WO2022011875A1 - 一种边界信号识别方法、机器人套件、设备和存储介质 - Google Patents
一种边界信号识别方法、机器人套件、设备和存储介质 Download PDFInfo
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- 230000007246 mechanism Effects 0.000 description 2
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- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/12—Classification; Matching
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
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- the embodiments of the present invention relate to the technical field of data processing, and in particular, to a boundary signal identification method, a robot kit, a device, and a storage medium.
- a boundary system is usually used to control the walking path of the automatic walking equipment.
- the preset boundary signal sent by the boundary system in the prior art is a pulse signal.
- this kind of boundary signal is easy to identify, there is a boundary system that cannot distinguish the pulse signal from the boundary signal and the interfering pulse signal, especially the adjacent boundary.
- the problem of the signal makes the boundary system mistakenly think it is the boundary signal when it receives the interfering pulse signal, and controls the walking path of the automatic walking equipment according to the information carried by it, which makes the boundary system easily interfered and makes a wrong judgment. , reducing the anti-interference ability of the boundary system.
- the present invention provides a boundary signal identification method, robot kit, equipment and storage medium to improve the accuracy of boundary signal identification.
- an embodiment of the present invention provides a method for identifying a boundary signal, the method comprising:
- the boundary signal of the working area to which the robot belongs is determined according to the signal strength of the magnetic field signal.
- the boundary signal generator pre-stores two or more candidate boundary signals and selects one of them as its current output boundary signal according to random rules.
- boundary signal generator uses one of multiple boundary signals whose parameters are uniformly and randomly distributed as its current output boundary signal.
- the boundary signal of the working area to which the robot belongs is determined according to the signal strength of the magnetic field signal, including:
- the processing signal with the strongest magnetic field signal strength is used as the boundary signal of the working area to which the robot belongs;
- the boundary signal of the working area to which the robot belongs is determined according to the position information of the robot.
- the acquired processing signal is matched with the pre-stored signal, and the boundary signal is identified in combination with the magnetic field signal strength of the processed signal, thereby further improving the identification accuracy of the boundary signal.
- the boundary signal of the work area to which the robot belongs is determined according to the position information of the robot, including:
- the processing signal is used as the boundary signal of the work area to which the robot belongs.
- the boundary signal of the work area to which the robot belongs is determined according to the position information of the robot, including:
- an alarm prompt message is generated to prompt the user to re-detect the boundary signal.
- the position information of the robot itself is further combined to identify the boundary signals, which improves the accuracy of the boundary signal identification.
- an embodiment of the present invention further provides a robot kit, including a robot and a boundary signal generator used together with the robot, the boundary signal generator being one of a variety of boundary signals whose parameters are uniformly and randomly distributed as its current output boundary signal, wherein different boundary signals have different parameters;
- the robot includes:
- the detection device is used to collect the boundary signal during the working process of the robot
- a controller configured to obtain a corresponding processing signal according to the magnetic field signal, and match the processing signal with a pre-stored signal, wherein the pre-stored signal is the same as the boundary signal currently output by the boundary signal generator, and if If there are at least two processing signals that are the same as the pre-stored signals, the boundary signal of the working area to which the robot belongs is determined according to the signal strength of the magnetic field signal.
- an embodiment of the present invention further provides a robot kit, including a robot and a boundary signal generator used in conjunction with the robot, wherein the boundary signal generator pre-stores two or more alternative boundary signals and selects them according to random rules. Select a boundary signal as its current output;
- the robot includes:
- a detection device for detecting magnetic field signals in the environment around the robot
- a controller configured to obtain a corresponding processing signal according to the magnetic field signal, and match the processing signal with a pre-stored signal, wherein the pre-stored signal is the same as the boundary signal currently output by the boundary signal generator, and if If there are at least two processing signals that are the same as the pre-stored signals, the boundary signal of the working area to which the robot belongs is determined according to the signal strength of the magnetic field signal.
- an embodiment of the present invention further provides a device, the device comprising:
- processors one or more processors
- the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors implement the method for identifying a boundary signal in any one of the embodiments of the present invention.
- an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the method for identifying a boundary signal according to any one of the embodiments of the present invention.
- the present invention detects the magnetic field signal in the surrounding environment of the robot, obtains the corresponding processing signal according to the magnetic field signal, and then matches the processing signal with the pre-stored signal, wherein the pre-stored signal is matched with the current output of the boundary signal generator used by the robot.
- the boundary signals are the same. If there are at least two processing signals that are the same as the pre-stored signals, the boundary signal of the working area of the robot is determined according to the signal strength of the magnetic field signal. Matching with the pre-stored signal, and combining the magnetic field signal strength corresponding to the processed signal to identify the boundary signal, improves the identification accuracy of the boundary signal.
- FIG. 1 is a flowchart of a method for identifying a boundary signal according to Embodiment 1 of the present invention
- FIG. 2 is a schematic diagram of a robot working system according to Embodiment 1 of the present invention.
- 3a-3c are schematic diagrams of three different types of boundary signals generated by the boundary signal generator
- FIG. 4 is a flowchart of a method for identifying a boundary signal according to Embodiment 2 of the present invention.
- FIG. 5 is a schematic diagram of a robot working within an adjacent working area according to Embodiment 2 of the present invention.
- FIG. 6 is a flowchart of another boundary signal identification method provided by Embodiment 2 of the present invention.
- FIG. 7 is a schematic structural diagram of a boundary signal identification device according to Embodiment 3 of the present invention.
- FIG. 8 is a schematic structural diagram of a device according to Embodiment 4 of the present invention.
- FIG. 1 is a flowchart of a method for identifying boundary signals according to Embodiment 1 of the present invention. This embodiment can be applied to the situation of identifying boundary signals during robot operation.
- the method can be executed by a boundary signal identifying device. It can be implemented in software and/or hardware, and the device can be integrated in robotic equipment.
- the robot is an intelligent device that can walk automatically, such as a lawn mower, a vacuum cleaner or an industrial robot, etc.
- This type of intelligent device controls the walking path of the robot through the boundary system during normal operation.
- FIG. 2 is a schematic diagram of a robot working system provided in Embodiment 1 of the present invention, wherein the system includes a robot body 1, two driving wheels 2 and 3 arranged on the robot body, To the wheel 4 , the sensor 5 , the controller 6 , the charging and boundary signal generator 7 and the wire 8 and the lawn 9 .
- the driving wheels 2 and 3 can be driven by two motors respectively.
- the driving wheels 2 and 3 can be driven by a brushless motor with a reduction box and a Hall sensor.
- By controlling the speed and direction of the two wheels it is convenient to It can realize driving actions such as straight forward, turning and straight back, and can also be used to record the running distance and turning angle.
- acceleration sensors and gyroscopes can also be used to record and optimize the running distance and turning angle.
- the universal wheel 4 plays a role of supporting and balancing the robot body 1;
- the number of sensors 5 is one or more, which is used to detect the electronic boundary magnetic field signal;
- the controller 6 has a data memory such as electrified erasable programmable Read-only memory (Electrically Erasable Programmable read only memory, EEPROM), solid-state memory Flash or SD memory card, etc., are used to control the movement path of the robot according to the detected boundary signal;
- the charging and boundary signal generator 7 is used to provide the robot with The power supply is used to automatically charge the robot, and it is also used to generate coded pulse signals and transmit along the wire 8 connected to the charging station, thereby generating an alternating magnetic field on both sides of the wire.
- the sensor 5 is used to continuously collect the surrounding environment of the robot.
- the wire 8 surrounds the surrounding of the work area 9 and obstacles such as rockery and fountains in the work area.
- the system also includes other general mechanisms such as mowing mechanisms and dump, ground clearance and crash sensors (not shown).
- the magnetic field signal can be further processed by the signal processing unit disposed on the robot, so as to obtain the processing signal corresponding to the magnetic field signal.
- the processed signal may be a signal with certain parameter information, wherein the parameter information may include pulse width, pulse interval and pulse frequency, etc. After different magnetic field signals are processed, a processed signal with the above parameter information will be generated.
- the boundary signal generator pre-stores two or more candidate boundary signals and selects one of them as its current output boundary signal according to random rules.
- the boundary signal of the working area to which the robot belongs is determined according to the matching result.
- the boundary signal generator uses one of multiple boundary signals whose parameters are uniformly and randomly distributed as its current output boundary signal, and different boundary signals have different parameters.
- the boundary signal generator 7 can generate a series of pulse signals with different parameters but conforming to certain rules.
- FIGS. 3a-3c are schematic diagrams of three different types of boundary signals generated by the boundary signal generator 7.
- the boundary signal generator 7 can actually generate 100 or more kinds of boundary signals.
- the boundary signal generator 7 generates boundary signals with a series of parameters that are uniformly and randomly distributed, and the specific boundary signal generator 7 generates different series of signals by different pulse width i, pulse width b or pulse interval t.
- the distance satisfies the relationship between the same signal information, the main body of the signal and the distance, and these series of parameter differences can be detected by the robot sensor 5 and identified by the controller 6.
- the controller controls the boundary signal generator 7 to randomly select and fix one of the pulse signals to send out.
- the robot initially works, place the robot away from The place in the adjacent work area to prevent interference by the boundary signal in the adjacent work area. If the robot detects the unique signal generated by the boundary signal generator 7 in the work area, it records and stores the unique signal parameters as the preset signal. , and then match the processing signal obtained during the working process of the robot with the pre-stored signal, and further determine the boundary signal of the working area to which the robot belongs according to the matching result.
- the processed signals acquired at this time may contain signals from other adjacent working areas.
- the boundary signal of the working area to which the robot belongs may be determined according to the signal strength of the magnetic field signal.
- the processed signal with the strongest magnetic field signal strength can be used as the boundary signal of the region to which the robot belongs; when the magnetic field signal strengths corresponding to multiple detected boundary signals are approximately the same, it is further determined whether the robot is in the acquired state at this time.
- the processing signal belongs to the working area to further determine the boundary signal of the area to which the robot belongs.
- the technical solution of the embodiment of the present invention is to detect the magnetic field signal in the surrounding environment of the robot, obtain the corresponding processing signal according to the magnetic field signal, and then match the processing signal with the pre-stored signal, wherein the pre-stored signal and the robot are matched with the boundary used by the robot.
- the boundary signals currently output by the signal generator are the same. If there are at least two processing signals that are the same as the pre-stored signals, the boundary signal of the working area of the robot is determined according to the signal strength of the magnetic field signal.
- the acquired processed signal is matched with the pre-stored signal, and the boundary signal is identified in combination with the magnetic field signal strength corresponding to the processed signal, which improves the identification accuracy of the boundary signal.
- FIG. 4 is a flowchart of a method for identifying a boundary signal provided in Embodiment 2 of the present invention.
- the embodiment of the present invention further refines S140. Referring to FIG. 4 , the method specifically includes:
- the detected magnetic field of the signal in its own work area is The signal strength is greater than the magnetic field signal strength of the detected adjacent boundary signals. Therefore, the signal with the highest magnetic field signal strength among the at least two processed signals may be used as the boundary signal in the working area to which the robot belongs.
- This embodiment provides a specific method for detecting a boundary signal.
- the processing signal with the strongest magnetic field signal strength is used as the boundary signal of the working area to which the robot belongs. It is realized that when the type of boundary signal generated by the adjacent work area is the same as the boundary signal of the work area to which the robot belongs, the boundary signal of the adjacent work area can be accurately distinguished, so as to avoid the robot from making a misjudgment and improve the accuracy of boundary signal recognition.
- the method is simple and convenient, and the cost is low.
- FIG. 5 includes the boundary signal generator 7 , the wire 8 and the work area 9 in the work area to which the robot belongs, as well as the boundary signal generator 7 ′, the wire 8 ′ and the work area 9 ′ and the adjacent work area.
- the working area 10 of the close distance between the two working areas.
- the sensor can not only detect the boundary signal of its own working area, but also receive signals within the boundary of other working areas, and the collected boundary signal of its own area and the magnetic field signal strength of the adjacent working area are roughly the same. If the boundary signal generated by the boundary signal generator in the work area to which the robot belongs is of the same type as the boundary signal generated by the boundary signal generator in the adjacent work area, the target boundary signal needs to be further combined with the position information of the robot.
- determining the boundary signal of the work area to which the robot belongs according to the position information of the robot including: if the robot is located in the work area to which the acquired processing signal belongs, then the processing signal is used as the boundary of the work area to which the robot belongs. Signal.
- the robot if the acquired magnetic field strengths corresponding to at least two processing signals matching the preset signals are approximately the same, and the robot is located in the working area to which the acquired processing signals belong, it indicates that the signals collected by the robot at this time are It is the boundary signal sent by the boundary signal generator matched with the robot, so the acquired processing signal is used as the boundary signal of the area described by the robot, and the acquired processing signal is recorded in the memory.
- determining the boundary signal of the work area to which the robot belongs including: if the robot is located outside the work area to which the acquired processing signal belongs, generating alarm prompt information for prompting the user to re-detect the boundary signal.
- the signal generated by the boundary signal generator within the boundary of the work area to which the robot belongs is different from the signal generated by the boundary signal generator within the boundary of the adjacent work area in some attributes.
- the value of the processed signal at this time is positive; when the acquired processed signal is the boundary signal generator of the adjacent work area When the processing signal is generated, the value of the processing signal at this time is negative.
- whether the acquired processed signal is a boundary signal of the work area to which the robot belongs is determined according to the difference in the positive and negative attributes of the processed signals generated by the above-mentioned different work areas.
- the value of the acquired processing signal is negative, it indicates that the robot is located outside the boundary of the work area to which the acquired processing signal belongs, that is, at this time, what the robot detects is the occurrence of a boundary signal within the boundary of the adjacent work area.
- the signal generated by the robot is not its own real boundary signal. At this time, the robot will generate corresponding alarm prompt information to prompt the user to re-detect and match the boundary signal.
- the embodiment of the present invention further includes: if no boundary signal is collected during the working process of the robot, generating alarm prompt information for prompting the user to re-detect the boundary signal.
- the boundary signal generator in the adjacent work area is exactly opposite to the signal sent by the boundary signal generator in the work area to which the robot belongs, when the robot detects these two signals at the same time, the two The signal will be superimposed and canceled as no signal, so that the sensor cannot detect the real boundary signal. In this case, a corresponding alarm message will be generated to prompt the user to re-detect and match the boundary signal.
- an alarm prompt may be performed on a human-computer interaction interface or an application program by means of a sound prompt, lighting, or the like.
- FIG. 7 is a schematic structural diagram of a robot kit provided in Embodiment 3 of the present invention.
- the robot kit provided in this embodiment can execute a boundary signal identification method provided by the foregoing embodiment.
- the robot kit 300 It includes a robot 310 and a boundary signal generator 320 matched with the robot 310 .
- the boundary signal generator 320 uses one of multiple boundary signals whose parameters are uniformly and randomly distributed as its current output boundary signal, wherein different boundary signals have different parameters.
- the boundary signal generator 320 pre-stores two or more alternative boundary signals and selects one of them as its current output boundary signal according to random rules.
- the robot 310 includes:
- the detection device 311 is used to detect the magnetic field signal in the surrounding environment of the robot;
- a controller 312 configured to obtain a corresponding processing signal according to the magnetic field signal, and match the processing signal with a pre-stored signal, wherein the pre-stored signal is the same as the boundary signal currently output by the boundary signal generator, and If there are at least two processing signals that are the same as the pre-stored signals, the boundary signal of the working area to which the robot belongs is determined according to the signal strength of the magnetic field signal.
- the boundary signal generator pre-stores two or more candidate boundary signals and selects one of them as its current output boundary signal according to random rules.
- boundary signal generator uses one of multiple boundary signals whose parameters are uniformly and randomly distributed as its current output boundary signal.
- controller 312 is specifically configured to: if the signal strengths of the magnetic field signals corresponding to the at least two processing signals that are the same as the pre-stored signals are different, the processing signal with the strongest magnetic field signal strength is used as the working area to which the robot belongs. the boundary signal;
- the boundary signal of the working area to which the robot belongs is determined according to the position information of the robot.
- the above-mentioned controller 312 is also specifically configured to: if the robot is located in the working area to which the detected magnetic field signal belongs, the processing signal corresponding to the detected magnetic field signal is used as the target boundary signal.
- the above-mentioned controller 312 is also specifically configured to: if the robot is located outside the work area to which the detected magnetic field signal belongs, generate alarm prompt information for prompting the user to re-detect the boundary signal.
- the robot kit provided by the embodiment of the present invention can execute the boundary signal identification method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method, which will not be described again.
- FIG. 8 is a schematic structural diagram of a device according to Embodiment 4 of the present invention.
- FIG. 8 shows a block diagram of an exemplary apparatus 12 suitable for use in implementing embodiments of the present invention.
- the device 12 shown in FIG. 8 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present invention.
- device 12 takes the form of a general-purpose computing device.
- Components of device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 connecting various system components including system memory 28 and processing unit 16.
- Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures.
- these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect ( PCI) bus.
- Device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 12, including both volatile and non-volatile media, removable and non-removable media.
- System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32 .
- Device 12 may further include other removable/non-removable, volatile/non-volatile computer system storage media.
- storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive”).
- a disk drive may be provided for reading and writing to removable non-volatile magnetic disks (eg "floppy disks"), as well as removable non-volatile optical disks (eg CD-ROM, DVD-ROM) or other optical media) to read and write optical drives.
- each drive may be connected to bus 18 through one or more data media interfaces.
- Memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present invention.
- a program/utility 40 having a set (at least one) of program modules 42, which may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data , each or some combination of these examples may include an implementation of a network environment.
- Program modules 42 generally perform the functions and/or methods of the described embodiments of the present invention.
- Device 12 may also communicate with one or more external devices 14 (eg, keyboards, pointing devices, display 24, etc.), may also communicate with one or more devices that enable a user to interact with device 12, and/or communicate with Device 12 can communicate with any device (eg, network card, modem, etc.) that communicates with one or more other computing devices. Such communication may take place through input/output (I/O) interface 22 . Also, device 12 may also communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet, through network adapter 20. As shown, network adapter 20 communicates with other modules of device 12 via bus 18 . It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and Data backup storage system, etc.
- I/O input/output
- network adapter 20 communicates with other modules of
- the processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, for example, to implement the boundary signal identification method provided by the embodiments of the present invention.
- Embodiment 5 of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, implements the method for identifying a boundary signal as described in any of the foregoing embodiments of the present invention, wherein, The method includes:
- the boundary signal of the working area to which the robot belongs is determined according to the signal strength of the magnetic field signal.
- the computer storage medium in the embodiments of the present invention may adopt any combination of one or more computer-readable mediums.
- the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
- the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above.
- a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
- a computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
- Program code embodied on a computer readable medium may be transmitted using any suitable medium, including - but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
- Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as "C" language or similar programming language.
- the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
- the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
- LAN local area network
- WAN wide area network
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Abstract
Description
Claims (9)
- 一种边界信号识别方法,其特征在于,所述方法包括:检测机器人周围环境中的磁场信号;根据所述磁场信号获得对应的处理信号;将所述处理信号与预存信号进行匹配,其中,所述预存信号与机器人配套使用的边界信号发生器当前输出的边界信号相同;若存在至少两个与所述预存信号相同的处理信号,则根据磁场信号的信号强度来确定机器人所属工作区域的边界信号。
- 根据权利要求1所述的方法,其特征在于,所述边界信号发生器预存两种以上备选边界信号并根据随机规则从中选择一种作为其当前输出的边界信号。
- 根据权利要求1所述的方法,其特征在于,不同的所述边界信号具有不同的参数,所述边界信号发生器以参数呈均匀随机分布的多种边界信号中的一种作为其当前输出的边界信号。
- 根据权利要求1所述的方法,其特征在于,若存在至少两个与所述预存信号相同的处理信号,则根据磁场信号的信号强度来确定机器人所属工作区域的边界信号,包括:若所述至少两个与所述预存信号相同的处理信号对应的磁场信号的信号强度不同,则将磁场信号强度最强的处理信号作为机器人所属工作区域的边界信号;若所述至少两个与所述预存信号相同的处理信号对应的磁场信号的信号强度相同,则根据机器人的位置信息确定机器人所属工作区域的边界信号。
- 根据权利要求4所述的方法,其特征在于,根据机器人的位置信息确定 机器人所属工作区域的边界信号,包括:若机器人位于获取到的处理信号所属工作区域内,则将所述处理信号作为机器人所属工作区域的边界信号。6、根据权利要求4所述的方法,其特征在于,根据机器人的位置信息确定机器人所属工作区域的边界信号,包括:若机器人位于获取到的处理信号所属工作区域外,则生成报警提示信息,用于提示用户重新检测边界信号。
- 一种机器人套件,包括机器人以及与所述机器人配套使用的边界信号发生器,其特征在于,所述边界信号发生器以参数呈均匀随机分布的多种边界信号中的一种作为其当前输出的边界信号,其中,不同的边界信号具有不同的参数;所述机器人包括:检测装置,用于检测机器人周围环境中的磁场信号;控制器,用于根据所述磁场信号获得对应的处理信号,以及将所述处理信号与预存信号进行匹配,其中,所述预存信号与所述边界信号发生器当前输出的边界信号相同,以及若存在至少两个与所述预存信号相同的处理信号,则根据磁场信号的信号强度来确定机器人所属工作区域的边界信号。
- 一种机器人套件,包括机器人以及与所述机器人配套使用的边界信号发生器,其特征在于,所述边界信号发生器预存两种以上备选边界信号并根据随机规则从中选择一种作为其当前输出的边界信号;所述机器人包括:检测装置,用于检测机器人周围环境中的磁场信号;控制器,用于根据所述磁场信号获得对应的处理信号,以及将所述处理信号与预存信号进行匹配,其中,所述预存信号与所述边界信号发生器当前输出的边界信号相同,以及若存在至少两个与所述预存信号相同的处理信号,则根据磁场信号的信号强度来确定机器人所属工作区域的边界信号。
- 一种设备,其特征在于,所述设备包括:一个或多个处理器;存储装置,用于存储一个或多个程序,当所述一个或多个程序被所述一个或多个处理器执行,使得所述一个或多个处理器实现如权利要求1-6中任一所述的边界信号识别方法。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,该程序被处理器执行时实现如权利要求1-6中任一所述的边界信号识别方法。
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