.
本发明具体实施方式中，对于一个工作区域，可能存在多个机器人***，为了避免多个机器人***的信号组相互干扰，对于信号组参数，为所述信号组参数中的至少一个配置预设范围集合，所述预设范围从所述预设范围集合中选取；其中，所述预设范围集合中任意两个所述预设范围不存在重叠的取值范围。对于关系函数，配置一关系函数集合，所述关系函数从所述关系函数集合中选取；其中，所述关系函数集合中任意两个所述关系函数均不相同。In a specific embodiment of the present invention, for a working area, there may be multiple robot systems. To avoid mutual interference of signal groups of the multiple robot systems, for signal group parameters, a preset range is configured for at least one of the signal group parameters Set, the preset range is selected from the preset range set; wherein there is no overlapping value range for any two of the preset ranges in the preset range set. For the relationship function, a relationship function set is configured, and the relationship function is selected from the relationship function set; wherein, any two of the relationship functions in the relationship function set are different.
S2，根据所述信号组参数生成信号组向外发送以形成所述边界信号。S2. Generate a signal group according to the signal group parameter and send it to the outside to form the boundary signal.
本发明较佳实施方式中，根据所述信号组参数生成信号组并以信号发生周期T周期性地向外发送，以形成所述边界信号。In a preferred embodiment of the present invention, a signal group is generated according to the signal group parameter and periodically sent out with a signal generation period T to form the boundary signal.
S3，根据检测到的信号生成检测信号组，对所述检测信号组进行解析，获取检测信号组参数；其中，所述检测信号组为依次检测到的前检测信号单元和后检测信号单元；所述检测信号组参数与所述信号组参数一一对应。S3, generating a detection signal group according to the detected signal, parsing the detection signal group, and acquiring a detection signal group parameter; wherein, the detection signal group is a front detection signal unit and a rear detection signal unit that are sequentially detected; The detection signal group parameters correspond to the signal group parameters one-to-one.
本发明的所述检测信号组参数包括前检测信号单元特征值、后检测信号单元特征值、检测关联特征值。The detection signal group parameters of the present invention include the characteristic value of the front detection signal unit, the characteristic value of the rear detection signal unit, and the detection associated characteristic value.
S4，判断所述检测信号组参数是否满足所述关系函数的限定；若是，则将所述检测信号组识别为有效信号；若否，则将所述检测信号组识别为干扰信号。S4. Determine whether the parameters of the detection signal group satisfy the limit of the relationship function; if so, identify the detection signal group as a valid signal; if not, identify the detection signal group as an interference signal.
本发明较佳实施方式中，结合图4所示，所述步骤S4具体包括：S41，依次判断每个所述检测信号组参数与其相对应的所述信号组参数是否匹配；若出现不匹配，则将所述检测信号组识别为干扰信号；若未出现不匹配，则如图5所示，执行如下步骤：S42，选择任意一个所述检测信号组参数作为待比较参数，利用除所述待比较参数外的其他所述检测信号组参数和所述关系函数计算得到计算参数；S43，判断所述待比较参数与所述计算参数是否匹配；若否，则将所述检测信号组识别为干扰信号；若是，则将所述检测信号组识别为有效信号。In a preferred embodiment of the present invention, as shown in FIG. 4, the step S4 specifically includes: S41, judging whether each of the detected signal group parameters and the corresponding signal group parameters match in sequence; if a mismatch occurs, Then, the detected signal group is identified as an interference signal; if there is no mismatch, as shown in FIG. 5, the following steps are performed: S42, select any one of the detected signal group parameters as the parameters to be compared, and use the Other than the comparison parameters, the detection signal group parameters and the relationship function are calculated to obtain calculation parameters; S43, determining whether the parameter to be compared and the calculation parameters match; if not, identifying the detection signal group as interference Signal; if yes, then identify the detection signal group as a valid signal.
本发明一特别实施方式中，所述将所述步骤S41和S42替换为：S41’，选择任意一个所述检测信号组参数作为待比较参数；依次判断每个除所述待比较参数外的其他所述检测信号组参数与其相对应的所述信号组参数是否匹配；若出现不匹配，则将所述检测信号组识别为干扰信号；若未出现不匹配，则执行步骤S42’；S42’，利用除所述待比较参数外的其他所述检测信号组参数和所述关系函数计算得到计算参数。In a special embodiment of the present invention, the steps S41 and S42 are replaced with: S41', any one of the detection signal group parameters is selected as the parameter to be compared; each other than the parameter to be compared is judged in turn Whether the detected signal group parameter matches the corresponding signal group parameter; if a mismatch occurs, the detected signal group is identified as an interference signal; if no mismatch occurs, steps S42'; S42' are performed, The calculation parameters are calculated by using the detection signal group parameters and the relationship function other than the parameters to be compared.
本发明较佳实施方式中，结合图6所示，对于所述步骤S4，若判断所述检测信号组参数满足所述关系函数的限定，则执行如下步骤：S5，判断在一个信号检测周期T D的信号检测时段t R内是否检测到两个相邻检测信号组之间的时间间隔T tst小于信号发生周期T；若是，则判断存在相似信号；若否，则判断不存在相似信号；其中，T D≥t R>2T。在一示例性的机器人***中，信号发生周期T被配置为4ms，信号检测周期T D被配置为15ms，信号检测时段t R被配置为10ms。令时刻0ms为信号检测周期T D和信号检测时段t R的起始时刻，则在时刻0ms～10ms内边界信号检测模块执行信号检测，在时刻10ms～15ms内边界信号检测模块不工作，此为一个信号检测周期。从时刻15ms～时刻30ms为下一个 信号检测周期，期间时刻15ms～25ms内执行信号检测。由于信号发生周期
Figure PCTCN2019115050-appb-000001
所以当且仅当不存在相似信号时，在一个信号检测时段t R内可检测到2个时间间隔T tst为4ms的有效的边界信号。当然，本领域技术人员能够知道，检测到有效边界信号的时间间隔可以存在允许的误差。此外，在另外的一些实施例中，只要T D≥t R>T，即可实现在每个信号检测周期T D内获得一个完整的有效的边界信号。 In a preferred embodiment of the present invention, as shown in FIG. 6, for step S4, if it is determined that the detection signal group parameter satisfies the limit of the relationship function, the following steps are performed: S5, it is determined that a signal detection period T Whether the time interval T tst between two adjacent detection signal groups is detected within the signal detection period t R of D is less than the signal generation period T; if it is, it is judged that there is a similar signal; if not, it is judged that there is no similar signal; , T D ≥t R >2T. In an exemplary robot system, the signal generation period T is configured to 4 ms, the signal detection period T D is configured to 15 ms, and the signal detection period t R is configured to 10 ms. 0ms make timing signal detection period T D and the starting instant of the signal detection period t R, at the time 0ms ~ 10ms boundary signal detection module performs signal detection, signal detection module is not a boundary in a time 10ms ~ 15ms, this is One signal detection cycle. From time 15ms to time 30ms is the next signal detection cycle, during which signal detection is performed within time 15ms to 25ms. Due to the signal occurrence period
Figure PCTCN2019115050-appb-000001
Therefore, if and only if there is no similar signal, two effective boundary signals with a time interval T tst of 4 ms can be detected within one signal detection period t R. Of course, those skilled in the art can know that there may be an allowable error in the time interval at which the valid boundary signal is detected. In addition, in some other embodiments, as long as T D ≥ t R > T, a complete and effective boundary signal can be obtained within each signal detection period T D.
进一步的，对于所述步骤S5，若是，则执行如下步骤：S6，重新生成所述信号组参数和/或所述关系函数；S7，执行所述步骤S2至所述步骤S5，直到所述步骤S5中判断不存在相似信号为止。Further, for step S5, if yes, perform the following steps: S6, regenerate the signal group parameters and/or the relationship function; S7, perform steps S2 to S5 until the step It is determined in S5 that there is no similar signal.
本发明一可实现方式中，对于上述步骤S3，将依次检测到第一检测信号单元和第二检测信号单元作为一检测信号组；若在其后执行的所述步骤S4中，该检测信号组被识别为干扰信号，则判断所述第一检测信号单元为干扰信号，并在下一次执行所述步骤S3时，将所述第二检测信号和相邻随后检测到的第三检测信号作为一检测信号组。In a possible implementation manner of the present invention, for the above step S3, the first detection signal unit and the second detection signal unit are sequentially detected as a detection signal group; if the detection signal group is performed in the step S4 executed thereafter If it is recognized as an interference signal, the first detection signal unit is determined to be an interference signal, and when the step S3 is executed next time, the second detection signal and the adjacent third detection signal subsequently detected are used as a detection Signal group.
本发明具体实施方式中，所述前信号单元和/或所述后信号单元为单脉冲或脉冲数为n的脉冲组；相应的，所述前信号单元特征值和/或所述后信号单元特征值包括单脉冲的脉宽时间、单脉冲的幅值中的至少一个，或脉冲组中任一单脉冲的脉宽时间、脉冲组中所有单脉冲的脉宽时间之和、脉冲组的总脉宽时间、脉冲组的频率、脉冲组的脉冲数n中的至少一个。In a specific embodiment of the present invention, the front signal unit and/or the rear signal unit is a single pulse or a pulse group with pulse number n; correspondingly, the characteristic value of the front signal unit and/or the rear signal unit The characteristic value includes at least one of the pulse width time of the single pulse, the amplitude of the single pulse, or the pulse width time of any single pulse in the pulse group, the sum of the pulse width times of all single pulses in the pulse group, and the total of the pulse group At least one of the pulse width time, the frequency of the pulse group, and the pulse number n of the pulse group.
为了便于理解，以下内容中描述几个具体示例供参考。For ease of understanding, several specific examples are described in the following for reference.
为了描述方便，在下述示例中，前信号单元均以S i表示，后信号单元均以S t表示，关系函数以f t表示，前信号单元特征值均以c i表示，后信号单元特征值均以c t表示，关联特征值均以c R表示，前检测信号单元特征值均以c tsti表示，后检测信号单元特征值均以c ttst表示，检测关联特征值均以c Rtst表示。 For convenience of description, in the following example, the first signal unit are represented by S i, the signal units are represented by S t, the relationship between the function f t to said pre-signal unit are c i represents the characteristic value, the characteristic value of the signal unit All are denoted by c t , the associated feature values are denoted by c R , the eigenvalues of the pre-detection signal unit are denoted by c tsti , the eigenvalues of the post-detection signal unit are denoted by c ttst , and the eigenvalues of the detected correlation feature are denoted by c Rtst .
结合图7所示，本发明第一具体示例中，前信号单元和后信号单元均为单 脉冲信号，前信号单元特征值c i为前信号单元S i的脉宽时间pw i，后信号单元特征值c t为后信号单元S t的脉宽时间pw t，关联特征值c R为前信号单元S i与后信号单元S t之间的时间间距t，关系函数f t表示为：
Figure PCTCN2019115050-appb-000002
A表示前信号单元特征值，B表示后信号单元特征值，C表示关联特征值。 In conjunction with FIG. 7, a first specific example of the present invention, the front unit and the signal unit signal are single pulse signals, wherein the signal unit before the value c i S i for the first pulse width signal unit time pw i, the signal unit wherein C t values of the signal S t means the time of a pulse width pw t, associated eigenvalues c R t is a time interval between the previous signal and the signal unit cell S i S t, F t is expressed as a function of the relationship:
Figure PCTCN2019115050-appb-000002
A represents the characteristic value of the front signal unit, B represents the characteristic value of the rear signal unit, and C represents the associated characteristic value.
该第一示例中，为c t，c R配置预设范围，相应的，对应于c t，c R设置的预设范围分别为rang_c t以及rang_t；进一步的，pw t在预设范围rang_c t内随机/伪随机取值，rang_c t例如(50μs,150μs)，t在预设范围rang_t内随机/伪随机取值，rang_t例如(60μs,100μs)，通过关系函数
Figure PCTCN2019115050-appb-000003
可以获知pw i的范围落在区间rang_c i，即(55μs,125μs)的范围内；较佳的，例如具体一次发送，选取pw t＝100μs，t＝80μs，则
Figure PCTCN2019115050-appb-000004
将上述获得的信号组参数生成信号组，并以信号发生周期T周期性地向外发送，以形成所述边界信号。该示例中，所述信号发生周期T远大于前信号单元、后信号单元的脉宽，以及其之间的时间间距，，例如：设置T＝4ms。 In this first example, the preset ranges are configured for c t and c R. Correspondingly, the preset ranges corresponding to c t and c R are respectively rang_c t and rang_t; further, pw t is in the preset range rang_c t Inner random/pseudo-random values, rang_c t for example (50μs, 150μs), t random/pseudo-random values in the preset range rang_t, rang_t for example (60μs, 100μs), through the relationship function
Figure PCTCN2019115050-appb-000003
It can be known that the range of pw i falls within the range rang_c i , that is, the range of (55μs, 125μs); preferably, for example, for a specific transmission, choose pw t = 100μs and t = 80μs, then
Figure PCTCN2019115050-appb-000004
The signal group parameters obtained above are generated into a signal group, and periodically sent out with a signal generation period T to form the boundary signal. In this example, the signal generation period T is much larger than the pulse width of the front signal unit and the rear signal unit, and the time interval between them, for example, setting T=4ms.
进一步的，机器人沿巡线路径行走过程中，实时接收电磁边界信号，并通过验证机器人实际接收到的电磁边界信号是否符合预定规则来确定该实际接收到的电磁边界信号是否为干扰信号，若判定为非干扰信号，则根据其确认机器人的位置等信息。Further, when the robot is walking along the patrol route, it receives the electromagnetic boundary signal in real time, and determines whether the actually received electromagnetic boundary signal is an interference signal by verifying whether the electromagnetic boundary signal actually received by the robot conforms to predetermined rules. If it is a non-interfering signal, confirm the robot's position and other information based on it.
该第一具体示例中，机器人参照信号组参数获得检测信号组参数；将后检测信号单元特征值pw i.tst作为待比较参数；具体的，获得前检测信号单元特征值pw t.tst，以及检测关联特征值t .tst，判断pw t.tst是否在pw t所在的范围(50μs,150μs)内，同时t .tst是否在t所在的范围(60μs,100μs)内，若否，则所述检测信号组识别为干扰信号；若是，则结合关系函数
Figure PCTCN2019115050-appb-000005
计算得到计算参数
Figure PCTCN2019115050-appb-000006
并 判断pw i.cal是否在pw i.tst所在的预设范围(55μs,125μs)内，且pw i.cal与pw i.tst的之间的相对误差是否小于预设特征值阈值re，若是，将所述检测信号组识别为有效信号；若否，将所述检测信号组识别为干扰信号。 In this first specific example, the robot obtains the detection signal group parameters with reference to the signal group parameters; the post-detection signal unit characteristic value pw i.tst is used as the parameter to be compared; specifically, the pre-detection signal unit characteristic value pw t.tst , and t .tst associated feature value detection, determines whether the range pw t.tst (50μs, 150μs) pw t where, at the same time in the range t .tst (60μs, 100μs) t where, if not, the The detection signal group is identified as an interference signal; if it is, then the relationship function is combined
Figure PCTCN2019115050-appb-000005
Calculate the calculation parameters
Figure PCTCN2019115050-appb-000006
And determine whether pw i.cal is within the preset range (55μs, 125μs) where pw i.tst is located, and whether the relative error between pw i.cal and pw i.tst is less than the preset characteristic value threshold re, if it is , Identify the detection signal group as a valid signal; if not, identify the detection signal group as an interference signal.
结合图8所示，本发明第二具体示例中，前信号单元为单脉冲信号，后信号单元为包含n个具有固定周期T p和固定脉宽的脉冲组；c i为S i的脉宽值pw i，c t为n，c R为S i与S t之间的时间间距t，关系函数f t表示为：A＝B·C，其中T p为预设常数值，且其具体数值不应落在rang_t内，通常T p很小。 With reference to FIG. 8, in the second specific example of the present invention, the front signal unit is a single pulse signal, and the rear signal unit is a pulse group including n pulses with a fixed period T p and a fixed pulse width; c i is the pulse width of S i The value pw i , c t is n, c R is the time interval t between S i and S t , the relationship function f t is expressed as: A=B·C, where T p is a preset constant value, and its specific value It should not fall within rang_t, usually T p is very small.
该第二示例中，为c t，c R配置预设范围，相应的，对应于c t，c R设置的预设范围分别为rang_n以及rang_t；进一步的，n在预设范围rang_n内随机/伪随机取值，例如{2,3,4}，t在预设范围rang_t内随机/伪随机取值，例如(60μs,100μs)，通过关系函数pw i＝n·t可以获知pw i的范围落在区间rang_c i，即(180μs,300μs)的范围内；较佳的，例如具体一次发送，选取n＝3，t＝40μs，则pw i＝3×40μs＝120μs，将上述获得的信号组参数生成信号组，并以信号发生周期T周期性地向外发送，以形成所述边界信号。 In this second example, a preset range is configured for c t and c R. Correspondingly, the preset ranges corresponding to c t and c R are respectively rang_n and rang_t; further, n is random within the preset range rang_n/ Pseudo-random values, such as {2,3,4}, t Random/pseudo-random values within a preset range rang_t, such as (60μs, 100μs), the range of pw i can be known through the relationship function pw i = n·t falling section rang_c i, i.e. the inner (180μs, 300μs) range; preferably, for example, a particular transmission, select n = 3, t = 40μs, then pw i = 3 × 40μs = 120μs , the signal group obtained above The parameter generates a signal group and sends it out periodically with a signal generation period T to form the boundary signal.
在本发明的其他实施方式中，图8所示示例中的各个信号组参数的具体数值可以相应修改，例如：将T p和n作为c t，t作为c R，在此不做继续赘述。 In other embodiments of the present invention, the specific values of the signal group parameters in the example shown in FIG. 8 can be modified accordingly, for example, T p and n are used as c t , and t is used as c R , which will not be repeated here.
该第二具体示例中，机器人参照信号组参数获得检测信号组参数；将后检测信号单元特征值pw i.tst作为待比较参数；具体的，获得n .tst，以及t .tst，判断S t是否为周期T p的脉冲组，n .tst是否在预设区间{2,3,4}内，以及t .tst是否在预设区间(60μs,100μs)内，若否，则所述检测信号组识别为干扰信号；若是，则结合关系函数A＝B·C计算得到计算参数pw i.cal＝n .tst·t .tst，并判断pw i.cal是否在pw i.tst所在的预设范围(180μs,300μs)内，且pw i.cal与pw i.tst之间的相对误差是否小于预设特征值阈值re，若是，将所述检测信号组识别为有效信号；若否，将所述检测信号组识别为干扰信号。 The second specific example, the robot parameters obtained reference signal group detecting signal group parameters; means after the detection signal to be used as the feature value comparison parameter pw i.tst; Specifically, to obtain n .tst, and t .tst, S t is determined Whether it is a pulse group of period T p , whether n .tst is within a preset interval {2,3,4}, and whether t .tst is within a preset interval (60 μs, 100 μs), if not, the detection signal The group is identified as an interference signal; if it is, the calculation parameter pw i.cal = n .tst ·t .tst is calculated by combining the relationship function A=B·C, and it is judged whether pw i.cal is within the preset of pw i.tst Within the range (180μs, 300μs), and whether the relative error between pw i.cal and pw i.tst is less than the preset characteristic value threshold re, if it is, the detection signal group is recognized as a valid signal; if not, all The detection signal group is identified as an interference signal.
结合图9所示，本发明第三具体示例在第二示例基础上加以改进，其不同之处在于所述前信号单元为包含多个单脉冲信号的脉冲信号组，所述关联特征值为前信号单元中任一脉冲信号与后信号单元之间的时间间距或为空。具体的，前信号单元S i包括依次出现的第一先导脉冲p i1和第二先导脉冲p i1，其脉宽分别为pw i1、pw i2，二者之间的时间间隔为t i，p i1与后信号单元中第一个脉冲信号之间的时间间距为t 1，p i2与后信号单元中第一个脉冲信号之间的时间间距为t 2，c R为空，c i包括pw i1和pw i2，c t包括n和T p，关系函数包括2个，其分别为A1＝10·n，A2＝T p；例如具体一次发送，选取n＝3，T p＝20μs，pw i1＝10·n，pw i1＝T p则pw i1＝30μs，pw i2＝20μs，将上述获得的信号组参数生成信号组，并以信号发生周期T周期性地向外发送，以形成所述边界信号。 With reference to FIG. 9, the third specific example of the present invention is improved on the basis of the second example, the difference is that the front signal unit is a pulse signal group including a plurality of single pulse signals, and the associated characteristic value is front The time interval between any pulse signal in the signal unit and the rear signal unit may be empty. Specifically, the pre-signal unit S i includes a first pilot pulse p i1 and a second pilot pulse p i1 appearing in sequence, and their pulse widths are pw i1 and pw i2 , respectively, and the time interval between the two is t i , p i1 The time interval between the first pulse signal in the post-signal unit is t 1 , the time interval between p i2 and the first pulse signal in the post-signal unit is t 2 , c R is empty, and c i includes pw i1 And pw i2 , c t includes n and T p , and the relationship function includes two, which are A1=10·n, A2=T p ; for example, for a specific transmission, select n=3, T p =20μs, pw i1 = 10·n, pw i1 =T p, then pw i1 =30 μs, pw i2 =20 μs, generate a signal group from the signal group parameters obtained above, and send it out periodically with a signal generation period T to form the boundary signal .
在本发明的其他实施方式中，图9所示示例中的各个信号组参数的具体数值可以相应修改，例如：设置c R为t i、t 1和t 2中的至少两个，且有t i＝t 1-t 2-pw i2，并设置t i、t 1和t 2三者之一与n和T p至少一个的函数关系，以及t i、t 1和t 2三者之另一与n和T p中至少一个的函数关系，在此不做继续赘述。 In other embodiments of the present invention, the specific value of each signal group parameter in the example shown in FIG. 9 can be modified accordingly, for example: setting c R to at least two of t i , t 1 and t 2 , and having t i = t 1 -t 2 -pw i2 , and set t i, t and T p and n is a function of at least one of the three 2 1 and t, and t i, t 2, and the other one of the three t The functional relationship with at least one of n and T p will not be repeated here.
对于上述图9所示的第三具体示例，根据检测所述信号组生成检测信号组，对所述检测信号组进行解析，以及判断所述检测信号组参数是否满足所述关系函数的限定与图7所示的第一具体示例相似，在此不做继续赘述。For the third specific example shown in FIG. 9 above, generate a detection signal group based on detecting the signal group, analyze the detection signal group, and determine whether the detection signal group parameter satisfies the limitation of the relationship function and the graph The first specific example shown in 7 is similar and will not be repeated here.
本发明具体实施方式中，对于机器人，其在获得检测信号组过程中，可通过在检测信号组的上升沿和下降沿触发中断来获得上升沿和下降沿发生的时间点，例如图7所示第一示例，通过该方法可以获得各个信号组参数。当然，在本发明其他实施方式中，也可以用合适的采样频率进行模数转换获取接收信号的数字信号，经数字信号处理获得检测信号组参数。In a specific embodiment of the present invention, for a robot, during the process of obtaining a detection signal group, it is possible to obtain the time point at which the rising and falling edges occur by triggering interrupts on the rising and falling edges of the detection signal group, for example In the first example, each signal group parameter can be obtained by this method. Of course, in other embodiments of the present invention, the digital signal of the received signal may also be obtained by analog-to-digital conversion with a suitable sampling frequency, and the detection signal group parameters may be obtained through digital signal processing.
与现有技术相比，本发明的识别边界信号的方法以及机器人***，通过发射及接收由至少三个信号组参数和刻画所述信号组参数之间数值关系的关系函数来表征的信号组，可以精确区分接收到检测到的检测信号组是否为有效信号， 具有优良的抗干扰性能，实施方便，提高机器人的工作效率。Compared with the prior art, the method and robot system for identifying boundary signals of the present invention transmit and receive signal groups characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters, It can accurately distinguish whether the received detection signal group is a valid signal, has excellent anti-interference performance, is easy to implement, and improves the working efficiency of the robot.
在本申请所提供的几个实施方式中，应该理解到，所揭露的***，***和方法，可以通过其它的方式实现。例如，以上所描述的***实施方式仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，***或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed system, system, and method may be implemented in other ways. For example, the system implementation described above is only schematic. For example, the division of the modules is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or modules, and may be in electrical, mechanical or other forms.
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施方式方案的目的。The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
另外，在本申请各个实施方式中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以2个或2个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用硬件加软件功能模块的形式实现。In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The above integrated modules can be implemented in the form of hardware, or in the form of hardware plus software function modules.
上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机***(可以是个人计算机，服务器，或者网络***等)或处理器(processor)执行本申请各个实施方式所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The above integrated modules implemented in the form of software function modules may be stored in a computer-readable storage medium. The above software function modules are stored in a storage medium, and include several instructions to enable a computer system (which may be a personal computer, a server, or a network system, etc.) or a processor (processor) to perform the methods described in the various embodiments of the present application. Partial steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .
最后应说明的是：以上实施方式仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施方式对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施方式所记载的技术方案进行修改，或 者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施方式技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still Modifications to the technical solutions described in the foregoing embodiments, or equivalent replacements of some of the technical features; and these modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (18)

  1. 识别边界信号的方法，其特征是，所述边界信号包括间隔出现的信号组，所述信号组包括依次出现的前信号单元和后信号单元；所述信号组的特征使用至少三个信号组参数和刻画所述信号组参数之间数值关系的关系函数来表征；所述方法包括如下步骤：A method for identifying a boundary signal, characterized in that the boundary signal includes signal groups that appear at intervals, and the signal group includes a front signal unit and a rear signal unit that appear sequentially; the characteristics of the signal group use at least three signal group parameters And a relationship function that characterizes the numerical relationship between the signal group parameters to characterize; the method includes the following steps:
    S1，生成所述信号组参数，使所述信号组参数满足所述关系函数的限定；S1, generating the signal group parameter so that the signal group parameter meets the limitation of the relationship function;
    S2，根据所述信号组参数生成信号组向外发送以形成所述边界信号；S2. Generate a signal group according to the signal group parameter and send it to the outside to form the boundary signal;
    S3，根据检测到的信号生成检测信号组，对所述检测信号组进行解析，获取检测信号组参数；S3, generating a detection signal group according to the detected signal, parsing the detection signal group, and acquiring the detection signal group parameters;
    其中，所述检测信号组为依次检测到的前检测信号单元和后检测信号单元；所述检测信号组参数与所述信号组参数一一对应；Wherein, the detection signal group is a front detection signal unit and a rear detection signal unit sequentially detected; the detection signal group parameters correspond to the signal group parameters one-to-one;
    S4，判断所述检测信号组参数是否满足所述关系函数的限定；若是，则将所述检测信号组识别为有效信号；若否，则将所述检测信号组识别为干扰信号。S4. Determine whether the parameters of the detection signal group satisfy the limit of the relationship function; if so, identify the detection signal group as a valid signal; if not, identify the detection signal group as an interference signal.
  2. 根据权利要求1所述的识别边界信号的方法，其特征是，所述步骤S1包括：The method of identifying a boundary signal according to claim 1, wherein the step S1 comprises:
    S11，为所述信号组参数中的至少两个配置预设范围；S11, configuring a preset range for at least two of the signal group parameters;
    S12，对于被配置了预设范围的所述信号组参数，分别在与其相应的所述预设范围内被赋值。S12. The signal group parameters configured with a preset range are assigned values in the preset range corresponding to the signal group parameters, respectively.
  3. 根据权利要求2所述的识别边界信号的方法，其特征是，对于所述步骤S11，在满足范围重置条件时，重新配置至少一个所述预设范围。The method for identifying a boundary signal according to claim 2, wherein for step S11, when the range reset condition is satisfied, at least one of the preset ranges is reconfigured.
  4. 根据权利要求2所述的识别边界信号的方法，其特征是，对于所述步骤S12，至少一个所述信号组参数是被随机或伪随机地被赋值。The method for identifying a boundary signal according to claim 2, wherein for the step S12, at least one of the signal group parameters is randomly or pseudo-randomly assigned.
  5. 根据权力要求2所述的识别边界信号的方法，其特征是，为所述信号组参数中的至少一个配置预设范围集合，所述预设范围从所述预设范围集合中选取；其中，所述预设范围集合中任意两个所述预设范围不存在重叠的取值范围。The method for identifying a boundary signal according to claim 2, wherein a preset range set is configured for at least one of the signal group parameters, and the preset range is selected from the preset range set; wherein, There is no overlapping value range for any two of the preset ranges in the preset range set.
  6. 根据权利要求1所述的识别边界信号的方法，其特征是，配置一关系函 数集合，所述关系函数从所述关系函数集合中选取；其中，所述关系函数集合中任意两个所述关系函数均不相同。The method for identifying a boundary signal according to claim 1, wherein a relationship function set is configured, and the relationship function is selected from the relationship function set; wherein, any two of the relationships in the relationship function set The functions are different.
  7. 根据权力要求1所述的识别边界信号的方法，其特征是，对于所述步骤S2，根据所述信号组参数生成信号组并以信号发生周期T、周期性地向外发送，以形成所述边界信号。The method for identifying a boundary signal according to claim 1, characterized in that, for the step S2, a signal group is generated according to the signal group parameter and sent out periodically with a signal generation period T to form the Boundary signal.
  8. 根据权利要求7所述的识别边界信号的方法，其特征是，对于所述步骤S4，若是，则执行如下步骤：The method for identifying a boundary signal according to claim 7, wherein for step S4, if yes, the following steps are performed:
    S5，判断在一个信号检测周期T D的信号检测时段t R内是否检测到的两个相邻检测信号组之间的时间间隔T tst小于信号发生周期T；若是，则判断存在相似信号；若否，则判断不存在相似信号；其中，T D≥t R>2T。 S5. Determine whether the time interval T tst between two adjacent detection signal groups detected in the signal detection period t R of a signal detection period T D is less than the signal generation period T; if so, determine that there is a similar signal; if If not, it is judged that there is no similar signal; among them, T D ≥ t R > 2T.
  9. 根据权利要求8所述的识别边界信号的方法，其特征是，对于所述步骤S5，若是，则执行如下步骤：The method for identifying a boundary signal according to claim 8, wherein for step S5, if yes, the following steps are performed:
    S6，重新生成所述信号组参数和/或所述关系函数；S6, regenerate the signal group parameters and/or the relationship function;
    S7，执行所述步骤S2至所述步骤S5，直到所述步骤S5中判断不存在相似信号为止。S7. Perform steps S2 to S5 until it is determined in step S5 that there is no similar signal.
  10. 根据权利要求1所述的识别边界信号的方法，其特征是，对于所述步骤S3，将依次检测到第一检测信号单元和第二检测信号单元作为一检测信号组；The method for identifying a boundary signal according to claim 1, wherein for the step S3, the first detection signal unit and the second detection signal unit are sequentially detected as a detection signal group;
    若在其后执行的所述步骤S4中，该检测信号组被识别为干扰信号，则判断所述第一检测信号单元为干扰信号，并在下一次执行所述步骤S3时，将所述第二检测信号和相邻随后检测到的第三检测信号作为一检测信号组。If the detected signal group is identified as an interference signal in the step S4 executed thereafter, the first detection signal unit is judged as an interference signal, and the next time the step S3 is executed next time, the second The detection signal and the adjacent third detection signal subsequently detected serve as a detection signal group.
  11. 根据权利要求1所述的识别边界信号的方法，其特征是，所述步骤S4包括：The method for identifying a boundary signal according to claim 1, wherein the step S4 includes:
    S41，依次判断每个所述检测信号组参数与其相对应的所述信号组参数是否匹配；若出现不匹配，则将所述检测信号组识别为干扰信号；若未出现不匹配，则执行步骤S42；S41: Determine whether each of the detected signal group parameters and the corresponding signal group parameters match in sequence; if there is a mismatch, the detected signal group is identified as an interference signal; if there is no mismatch, the step is performed S42;
    S42，选择任意一个所述检测信号组参数作为待比较参数，利用除所述待比较参数外的其他所述检测信号组参数和所述关系函数计算得到计算参数；S42, select any one of the detection signal group parameters as the parameter to be compared, and calculate the calculation parameters using the other detection signal group parameters and the relationship function except the parameter to be compared;
    S43，判断所述待比较参数与所述计算参数是否匹配；若否，则将所述检测信号组识别为干扰信号；若是，则将所述检测信号组识别为有效信号。S43. Determine whether the parameter to be compared matches the calculated parameter; if not, identify the detection signal group as an interference signal; if yes, identify the detection signal group as a valid signal.
  12. 根据权利要求11所述的识别边界信号的方法，其特征是，将所述步骤S41和S42替换为：The method for identifying a boundary signal according to claim 11, wherein the steps S41 and S42 are replaced with:
    S41’，选择任意一个所述检测信号组参数作为待比较参数；依次判断每个除所述待比较参数外的其他所述检测信号组参数与其相对应的所述信号组参数是否匹配；若出现不匹配，则将所述检测信号组识别为干扰信号；若未出现不匹配，则执行步骤S42’；S41', select any one of the detection signal group parameters as the parameter to be compared; in turn, determine whether each other detection signal group parameter except the parameter to be compared matches its corresponding signal group parameter; if it appears If there is no match, the detected signal group is identified as an interference signal; if there is no mismatch, step S42' is executed;
    S42’，利用除所述待比较参数外的其他所述检测信号组参数和所述关系函数计算得到计算参数。S42', using other parameters of the detection signal group and the relationship function in addition to the parameter to be compared to obtain a calculation parameter.
  13. 根据权利要求1至12任意一项所述的识别边界信号的方法，其特征是，所述信号组参数包括前信号单元特征值、后信号单元特征值、关联特征值，所述关系函数刻画所述前信号单元特征值、所述后信号单元特征值、所述关系特征值之间的数值关系；The method for identifying a boundary signal according to any one of claims 1 to 12, wherein the signal group parameters include a front signal unit characteristic value, a rear signal unit characteristic value, an associated characteristic value, and the relationship function describes A numerical relationship between the characteristic value of the front signal unit, the characteristic value of the rear signal unit, and the characteristic value of the relationship;
    所述检测信号组参数包括前检测信号单元特征值、后检测信号单元特征值、检测关联特征值。The detection signal group parameters include a characteristic value of the front detection signal unit, a characteristic value of the rear detection signal unit, and a detection-related characteristic value.
  14. 根据权利要求13所述的识别边界信号的方法，其特征是，所述前信号单元和/或所述后信号单元为单脉冲或脉冲数为n的脉冲组。The method for identifying a boundary signal according to claim 13, wherein the front signal unit and/or the rear signal unit are single pulses or pulse groups with a pulse number of n.
  15. 根据权利要求14所述的识别边界信号的方法，其特征是，所述前信号单元特征值和/或所述后信号单元特征值包括单脉冲的脉宽时间、单脉冲的幅值中的至少一个，或脉冲组中任一单脉冲的脉宽时间、脉冲组中所有单脉冲的脉宽时间之和、脉冲组的总脉宽时间、脉冲组的频率、脉冲组的脉冲数n中的至少一个。The method for identifying a boundary signal according to claim 14, wherein the characteristic value of the front signal unit and/or the characteristic value of the rear signal unit include at least a pulse width time of a single pulse and an amplitude value of a single pulse One, or at least one of the pulse width time of any single pulse in the pulse group, the sum of the pulse width times of all single pulses in the pulse group, the total pulse width time of the pulse group, the frequency of the pulse group, and the pulse number n of the pulse group One.
  16. 机器人***，其特征是，包括：The robot system is characterized by including:
    边界设备，所述边界设备包括用于在工作区域边界附近产生边界信号的信号发生模块；所述边界信号包括间隔出现的信号组，所述信号组包括依次出现的前信号单元和后信号单元，所述信号组的特征使用至少三个信号组参数和刻画所述信号组参数之间的数值关系的关系函数来表征；A boundary device, the boundary device includes a signal generation module for generating a boundary signal near the boundary of the working area; the boundary signal includes a signal group that appears at intervals, and the signal group includes a front signal unit and a rear signal unit that appear sequentially, The characteristics of the signal group are characterized by at least three signal group parameters and a relationship function that characterizes the numerical relationship between the signal group parameters;
    机器人设备，所述机器人设备包括边界信号检测模块和控制模块；所述边界信号检测模块用于感测信号并生成检测信号组；所述控制模块包括信号解析单元和信号比较单元，所述信号解析单元用于对所述检测信号组进行解析并获取所述检测信号组参数，所述检测信号组为依次检测到的前检测信号单元和后检测信号单元，所述检测信号组参数与所述信号组参数一一对应；所述信号比较单元用于判断所述检测信号组参数是否满足所述关系函数的限定，若是，则将所述检测信号组识别为有效信号，若否，则将所述检测信号组识别为干扰信号。Robot equipment, the robot equipment includes a boundary signal detection module and a control module; the boundary signal detection module is used to sense signals and generate a detection signal group; the control module includes a signal analysis unit and a signal comparison unit, the signal analysis The unit is used to parse the detection signal group and obtain the detection signal group parameters. The detection signal group is a front detection signal unit and a rear detection signal unit that are sequentially detected. The detection signal group parameters and the signal The group parameters are in one-to-one correspondence; the signal comparison unit is used to determine whether the detection signal group parameters meet the limit of the relationship function. If yes, the detection signal group is recognized as a valid signal. The detection signal group is identified as an interference signal.
  17. 根据权利要求16所述的机器人***，其特征是，所述边界设备包括基站和边界线，所述信号发生模块设置于所述基站。The robot system according to claim 16, wherein the boundary device includes a base station and a boundary line, and the signal generation module is provided at the base station.
  18. 根据权利要求16所述的机器人***，其特征是，所述边界设备包括第一存储单元，所述第一存储单元用于存储预设和/或生成的信号组参数和关系函数；所述机器人设备包括第二存储单元，所述第二存储单元用于存储与所述第一存储单元相对应的预设和/生成的信号组参数和关系函数。The robot system according to claim 16, wherein the boundary device includes a first storage unit for storing preset and/or generated signal group parameters and relationship functions; the robot The device includes a second storage unit for storing preset and/or generated signal group parameters and relationship functions corresponding to the first storage unit.
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