CN106909143A - Self-movement robot system - Google Patents

Abstract

The invention relates to a self-moving robot system, which includes a signal generating device for generating a preset signal; a signal detection device for detecting a preset signal and generating a detection result; a device for radiating or/and receiving a preset signal a signal line; and a control unit arranged on the self-mobile robot, the control unit receives the detection result and controls the movement of the self-mobile robot according to the detection result. Wherein, one end of the signal line is connected to the signal generating device or/and the signal detecting device, the signal line extends unidirectionally from the end, and the signal line does not constitute a circuit loop. The present invention can realize self-mobile robot's identification of working area and/or guide regression through non-closed signal lines, thereby simplifying the user's operation of arranging closed boundary lines or guide lines, and improving the user's experience of using the self-mobile robot system.

Description

Autonomous Mobile Robotic System

technical field

The invention relates to a self-moving robot system, in particular to a self-moving robot system capable of moving and working in a preset working area and a self-moving robot system capable of automatically returning to a preset position.

Background technique

With the development of science and technology, intelligent self-moving robots are well known to people. Since self-moving robots can automatically perform preset related tasks according to preset programs without human operation and intervention, they are widely used in industrial applications and household products. The application is very extensive. Industrial applications such as robots that perform various functions, and applications in household products such as smart lawn mowers, smart vacuum cleaners, etc. These intelligent self-moving robots greatly save people's time and bring benefits to both industrial production and home life. Great convenience.

Self-mobile robots, such as smart lawn mowers, usually have a work mode and a return mode. In the working mode, the self-mobile robot moves and performs preset related tasks in the preset working area. In the homing mode, the self-mobile robot can automatically move to the charging station according to the preset route for charging or parking.

In the working mode, in order to restrict the self-mobile robot to work only in the preset working area, the industry usually uses a boundary system to control the working area of the self-mobile robot. As shown in Fig. 1, the boundary system includes a signal generating device 40', a self-mobile robot 10' and a boundary line 50'. By identifying the boundary line 50', the self-mobile robot 10' is controlled to work and move only on one side of the boundary line 50'. In this embodiment, the boundary line 50' defines the working area 30' surrounded by the boundary line 50' and the non-working area 100' located outside the boundary line 50'. The signal generating device 40' is electrically connected to the boundary line 50'. The signal generating device 40' generates a preset boundary signal SC and sends it to the boundary line 50'. When the preset boundary signal SC flows through the boundary line 50', a changing magnetic field 90 will be generated. '. The self-mobile robot 10' further includes a signal detection device 20' and a control unit 80' (not shown in the figure). The signal detection device 20' detects the changing magnetic field 90' and generates a detection signal SC'. The control unit 80' receives the detection signal SC', and controls the self-mobile robot 10' to move within the working area 30' according to the detection signal SC'.

The preset boundary signal SC is an electrical signal that changes with time. As shown in Figure 2, in this embodiment, the preset boundary signal SC' is specifically a periodic pulse current signal, and the preset boundary signal SC' will change around the boundary line 50' when it flows through the boundary line 50' Field 90'. At any moment, the magnetic field 90' presents opposite polarities on both sides of the boundary line 50', that is, the polarity of the magnetic field in the working area 30' is opposite to that in the non-working area 100'. As known to those skilled in the art, by controlling the amplitude of the preset boundary signal SC, it can be ensured that the working area 30' is filled with a magnetic field.

In a specific embodiment, the signal generating device 40' includes a power supply and a controllable switch, and the signal generating device 40' is connected to the boundary line 50' to form an electrical circuit. By controlling the opening and closing of the controllable switch, the preset boundary signal SC' as shown in Fig. 2 can be generated.

The signal detection device 20' can have various forms, as long as it can convert the magnetic field 90' into a corresponding electrical signal. Preferably, the signal detection device 20' includes an inductor. The signal detection device 20' induces the magnetic field 90' and generates a corresponding electromotive force, thereby converting the magnetic field 90' into a detection signal SC' and transmitting it to the control unit 80'. The polarity of the magnetic field 90' is opposite in the working area 30' and in the non-working area 100', and correspondingly, the polarity of the detection signal SC' is also opposite in the working area 30' and the non-working area 100'.

The control unit 80' judges whether the self-mobile robot 10' crosses the boundary line 50' according to the polarity of the detection signal SC'. When the polarity of the detection signal SC' changes, the control unit 80' judges that the self-mobile robot 10' is crossing the boundary line 50'. The control unit 80' controls the self-mobile robot 10' to retreat or turn, so that the detection signal SC' changes to the initial polarity, so as to ensure that the self-mobile robot 10' always works in the working area 30'.

In the return mode, in order to ensure that the self-mobile robot can automatically return to the charging station according to the preset route, the industry usually uses the above-mentioned boundary system as hardware to guide the self-mobile robot 10' to return along the boundary line by changing the control algorithm of the self-mobile robot to the charging station. In the regression mode, the original boundary line 50' is the guiding line of the self-mobile robot 10'.

As shown in Fig. 3, the self-mobile robot system further includes a charging station 70', and the signal generating device 40' is arranged on the charging station 100' or connected to the charging station 100'. When the control unit 80' receives the return instruction, the control unit 80' controls the self-mobile robot 10' to move randomly or in a predetermined direction to find the boundary line 50'. The control unit 80' judges whether the self-mobile robot 10' crosses the boundary line 50' according to the polarity of the detection signal SC'. When the polarity of the detection signal SC' changes, the control unit 80' judges that the self-mobile robot 10' is crossing the boundary line 50'. The control unit 80' has a built-in regression algorithm, and controls the self-mobile robot 10' to return to the charging station 70' along the boundary line 50' along the meandering dotted line shown in FIG. 3 .

In order to improve the efficiency of returning from the mobile robot 10' to the charging station 100', two signal detection devices 20' are provided on the self-mobile robot 10', which are the first signal detection device 21' and the second signal detection device 22 respectively. '. As shown in Fig. 4, the first signal detection device 21' and the second signal detection device 22' are respectively located on the left and right sides symmetrical to the central axis of the self-mobile robot. When the self-mobile robot 10' returns to the charging station 100', the control unit 80' controls the self-mobile robot 10' to move toward the boundary direction. When the direction of SC' is opposite, it is judged from the mobile robot 1' that it is in the state of crossing the line. The boundary line 50' leads to the charging station 70', and the mobile robot 10' can return to the charging station 70' clockwise or counterclockwise along the boundary line 50' after crossing the line.

The identification of the working area and the return guidance of the self-mobile robot are realized based on the changing magnetic field signal, and the technical means of generating the changing magnetic field signal must flow the changing current on the boundary line or the guiding line. Therefore, in the prior art, the boundary line or guide line of the self-mobile robot system must be provided with a closed circuit to form a circuit loop. When the working area is large, the signal generating device needs to generate a preset boundary signal with a large amplitude to ensure that there is a magnetic field in the working area, which will increase the power consumption of the self-mobile robot system; when the working area is large When the boundary line or guide line to be laid is very long, energy and financial resources will be wasted; when there are obstacles such as walls or shrubs at the boundary of the work area, the user arranges a closed The boundary line or guide line will be very troublesome, seriously affecting the user's experience of using the self-mobile robot system.

Contents of the invention

The technical problem to be solved by the present invention is to provide a self-moving robot system with low power consumption and the boundary line or guide line does not need to be set as a closed circuit.

The invention provides a self-moving robot system, which automatically moves and works automatically in the working area, including: a signal generating device, which generates a preset signal suitable for radiation to free space in the form of radio waves; the preset signal includes a device with A modulation signal of a characteristic frequency and a carrier signal with a carrier frequency; a signal line for radiating the preset signal into free space in the form of radio waves or receiving a preset signal existing in free space in the form of radio waves; signal detection A device that receives a radio signal that exists in free space in the form of radio waves, and identifies the modulated signal through the characteristic frequency, thereby generating a detection result; a control unit that is arranged in the self-mobile robot to receive the detection result , and control the self-mobile robot to move or work according to the detection result; wherein, one end of the signal line is connected to the signal generating device or/and the signal detection device, and the signal line is unidirectionally extended from the one end , does not constitute a circuit circuit.

Preferably, the range of the carrier frequency of the carrier signal is less than or equal to 10MHZ.

Preferably, the range of the carrier frequency of the carrier signal is less than or equal to 2MHZ.

Preferably, the range of the characteristic frequency of the modulation signal is 100HZ to 500KHZ.

Preferably, the range of the characteristic frequency of the modulation signal is 100HZ to 50KHZ.

Preferably, the waveform of the preset signal is trapezoidal wave, square wave, triangular wave or sawtooth wave.

Preferably, the waveform rising edge time of the preset signal ranges from 100 ns to 2000 ns.

Preferably, the waveform rising edge time of the preset signal ranges from 500 ns to 2000 ns.

Preferably, the characteristic frequency of the modulated signal includes one fixed frequency or a plurality of fixed frequencies.

Preferably, the detection result includes signal intensity.

Preferably, the self-mobile robot has a work mode, and in the work mode, the self-mobile robot automatically moves and works automatically on one side of the signal line with the signal line as the boundary line.

Preferably, in the working mode, when the detection result of the signal detection device reaches a first preset threshold, the control unit controls the self-mobile robot to move toward a direction in which the detection result weakens.

Preferably, the autonomous mobile robot system further includes a charging station for providing electric energy or/and docking for the autonomous mobile robot.

Preferably, the charging station is connected to the signal generating device and/or the signal detecting device.

Preferably, the signal generating device and/or the signal detecting device is provided on the charging station.

Preferably, the self-mobile robot has a return mode, and in the return mode, the self-mobile robot returns to the charging station roughly along the signal line with the signal line as a guide line.

Preferably, in the regression mode, if the detection result of the signal detection device reaches a second preset threshold, the control unit controls the self-mobile robot to adjust the moving direction so that the detection result is within a preset intensity range.

Preferably, the signal line is connected to the signal generation device, and the self-mobile robot is provided with one signal detection device.

Preferably, the signal line is connected to the signal generating device, and the self-mobile robot is provided with a plurality of the signal detecting devices.

Preferably, the self-mobile robot is provided with two signal detection devices, namely a first signal detection device and a second signal detection device.

Preferably, the first signal detection device and the second signal detection device are left-right symmetrical about the central axis of the self-mobile robot.

Preferably, in the regression mode, after the detection results detected by the first signal detection device and the second signal detection device reach a second preset threshold, the control unit controls the walking of the self-mobile robot so that the signal The intensity difference between the detection results of the first detection means and the signal detection means of the second detection means is within a preset intensity threshold range.

Preferably, the charging station is provided with or connected to one of the signal detection devices, and the self-mobile robot is provided with one of the signal generating devices; the self-mobile robot and the charging station are respectively provided with a wireless communication device, through wireless communication The device transmits the detection result to the control unit.

Preferably, the wireless communication device includes infrared communication device, Wi-Fi device, cellular communication device, Bluetooth device, GPS device, Zigbee device, 2.4GHZ wireless communication device, 433MHZ wireless communication device or Z-WAVE wireless communication device.

Preferably, the self-mobile robot is provided with a signal generating device and a signal detection device, which are respectively a first signal generation device and a second signal detection device; the charging station is provided with or connected to a signal detection device. The detecting device and one of the signal generating devices are respectively a first detecting device for a signal and a second generating device for a signal; the first generating device for a signal and the second generating device for a signal respectively have the modulation signals of different characteristic frequencies; the The first signal detection device and the second signal detection device respectively identify signals of different characteristic frequencies and generate detection results of corresponding frequencies.

Preferably, the control unit judges the distance between the self-mobile robot and the signal line according to the detection result.

Preferably, the self-mobile robot has a working mode, and in the working mode, the control unit controls the distance between the self-mobile robot and the signal line to be greater than or equal to a first preset distance, so that the self-mobile robot One side of the line moves automatically and works automatically.

Preferably, the self-mobile robot has a return mode, and in the return mode, the control unit controls the distance between the self-mobile robot and the signal line to be within a preset distance range, so that the self-mobile robot roughly follows the The signal line returns to a preset position.

The present invention also provides a self-moving robot system, which automatically moves and works automatically in the working area, including: a signal generating device, which generates a preset signal suitable for radiation to free space in the form of radio waves; It is assumed that the signal radiates into free space in the form of radio waves or receives a preset signal in the free space in the form of radio waves; the signal detection device receives the radio signals in the free space in the form of radio waves, and recognizes the modulation signal, so as to generate a detection result; the control unit is arranged in the self-mobile robot, receives the detection result, and controls the movement of the self-mobile robot according to the detection result; wherein, the signal line includes a starting point and an end point, and the The starting point is connected to the signal generating device or/and the signal detecting device, and the ending point is the free end of the signal line.

Preferably, the preset signal includes a modulation signal with a characteristic frequency and a carrier signal with a carrier frequency, and the signal detection device identifies the modulation signal through the characteristic frequency.

Preferably, the control unit is provided with a control algorithm, and the control algorithm includes a boundary algorithm and a guidance algorithm.

Preferably, when the control unit implements the boundary algorithm, the self-mobile robot takes the signal line as the boundary line, automatically moves and works automatically on one side of the signal line; when the control unit implements the guidance During the algorithm, the self-mobile robot takes the signal line as a guide line, and roughly returns to a preset position along the signal line.

Preferably, the boundary algorithm includes that when the signal strength of the detection result is greater than or equal to a first preset threshold, the control unit controls the mobile machine to move in a direction in which the signal strength of the detection result decreases.

Preferably, the guidance algorithm includes that when the signal strength of the detection result is greater than or equal to a second preset threshold, the control unit controls the self-mobile robot to adjust its forward direction so that the signal strength of the detection result is within the range of the preset threshold.

The present invention also provides a self-moving robot system, which automatically moves and works automatically in the working area, including: a signal generating device, which generates a preset signal with a characteristic frequency; a signal line, which transmits the preset signal in the form of radio waves Radiate into free space or receive preset signals in free space in the form of radio waves; the signal detection device receives radio signals in free space in the form of radio waves, and detects the signal corresponding to the characteristic frequency after demodulation Strength; the control unit is set in the self-mobile robot, receives the signal strength, and controls the self-mobile robot to move or work according to the signal strength; wherein, the signal line is connected with the signal generating device or/and the The signal detection device is connected, and no current flows through the signal line.

Preferably, the preset signal includes a modulation signal with a characteristic frequency and a carrier signal with a carrier frequency.

Preferably, the range of the carrier frequency of the carrier signal is less than or equal to 10MHZ.

Preferably, the range of the characteristic frequency of the modulation signal is 100HZ to 500KHZ.

Compared with the prior art, the present invention provides a signal line that does not need to form an electrical circuit as the boundary line of the self-mobile robot or the guide line of the self-mobile robot, which simplifies the operation of the user to arrange the boundary line or guide line, and improves the user's The experience of using self-mobile robotic system. The self-moving robot system provided by the invention does not need to cover the entire working area with a magnetic field, which reduces power consumption when the system is working.

Description of drawings

The same reference numerals and symbols are used in the drawings and the specification to denote the same or equivalent elements.

FIG. 1 is a system schematic diagram of a self-mobile robot in a working mode in the prior art.

FIG. 2 is a schematic diagram of preset boundary signals in the prior art.

Fig. 3 is a schematic diagram of a non-cross-line regression system of the self-mobile robot in the regression mode in the prior art.

Fig. 4 is a schematic diagram of the cross-line regression system of the self-mobile robot in the regression mode in the prior art.

Fig. 5 is a schematic diagram of the system of the self-mobile robot in working mode according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of an amplitude modulation process of a radio signal.

FIG. 7 is a schematic diagram of a preset signal waveform used in an embodiment of the present invention.

FIG. 8 is a schematic diagram of the distribution of antenna radiation areas.

Fig. 9 is a schematic diagram of intensity attenuation distribution of radio signals along signal lines in an embodiment of the present invention

FIG. 10 is a block diagram of a signal detection device in an embodiment of the present invention.

FIG. 11( a ) is a schematic diagram of waveforms before processing by the signal detection device in FIG. 10 .

Fig. 11(b) is a schematic diagram of waveforms processed by the signal detection device in Fig. 10 .

FIG. 12 is a flowchart of the boundary algorithm of the embodiment shown in FIG. 5 .

Fig. 13 is a schematic diagram of the regression of the self-mobile robot according to an embodiment of the present invention.

Fig. 14 is a flowchart of the regression algorithm of the embodiment shown in Fig. 13 .

Fig. 15 is a schematic diagram of cross-line regression of a self-mobile robot according to another embodiment of the present invention.

Fig. 16 is a flowchart of the regression algorithm of the embodiment shown in Fig. 15 .

Fig. 17 is a schematic diagram of non-cross-line regression of the self-mobile robot of the embodiment shown in Fig. 15 .

10’/10, self-moving robot 12, shell

14. Wheel 20’/20, signal detection device

21’/21, the first signal detection device 22’/22, the first signal detection device

30’/30, working area 40’/40, signal generating device

50’, boundary line 50a/50b/50c, barrier surface

60. Signal line 61. Starting point

62. Finishing point 70’/70, charging station

72. Charging terminal 74. Tablet

80’/80, control unit 90’, magnetic field

100’/100, non-working area 201, antenna

202. Signal processing 203. Detection wave unit

detailed description

The detailed description and technical content of the present invention are described below with accompanying drawings, but the attached drawings are only for reference and description, and are not intended to limit the present invention.

The autonomous mobile robot system shown in FIG. 5 includes a signal generating device 40 , a signal line 60 and an autonomous mobile robot 10 . In this embodiment, the starting point 61 of the signal line 60 is electrically connected to the signal generating device 40 , the end point 62 of the signal line 60 is the free end of the signal line 60 , and the signal line 60 is an open route. The signal line 60 does not form a circuit loop with the signal generating device 40, and the signal generating device 40 generates the preset signal SS. The signal line 60 radiates the preset signal SS into free space in the form of radio waves.

In this embodiment, the signal line 60 forms an electronic wall, restricting the mobile robot 10 from moving and working on one side of the signal line 60 . The signal line 60 together with the obstacle surfaces 50a, 50b, 50c encloses the working area 30 of the self-mobile robot 10 . The obstacle surfaces 50 a , 50 b , and 50 c include obstacles such as walls, fences, or bushes that block the movement of the self-mobile robot 10 . In this embodiment, the obstacle surfaces are three sides 50a, 50b, and 50c. As known to those skilled in the art, the specific form of the obstacle surface can be changed according to the actual situation, such as there are more surfaces or only two sides or one side or no obstacle surface , the arrangement of the signal lines 60 is adaptively changed according to the form of the obstacle surface.

In an application scenario, the working area 30 may also be surrounded by a plurality of signal wires 60 . Each signal line 60 is electrically connected to its corresponding signal generating device 40 .

The self-mobile robot 10 may be an intelligent lawn mower or a cleaning robot. In this embodiment, the self-mobile robot 10 is an intelligent lawnmower as an example. As shown in Figure 5, the self-mobile robot 10 includes a housing 12, a number of wheels 14 positioned at the bottom of the housing 12, and a control unit 80 (not shown in the figure) located inside the housing 12 that controls the automatic operation and automatic movement of the self-mobile robot 10. Out), a signal detection device 20 for detecting the preset signal SS, and a power system (not shown) for driving the wheels 14. The power system includes battery packs, transmission mechanisms, etc.

As shown in FIG. 13 , in an embodiment, the self-mobile robot system further includes a charging station 70 . The self-mobile robot 10 can return to the charging station 70 to charge when the battery is low, or return to the charging station 70 to stay after finishing work or when it rains. In this exemplary embodiment, the signal generating device 40 is arranged on the charging station 70 . As known to those skilled in the art, the signal generating device 40 may not be arranged on the charging station 70 , and only needs to be connected to the charging station 70 . For example, the signal generating device 40 is arranged behind, on the side or in front of the charging station 70 .

Since the front end of the mobile robot 10 has at least two docking terminals (not shown in the figure), the charging station 70 has charging terminals 72 corresponding to the docking terminals. When the self-mobile robot 10 docks with the charging station 70 , the docking terminal is electrically connected to the charging terminal 72 .

The charging station 70 has a flat panel 74 for the self-mobile robot 10 to rest on, the flat panel 74 lying flat on the work surface. When the self-mobile robot 10 is positioned on the flat plate 74 as a whole, it can prevent the self-mobile robot 10 from being skewed due to an uneven working surface, thereby causing the docking terminal and the charging terminal 72 to be unable to be docked.

In the prior art, the boundary line or guide line needs to be set as a closed circuit, forming a circuit loop with the signal generating device to generate a changing magnetic field. The self-mobile robot can identify the working area and guide the return by identifying the polarity of the magnetic field. In this embodiment, the signal line 60 is used as a boundary line or a guide line, and does not need to form a circuit circuit with the signal generating device. The self-mobile robot can distinguish the working area or guide the return through the principle of communication.

The preset signal SS generated by the signal generator 40 includes a modulation signal with a characteristic frequency and a carrier signal with a carrier frequency. In an embodiment, the signal generating device 40 itself is an electrical circuit, and the electrical circuit can generate a modulation signal and a carrier signal. The signal line 60 is connected to a certain point on the electrical circuit, and radiates the modulated signal modulated by the carrier signal into the free space in the form of radio waves. According to the principle of radio radiation, after the preset signal SS is radiated through the signal line 60 , the electromagnetic energy carried by the signal will weaken as the radiation distance increases. The signal detection device 20 on the mobile robot 10 receives the radio signal existing in the free space in the form of radio waves, and identifies the characteristic frequency of the modulated signal, thereby generating the detection result SS', and transmitting the detection result SS' to the control Unit 80. The detection result SS' includes signal strength, specifically, the strength value of the signal whose frequency is the characteristic frequency received by the detection device 20 . The electromagnetic energy carried by the signal is different, and its corresponding intensity value is also different. The control unit 80 judges the distance between the mobile robot 10 and the signal line 60 according to the detection result SS'.

When the self-mobile robot 10 takes the signal line 60 as the boundary line, the control unit 80 controls the distance between the self-mobile robot 10 and the signal line 60 to be greater than or equal to the first preset distance value, and automatically moves and automatically moves on one side of the signal line 60. Work. Specifically, the control unit 80 ensures that the self-mobile robot 10 always moves and works on one side of the signal line 60 by controlling the distance between the self-mobile robot 10 and the signal line 60 to be greater than or equal to the first preset distance value, that is, to ensure that the self-mobile robot The robot 10 is always within the working area 30 .

When the self-mobile robot 10 takes the signal line 60 as a guiding line, the control unit 80 controls the distance between the self-mobile robot 10 and the signal line 60 to be within a preset distance range, and roughly returns to a position along the signal line 60. Default position. Specifically, the control unit 80 controls the self-mobile robot 10 to move roughly along the signal line 60 within a preset distance range of the signal line 60 , so as to ensure that the self-mobile robot 10 returns to the charging station 70 .

The following specifically introduces how the embodiment of the present invention uses the communication principle to realize the identification of the working area and the guidance and return of the self-mobile robot.

The preset signal SS generated by the signal generator 40 includes a modulation signal _ftone (t) with a characteristic frequency and a _carrier signal fcarrier(t) with a carrier frequency. The modulated signal _ftone (t) is the useful information of the preset signal SS, and the signal detection device 20 identifies the useful information through the characteristic frequency of the modulated signal. The carrier signal _fcarrier (t) is a high-frequency signal that effectively transmits the modulation signal _ftone (t) in the form of radio waves. Modulation methods for modulating signals and carrier signals usually include frequency modulation and amplitude modulation. In this embodiment, only the amplitude modulation method is taken as an example to describe the process of the signal generated by the signal generating device 40 for radiating to the signal line 60 . In this embodiment, the modulation signal _ftune (t) and _carrier signal fcarrier(t) in FIG. 6 are only examples for explaining the principle, and do not constitute a limitation to the present invention.

As shown in Figure 6, Figure 6 (a1) is a schematic diagram of the modulation signal f _tone (t) in the time domain, and Figure 6 (a2) is a schematic diagram of the _modulation signal f _tone (t) after Fourier transform The schematic diagram in the frequency domain; Fig. 6 (b1) is the schematic diagram of the carrier signal f _carrier (t) in the time domain, and Fig. 6 (b2) is the carrier signal f _carrier (t) after the Fourier transform F _carrier (w) in the frequency domain The schematic diagram in the domain; Fig. 6 (c1) is the schematic diagram of the real signal f _true (t) in the time domain obtained after modulation signal f _modulation (t) and carrier signal f _carrier (t) amplitude modulation, Fig. 6 (c2) is the real signal f Schematic diagram of _Ftrue (w) in the frequency domain after _True (t) is transformed by Fourier. The real signal _ftrue (t) is the signal sent by the signal generating device 40 to the starting point 61 of the signal line 60, and the signal line 60 radiates the real signal _ftrue (t) in the form of radio waves. In this embodiment, the real signal _ftrue (t) is the preset signal SS. As known to those skilled in the art, in the actual implementation of electronic circuits, the real signal _ftrue (t) will inevitably contain other noise signals. As shown in Figure 6, the amplitude modulation process only moves the spectrum of the modulated signal to a working frequency suitable for radio wave transmission, and the real signal after amplitude modulation still retains the characteristics of the modulated signal.

As known by those skilled in the art, the complexity and cost of circuit devices for generating high-frequency signals are greater than those for generating low-frequency signals. In the application scenario of this embodiment, the signal sent by the signal generating device 40 to the starting point 61 of the signal line 60 needs to be able to be effectively transmitted in the form of radio waves and the modulated signal it carries is easy to detect by the signal detecting device 20, that is, Can. Therefore, as long as the two conditions of transmission and detection are satisfied, the signal sent by the signal generating device 40 to the starting point 61 of the signal line 60 should be as simple as possible.

According to the Fourier transform, the shorter the rising edge time of the signal in the time domain, the more high-frequency harmonic components the signal contains. The shorter the rising edge time of the signal in the time domain, the signal itself has been modulated and is suitable for transmission in the form of radio waves. In this embodiment, a specific waveform of the preset signal is a square wave, that is, a square wave signal generated by the signal generating device 40 . The schematic diagram of the square wave signal in the time domain is shown in FIG. 7(a1), and the schematic diagram of the square wave signal in the frequency domain through Fourier transform is shown in FIG. 7(b1). Suppose the fundamental frequency f ₀ of the selected square wave signal is 15KHz (w ₀ =2πf ₀ ), as shown in Figure 7(b1), the frequency carried by the square wave signal actually includes nf ₀ (n=1,2,3, 4,…), that is, 15KHz, 30KHz, 45KHz, 60KHz…. As known by those skilled in the art, in the process of generating the square wave signal by the signal generating device 40 , there will inevitably be noise interference (such as parasitic inductance or parasitic capacitance in the electronic circuit, etc.). Therefore, the schematic diagram of the square wave signal actually generated by the signal generating device 40 in the time domain is shown in FIG. 7(a2), and the schematic diagram in the frequency domain through Fourier transform is shown in FIG. As shown in FIG. 7 , although the actually generated square wave signal has noise interference, its carried frequency still has nf ₀ (n=1, 2, 3, 4, . . . ). In this embodiment, the square wave signal includes a modulation signal with a characteristic frequency and a carrier signal. In this embodiment, the characteristic frequency is the fundamental frequency f ₀ , and the frequency of the carrier signal can be identified as one or several harmonic components that effectively transmit the fundamental frequency signal in the form of radio waves. Therefore, the actual square wave signal is still equivalent to a signal that has been modulated, and is still suitable for transmission in the form of electromagnetic waves.

As known by those skilled in the art, other waveform signals with fast rising edges can also be used instead of the square wave signal, such as trapezoidal wave, triangular wave or sawtooth wave. Specifically, it is only required that the rising edge time of the preset signal ranges from 100 ns to 2000 ns. Preferably, it is only necessary that the rising edge time of the preset signal ranges from 500 ns to 2000 ns.

The preset signal SS generated by the signal generating device 40 radiates outward in the form of radio waves through the signal line 60 . The propagation channel adopted by the preset signal SS is free space. When the signal-to-noise ratio (SNR) of the preset signal is greater than a certain threshold, the signal detection device 20 on the self-mobile robot 1 can detect the preset signal SS in the form of a radio signal, and obtain the A signal with the same frequency as the characteristic frequency, so as to obtain the signal strength value of the signal with the characteristic frequency, and transmit the strength value as the detection result to the control unit 80, and the control unit 80 controls the mobile machine 10 according to the detection result.

As known to those skilled in the art, the transmission mode of a radio signal has a great relationship with its carrier frequency. In the application scenario of this embodiment, the self-mobile robot 10 judges whether it is close to the signal line 60 according to its distance from the signal line 60 , so the effective transmission range of the radio signal must be limited to the free space near the signal line 60 . In the embodiment of the present invention, the real signal radiated by the signal line 60 into free space in the form of radio waves usually includes a modulated signal with useful information, a carrier signal for radiation and inevitable noise signals. Therefore, it is necessary to select the carrier signal frequency used in the present invention. Table 1 lists the names of the radio bands used in the communication field and their corresponding bands and frequency bands, as well as the frequency bands used by different wired and wireless channels. As shown in Table 1, radio waves in all frequency bands can be transmitted in free space.

Table 1. Frequency band division and operating frequency range of commonly used channels

In this embodiment, the signal line 60 radiating radio signals is realized by referring to the principle of antenna radiation electromagnetic field in the communication field. As known to those skilled in the art, the space electromagnetic field radiated by the antenna can be divided into three regions according to different characteristics: the induction near field, the radiation near field and the radiation far field. As shown in Figure 8, their distinction is defined by virtue of different distances from the antenna. There is no sudden change in the structure of the electromagnetic field at the junction of these field regions, but overall, the characteristics of the electromagnetic field in the three regions are different from each other. The electromagnetic characteristic of the induction near-field area is no radiation, the electromagnetic characteristic of the radiation near-field area is radiation but the radiated electromagnetic energy decays quickly, and the electromagnetic property of the radiation far-field area is long-range and effective radiation of electromagnetic energy. The size of the distribution range of the three regions can be controlled by the relationship between the length of the antenna and the wavelength of the radiated radio wave.

In this embodiment, the radiation area of the real signal propagated in the form of radio waves by the signal line 60 is a radiation near-field area. As shown in Figure 8, the distribution range of the radiation near-field region is where λ is the wavelength of the real signal of the radiation. The electromagnetic property of the radiated near-field region is that the radiated electromagnetic energy attenuates quickly. The attenuation characteristic of the signal line 60 in the radiation near-field region to the signal radiation propagating in the form of radio waves is shown in FIG. 9( b ). The energy H of the radio signal decreases rapidly around the signal line 60 . When the range a is exceeded, the signal detection device 20 cannot detect the signal because the radiated radio signal energy H is too small and the signal-to-noise ratio is too small. As shown in FIG. 9( a ), the signal detection device 20 can effectively detect the signal only within the distance a from both sides of the signal line 60 .

In the embodiment of the present invention, the value of a in the distance a range on both sides of the signal line 60 is predetermined according to the actual application scenario. If it is determined according to the width of the mobile robot 10, such as a=10cm, 15cm, 20cm, etc. The value range of a here is not enough to limit the present invention. After the value of a is determined, the frequency of the real signal generated by the signal generating device 40 can be obtained through estimation. The specific calculation process is as follows.

The furthest distance of the radiation near-field area Generally, the effective radiation range a is hundreds of times N, such as N=100, 150, 200, 300, etc. The specific value of N can be adaptively adjusted according to the actual application scenario. Specifically, different values of N correspond to the sensitivity of the signal detection device to receive the radio-propagated signal. according to The wavelength λ of the real signal can be derived. According to the relationship between real signal wavelength and frequency Determine the real signal wavelength λ that is to determine the real signal frequency f. Since the carrier signal plays a decisive role in the radiation range of the real signal in the form of radio transmission, the frequency obtained by this calculation method can be regarded as the frequency of the carrier signal. In an actual application scenario, the carrier frequency range selected in this embodiment is less than or equal to 10 MHz, preferably less than or equal to 2 MHz. In practical engineering applications, the carrier frequency of the carrier signal is generally at least 10 times greater than the characteristic frequency of the modulating signal. Therefore, after the frequency range of the carrier signal is determined, the selected characteristic frequency can be roughly estimated. In this embodiment, the range of the characteristic frequency is 100HZ to 500KHz, preferably 100HZ to 50KHZ.

As shown in FIG. 10 , a schematic diagram of the modules of the signal detection device 20 . The signal detection device 20 includes an antenna 201 , a signal processing circuit or a signal processing chip 202 connected to the antenna 201 , and a detection wave unit 203 for detecting signal strength. The antenna 201 converts a radio signal existing in free space in the form of radio waves into an input signal f _in (t). The signal processing circuit or signal processing chip 202 performs a series of processing on the input signal f _in (t), such as frequency conversion processing, intermediate frequency amplification, filtering (demodulation), AGC amplification or power amplification, etc., so as to obtain a frequency and modulation signal The output signal f _out (t) with the same eigenfrequency. The detection wave unit 203 detects the intensity of the output signal f _out (t). Since signal processing is some conventional means known to those skilled in the art, those skilled in the art can design or select by themselves according to needs, therefore, the present invention will not be repeated in detail.

The waveform of f _in (t) before processing by the signal detection device 20 is shown in FIG. 11( a ), and the processed f _out (t) is shown in FIG. 11 ( b ). As shown _in FIG. 11( a ), the fin (t) waveform roughly conforms to the waveform shape of the real signal generated by the signal generating device 40 . The signal processing circuit or the signal processing chip 202 processes the f _in (t), and filters out the f _out (t) signal whose frequency is equal to the characteristic frequency. The wave detection unit 203 counts the number G of waveforms with the frequency characteristic within a unit time, and transmits the number G to the control unit 80 as the signal strength. The signal strength can also be obtained by other calculation methods: for example, Fourier transform is performed on the output signal f _out (t), and the amplitude result at the corresponding characteristic frequency point after the Fourier transform is taken as the signal strength. As shown in FIG. 9 , the energy H of the radio signal attenuates from the signal line 60 to its two sides. Therefore, the signal strength value G detected by the detection wave unit 203 also decreases from the signal line 60 to both sides.

In this embodiment, the characteristic frequency of the modulated signal is selected as a fixed frequency within an optional frequency band as its characteristic frequency. In another embodiment, the characteristic frequency of the modulated signal is selected from a plurality of fixed frequencies within an optional frequency band as its characteristic frequency.

In an embodiment, a plurality of signal detection devices 20 may be provided on the mobile robot 10 . As shown in FIG. 11 , two signal detection devices 20 are provided on the self-mobile robot 10 , namely, a first signal detection device 21 and a second signal detection device 22 . The first signal detection device 21 and the second signal detection device 22 are respectively located on the left and right sides symmetrical with respect to the central axis of the two butt terminals. When the two docking terminals are located in the middle of the self-mobile robot 10 , the first signal detection device 21 and the second signal detection device 22 are respectively located on the left and right sides symmetrical to the central axis of the self-mobile robot 10 .

In an embodiment, the positions of the signal generating device 40 and the signal detecting device 20 can be exchanged. The signal detection device 20 is connected to the signal line 60 , and the signal generation device 40 is located on the self-mobile robot 10 . In this embodiment, the signal detection device 20 is also connected to a wireless communication device T1 , and another wireless communication device T2 is provided on the mobile robot 10 to be connected to the control unit 80 . When the self-mobile robot 10 approaches the signal line 60, the signal generated by the signal generating device 40 can be detected by the signal detection device 20 through the signal line 60, and the wireless communication device T1 connected to the signal detection device 20 transmits the detected signal The strength G is sent to the wireless communication device T2 on the self-mobile robot 10, and the wireless communication device T2 transmits the signal strength G to the control unit 80. The wireless communication device can be infrared communication device, wifi device, cellular mobile communication device, Bluetooth device, GPS device, Zigbee device, 2.4GHZ wireless communication device, 433MHZ wireless communication device or Z-Wave wireless communication device. In this embodiment, the detection result of the radio signal SS is transmitted to the control unit 80 by means of wireless communication. As known to those skilled in the art, the detection result of the radio signal SS can also be transmitted to the control unit 80 through other transmission methods.

In an embodiment, the self-mobile robot system can be configured with two sets of signal generating devices and signal detecting devices. One set of the signal generating device and the signal detecting device constitute a system for detecting the distance from the signal line 60 , and the other set of the signal generating device and the signal detecting device are used to transmit the detection result of the radio signal SS to the control unit 80 . The mobile robot is provided with a first signal generating device and a second signal detecting device, the signal line 60 is connected with the first signal detecting device, and the signal line 60 receives a preset signal generated by the first signal generating device. The signal line 60 is also connected to the second signal generating device, and the signal line 60 radiates the preset signal generated by the second signal generating device. The first signal generating device and the second signal generating device are used to generate two preset signals with different frequencies, the first signal detecting device is used to detect the preset signal generated by the first signal generating device, and the second signal detecting device is used for The preset signal generated by the second signal generating device is detected.

The self-mobile robot system described above can also be defined in the following description form. The self-mobile robot system includes a self-mobile robot 10 , a radio system, and a signal line 60 . Wherein, the radio system includes a radio signal generating device and a radio signal detecting device, where the radio signal generating device corresponds to the above-mentioned signal generating device 40 , and the radio signal detecting device corresponds to the above-mentioned signal detecting device 20 . The signal line 60 can be used alone as a boundary line for planning the working area of the self-mobile robot 10, or can be used alone as a guide line for guiding the self-mobile robot 10 to return to a preset position, or the same signal line 60, when When the self-mobile robot 10 is in the work mode, it is used as a boundary line, and when the self-mobile robot 10 is in the return mode, it is used as a guide line. In the self-mobile robot system, the signal line 60 is not only used as a boundary line or/and a guide line of the self-mobile robot system, but also plays a role similar to a receiving antenna or/and a transmitting antenna in a radio system.

There are various forms of specific application embodiments. In one embodiment, the signal line 60 is connected with the radio signal generator, and used as the transmitting antenna of the radio signal generator, and converts the signal generated by the radio signal generator into the form of radio waves. propagate to free space. The radio signal detection device is arranged on the self-mobile robot 10 for detecting radio waves.

In one embodiment, the signal line 60 is connected to the radio signal detection device, and serves as a receiving antenna of the radio signal detection device, which converts the signal stored in the free space in the form of radio waves into an electrical signal and transmits it to the radio signal detection device. The radio signal generating device is arranged on the self-mobile robot 10 for emitting radio waves.

In one embodiment, the signal line 60 is not only connected to the radio signal detection device, but also connected to the radio signal generation device. During different time periods, the signal line 60 serves as the receiving antenna of the radio signal detecting device and as the transmitting antenna of the radio signal generating device respectively. The self-mobile robot 10 is also provided with a radio signal detection device and a radio signal generation device.

In the above-mentioned embodiments, the signal line 60 and the radio signal generating device or/and radio signal detection device connected thereto can be arranged in different positions of the working area according to the needs of the user, so that the signal line 60 can be used in the mobile robot system correspondingly effect. When the user needs to use the signal line 60 as a boundary line, he only needs to arrange the signal line 60 at the set boundary position; on the route.

The following specifically introduces how the self-mobile robot judges the working area through the boundary algorithm when it is in the working mode in the embodiment of the present invention.

In one embodiment, the signal generating device 40 is electrically connected to the signal line 60 , and a signal detecting device 20 is provided on the mobile robot 10 . The signal generating device 40 generates a radio signal SS of a certain frequency, and the signal detecting device 20 located on the self-mobile robot 10 detects the generated radio signal SS. The control unit 80 is provided with a first preset threshold G _f related to the intensity of the radio signal SS. When the intensity G of the radio signal SS detected by the signal detection device 20 reaches the first preset threshold G _f , the control unit 80 controls the The mobile robot 10 moves to a direction in which the preset signal strength decreases.

In practical application embodiments, the size of the first preset threshold _Gf can be determined according to the maximum intensity value of the signal generated by the signal generator 40 and/or the distance from the closest signal line 60 to the control self-mobile robot 10 . In a specific embodiment, the signal generating device 40 generates a 15 KHz square wave signal SS, and the maximum signal strength G _max on the signal line 60 is 40. Referring to FIG. 9( b ), it can be known that the corresponding furthest effective range a is 20 cm, and the signal strength value detected by the signal detection device 20 is 5 there. In practical application, if the shortest distance allowed to approach the signal line 60 from the mobile robot 10 is 10 cm, then referring to FIG. 9( b ), it can be seen that the first preset threshold _Gf corresponding to the distance of 10 cm is 20.

The specific boundary algorithm flow is shown in Figure 12.

Step S1: In the working mode, the self-mobile robot 10 moves and works randomly or according to a preset trajectory. The signal detection device 20 always detects radio signals. Go to step S2.

Step S2: The control unit 80 compares the detected signal strength G with the first preset threshold _G0 . When the signal strength value G detected by the signal detection device ₂₀ is greater than or equal to G0, enter step S3; otherwise, continue to return to step S1.

Step S3: the control unit 80 controls the self-mobile robot 10 to retreat or turn, and deviate from the original moving direction.

The specific moving process of the self-mobile robot 10 is shown in FIG. 5 . When the self-mobile robot 10 moves to position a along the route indicated by the dotted line with the arrow, the signal detection device 20 detects that the signal strength G is greater than or equal to G _f . The control unit 80 controls the self-mobile robot 10 to turn, deviate from the original moving direction, and no longer approach the signal line 60 .

In one embodiment, the signal generating device 40 is electrically connected to the signal line 60 , and two signal detecting devices 20 are provided on the mobile robot 10 . When any one of the signal detection devices detects that the radio signal strength reaches the threshold _Gf , the control unit 80 issues commands such as backing up or turning to control the self-mobile robot 10 to no longer approach the signal line 60 . When the radio signal strength detected by the signal first detection device 21 on the left is greater than the threshold _Gf , it means that the left side of the self-mobile robot 10 is closer to the signal line 60, and the control unit 80 controls the self-mobile robot 10 to turn right or retreat; When the radio signal strength detected by the second signal detection device 22 on the right is greater than the threshold _Gf , it means that the right side of the self-mobile robot 10 is closer to the signal line 60, and the control unit 80 controls the self-mobile robot 10 to turn left or back.

In one embodiment, the signal detection device 20 is electrically connected to the signal line 60 , and the signal generating device 40 is provided on the mobile robot 10 . In this embodiment, the positions of the signal generating device 40 and the signal detecting device 20 are exchanged, only a supporting communication device for transmission of the detection results is needed, and it will not affect the boundary algorithm for judging whether it is in the working area, so it does not Describe in detail.

Furthermore, the control unit 80 can record a series of strength values G _N (N=1, 2, 3, 4, 5..) of the radio signal SS detected by the signal detection device 20 . When the signal detection device 20 detects the intensity value for the second time, the control unit 80 compares the intensity value G _N at the current moment with the intensity value G _N-1 at the previous moment, and can judge whether the backward or steering command issued by the control unit 80 can No effectively makes the self-mobile robot 10 no longer close to the signal line 60, so as to adjust the instructions issued. Specifically, if the intensity value G _N at the current moment is less than the intensity value G _N-1 at the previous moment, the control unit 80 judges that the command issued by it is valid; if the intensity value G _N at the current moment is greater than the intensity value G _N-1 at the previous moment, the control unit 80 80 judges that the command it sends is invalid, and controls the self-mobile robot 10 to move again by adjusting the steering angle or the retreat distance.

The control unit 80 counts a series of intensity values G within the same time period, and can determine whether the self-mobile robot 10 has crossed the signal line 60 . Specifically, when a series of intensity values G reaches the maximum intensity value G _max on the signal line 60 or reaches the threshold G _f twice in the same time period, the control unit 80 judges that the self-mobile robot 10 has crossed the signal line 60 and is in a non- within the work area.

The following specifically introduces how the self-mobile robot returns to the charging station through the guidance algorithm in the return mode in the embodiment of the present invention.

In the first embodiment, the charging station 70 is provided with a signal generating device 40 , and the signal generating device 40 is electrically connected to the signal line 60 , and the self-mobile robot 10 is provided with a signal detection device 20 . The signal generating device 40 generates a radio signal SS of a certain frequency, and the signal detecting device 20 located on the self-mobile robot 10 detects the generated radio signal SS. As shown in FIG. 13 , in order to facilitate control regression, the signal detection device 20 is arranged on the central axis of the self-mobile robot 10 in this embodiment. As known to those skilled in the art, the signal detection device 20 can also be arranged at other positions of the self-mobile robot 10 , only need to make adaptive changes to the regression control method.

In this embodiment, the steps of the control method after the self-mobile robot 10 receives the return instruction are shown in FIG. 14 .

Step S21: In the homing mode, the self-mobile robot 10 searches for the signal line 60 randomly or according to a preset trajectory. The signal detection means 20 detects the radio signal SS.

Step S22: The control unit 80 judges whether the self-mobile robot 10 enters the regression area according to the intensity value G of the detection result SS' of the signal detection device 20.

The control unit 80 presets a second preset threshold G _s related to the signal strength. Referring to FIG. 9( b ), it can be known that the second preset threshold G _s corresponds to the distance b from the signal line 60 . The magnitude of the second preset threshold G _s has a preset relationship with the maximum strength value G _max of the radio signal SS generated by the signal generating device 40 , such as G _s =αG _max , (α<1). Different second preset thresholds G _s represent different distances b from the signal line 60 . The user can determine the value of the multiple α according to the value of b in the actual working condition. Usually, the range of the multiple is 0.15≤α≤0.75.

If the intensity value G of the result SS' is greater than or equal to G _s , it means that the self-mobile robot 10 has entered the regression area, and enter step S23; if the intensity value G of the result SS' is less than G _s , it indicates that the self-mobile robot 10 has not yet entered the regression area. , the control unit 80 controls the self-mobile robot 10 to continue to move randomly, and enters step S21.

Step S23: The control unit 80 controls the self-mobile robot 10 to _meander around the signal line 60 as shown in FIG. return to the charging station 70.

When the self-mobile robot 10 returns according to the above steps, the signal detection device 20 suddenly cannot effectively detect the radio signal SS or the signal strength detected by the signal detection device 20 is always in a decreasing state, then the control unit 80 judges that the self-mobile robot 10 follows the signal The line 60 is moving away from the charging station 70 , the control unit 80 controls the self-mobile robot 10 to turn 180°, and continue to return according to the above steps.

As known by those skilled in the art, the above steps and the logical judgment conditions in the steps can be adaptively modified, so that the self-mobile robot 10 returns to the charging station 70 .

In one embodiment, as shown in FIG. 15 , the charging station 70 is provided with a signal generating device 40, the signal generating device 40 is electrically connected to the signal line 60, and the self-mobile robot 10 is provided with two signal detection devices, respectively Signal first detection means 21 and signal second detection means 22 . Here, the normal advancing direction of the self-mobile robot 10 is defined as the front of the self-mobile robot 10, and the side opposite to the front is the rear of the self-mobile robot 10. Based on the defined front and rear directions of the self-mobile robot 10, the self-mobile robot 10 also Including the left and right sides between the front and rear. The first signal detection device 21 and the second signal detection device 22 are respectively located on the left and right sides symmetrical to the central axis of the mobile robot 10 .

In this embodiment, the guidance algorithm steps after the self-mobile robot 10 receives the return instruction are shown in FIG. 16 .

Step S31: In the homing mode, the self-mobile robot 10 searches for the signal line 60 randomly or according to a preset trajectory. The signal first detection means 21 and the signal second detection means 22 detect the radio signal SS strength value G1 and strength value G2.

Step S32: The control unit 80 judges whether the self-mobile robot enters the return area according to the detection results of the first signal detection device 21 and the second signal detection device 22 .

The detection result of the first signal detection device 21 is the first result SS ₁ ′, and its corresponding intensity value is G1, and the detection result of the second signal detection device 22 is the second result SS ₂ ′, and its corresponding intensity value is G2. A second preset threshold G _s related to the signal strength is preset in the control unit 80 . Referring to FIG. 9( b ), it can be known that the second preset threshold G _s corresponds to the distance b from the signal line 60 . The magnitude of the second preset threshold G _sn has a preset relationship with the maximum strength value G _max of the radio signal SS generated by the signal generating device 40 , such as G _s =αG _max , (α<1). Different intensity thresholds G _s represent different distances b from the signal line 60 . The user can determine the value of the multiple α according to the value of b in the actual working condition. Usually, the range of the multiple is 0.15≤α≤0.75.

If both the intensity value G1 of the first result SS ₁ ′ and the intensity value G2 of the second result SS ₂ ′ are smaller than the second preset threshold G _s set in the control unit 80, it means that the self-mobile robot 10 has not entered the regression area. The control unit 80 controls the self-mobile robot 10 to continue to move randomly, and returns to step S31 to continue detecting the radio signal SS.

If the intensity value G1 of the first result SS ₁ ′ is greater than or equal to the second preset threshold G _s and the intensity value G2 of the second result SS ₂ ′ is smaller than the second preset threshold G _s , it means that the left side of the mobile robot 10 is Enter the regression area. The control module 80 controls the self-mobile machine 10 to advance differentially to the left or to turn left, and proceed to step S32.

If the intensity value G1 of the first result SS ₁ ′ is less than the second preset threshold G _s and the intensity value G2 of the second result SS ₂ ′ is greater than or equal to the second preset threshold G _s , it means that the right side of the mobile robot 10 is Enter the regression area. The control module 80 controls the self-mobile machine 10 to move forward differentially to the right or to turn right, and proceed to step S32.

If both the strength value G1 of the first result SS ₁ ′ and the strength value G2 of the second result SS ₂ ′ are greater than the second preset threshold G _s , it means that the self-mobile robot 10 has entered the regression region. The control module 80 controls the self-mobile machine 10 to continue moving forward along the original direction, and enters step S33.

Step S33: The control unit 80 judges whether the self-mobile robot 10 is in the line-crossing state according to the first detection result SS ₁ ′ and the second detection result SS ₂ ′.

If the strength value G1 of the first detection result SS ₁ ' reaches the maximum strength value G _max region of the radio signal SS generated by the signal generating device 40 (such as 95% G _max --G _max ) and the strength of the first detection result SS ₁ ' If the value G1 is in a downward trend, it means that the self-mobile robot 10 is already in the state of crossing the line, and the process goes to step S34. Otherwise, continue to return to step S33.

Step S34: The control unit 80 determines to return from the mobile robot 10 to the charging station 70 along the signal line 60 according to the intensity difference between the first detection result SS ₁ ′ and the second detection result SS ₂ ′.

If the difference between the intensity value G1 of the first detection result SS ₁ ' and the intensity value G2 of the second result SS ₂ ' It means that the self-mobile robot 10 returns along the signal line 60 . is a preset threshold range, controlling the left-right deviation range of the self-mobile robot 10 . The control module 80 controls the self-mobile robot 10 to move along the original direction until the self-mobile robot 10 docks with the charging station 70 .

If the difference between the intensity value G1 of the first detection result SS ₁ ' and the intensity value G2 of the second result SS ₂ ' It means that the self-mobile robot 10 is farther to the left of the signal line 60 . The control unit 80 controls the self-mobile robot 10 to rotate slightly to the right or to move at a differential speed to the right until the self-mobile robot 10 docks with the charging station 70 .

If the difference between the intensity value G1 of the first detection result SS ₁ ' and the intensity value G2 of the second result SS ₂ ' It means that the mobile robot 10 is more biased to the right of the signal line 60 . The control unit 80 controls the self-mobile robot 10 to rotate slightly to the left or to move at a differential speed to the left until the self-mobile robot 10 docks with the charging station 70 .

When the self-mobile robot 10 returns according to the above steps, the signal detection device 20 suddenly cannot effectively detect the radio signal SS or the signal strength detected by the signal detection device 20 is always in a decreasing state, then the control unit 80 judges that the self-mobile robot 10 follows the signal The line 60 is moving away from the charging station 70 , the control unit 80 controls the self-mobile robot 10 to turn 180°, and continue to return according to the above steps.

As known by those skilled in the art, the above steps and the logical judgment conditions in the steps can be adaptively modified, so that the self-mobile robot 10 returns to the charging station 70 .

In this embodiment, it is also possible to select a regression algorithm in a non-cross-line manner to guide the self-mobile robot 10 to return to the charging station 70 . The specific regression diagram is shown in Figure 17. The steps of the control method after the self-mobile robot 10 receives the return control instruction are shown in FIG. 14 .

Step S21: In the homing mode, the self-mobile robot 10 searches for the signal line 60 randomly or according to a preset trajectory. The signal first detection means 21 and the signal second detection means 22 detect the radio signal SS strength value G1 and strength value G2.

Step S22: The control unit 80 determines whether the self-mobile robot 10 enters the return area according to the detection results of the first signal detection device 21 and the second signal detection device 22 .

The detection result of the first signal detection device 21 is the first result SS ₁ ′, and its corresponding intensity value is G1, and the detection result of the second signal detection device 22 is the second result SS ₂ ′, and its corresponding intensity value is G2. A second preset threshold G _s related to the signal strength is preset in the control unit 80 . Referring to FIG. 9( b ), it can be known that the second preset threshold G _s corresponds to the distance b from the signal line 60 . The magnitude of the second preset threshold G _s has a preset relationship with the maximum strength value G _max of the radio signal SS generated by the signal generating device 40 , such as G _s =αG _max , (α<1). Different intensity thresholds G _s represent different distances b from the signal line 60 . The user can determine the value of the multiple α according to the value of b in the actual working condition. Usually, the range of the multiple is 0.15≤α≤0.75.

If both the intensity value G1 of the first result SS ₁ ′ and the intensity value G2 of the second result SS ₂ ′ are smaller than G _s , it means that the self-mobile robot 10 has not yet entered the regression region. The control unit 80 controls the self mobile robot 10 to proceed to step S11.

If the intensity value G1 of the first result SS ₁ ′ is greater than or equal to G _s and the intensity value G2 of the second result SS ₂ ′ is smaller than G _s , it means that the left side of the mobile robot 10 has entered the regression area and the right side has not yet entered the regression area. The control unit 80 controls the self-mobile robot 10 to turn left.

If the intensity value G1 of the first result SS ₁ ′ is smaller than G _s and the intensity value G2 of the second result SS ₂ ′ is greater than G _s , it means that the right side of the mobile robot 10 has entered the regression region and the left side has not yet entered the regression region. The control module 80 controls the mobile robot 10 to turn right.

If both the intensity value G1 of the first result SS ₁ ′ and the intensity value G2 of the second result SS ₂ ′ are greater than or equal to G _s , it means that both the left and right sides of the self-mobile robot 10 have entered the regression region. The control module 80 controls the self-mobile robot 10 to move along the original direction.

Step _S23 : _The control module 80 controls the self-mobile robot ₁₀ from the state shown in FIG. Return to the charging station 70 in a meandering way as the center.

When the self-mobile robot 10 returns according to the above steps, the signal detection device 20 suddenly cannot effectively detect the radio signal SS or the signal strength detected by the signal detection device 20 is always in a decreasing state, then the control unit 80 judges that the self-mobile robot 10 follows the signal The line 60 is moving away from the charging station 70 , the control unit 80 controls the self-mobile robot 10 to turn 180°, and continue to return according to the above steps.

As known by those skilled in the art, the above steps and the logical judgment conditions in the steps can be adaptively modified, so that the self-mobile robot 10 returns to the charging station 70 .

In one embodiment, the signal detection device 20 is electrically connected to the signal line 60 , and the signal generating device 40 is provided on the mobile robot 10 . In this embodiment, the positions of the signal generating device 40 and the signal detecting device 20 are exchanged, only a supporting communication device for transmission of the detection results is required, and it will not affect the guidance algorithm for guiding the self-mobile robot to return to the charging station, so No longer described in detail.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (38)

1. a kind of self-movement robot system, including：

Self-movement robot, automatically moves in working region and works automatically；

Holding wire, defines the border of the working region or/and defines the path that the self-movement robot is returned；

Signal generation apparatus, produce the preset signals for being adapted to be radiated to free space in radio wave form；

The preset signals include that a modulated signal with characteristic frequency and has the carrier signal of carrier frequency；

There are the preset signals in free space in radio wave form in signal supervisory instrument, detection, and by the feature Frequency identification goes out the modulated signal, so as to produce testing result；

Control unit, is arranged in the self-movement robot, receives the testing result, and control according to the testing result Self-movement robot is moved；

Characterized in that, one end of the holding wire is connected with the signal generation apparatus or/and the signal supervisory instrument, use Radiate or receive in radio wave form in the presence of certainly in free space in the form of radio wave in by the preset signals By the preset signals in space；The holding wire unidirectionally extends from described one end, constitutes circuitry open circuit.

2. self-movement robot system according to claim 1, it is characterised in that described control unit is according to the detection As a result, the distance between the self-movement robot and described holding wire are judged.

3. self-movement robot system according to claim 2, it is characterised in that the self-movement robot has work Pattern, under the mode of operation, described control unit controls the distance between self-movement robot and holding wire to be more than or equal to First predeterminable range so that self-movement robot is automatically moved in the side of the holding wire and worked automatically.

4. self-movement robot system according to claim 2, it is characterised in that the self-movement robot has and returns Pattern, under the Regression Model, the distance between described control unit control self-movement robot and holding wire are in one Within the scope of predeterminable range so that self-movement robot is returned to a predeterminated position approximately along the holding wire.

5. self-movement robot system according to claim 1, it is characterised in that the testing result includes that signal is strong Degree.

6. self-movement robot system according to claim 1, it is characterised in that the carrier frequency of the carrier signal Scope is less than or equal to 10MHZ.

7. self-movement robot system according to claim 1, it is characterised in that the carrier frequency of the carrier signal Scope is less than or equal to 2MHZ.

8. self-movement robot system according to claim 1, it is characterised in that the characteristic frequency of the modulated signal Scope is 100HZ to 500KHZ.

9. self-movement robot system according to claim 1, it is characterised in that the characteristic frequency of the modulated signal Scope is 100HZ to 50KHZ.

10. self-movement robot system according to claim 1, it is characterised in that the waveform of the preset signals is ladder Shape ripple, square wave, triangular wave or sawtooth waveforms.

11. self-movement robot systems according to claim 10, it is characterised in that the waveform of the preset signals rises It is 100ns~2000ns along the scope of time.

12. self-movement robot systems according to claim 10, it is characterised in that the waveform of the preset signals rises It is 500ns~2000ns along the scope of time.

13. self-movement robot systems according to claim 1, it is characterised in that the characteristic frequency of the modulated signal Including with a fixed frequency or a plurality of fixed frequencies.

14. self-movement robot systems according to claim 1, it is characterised in that the self-movement robot has work Operation mode, under the mode of operation, the self-movement robot with holding wire as boundary line, the side of the holding wire from Dynamic mobile and automatic work.

15. self-movement robot systems according to claim 14, it is characterised in that in the operational mode, the control Unit control self-movement robot movement so that the testing result is consistently less than equal to the first predetermined threshold value.

16. self-movement robot systems according to claim 1, it is characterised in that the self-movement robot system is also Including charging station, the charging station is provided with or connects the signal generation apparatus or/and the signal supervisory instrument.

17. self-movement robot systems according to claim 16, it is characterised in that the self-movement robot has back Return pattern, under the Regression Model, the self-movement robot with the holding wire as guide line, approximately along the signal Line is returned to charging station.

18. self-movement robot systems according to claim 17, it is characterised in that under Regression Model, the control Unit control self-movement robot movement so that the testing result is consistently greater than equal to the second predetermined threshold value and less than or equal to the Three predetermined threshold values, wherein the 3rd predetermined threshold value is more than the second predetermined threshold value.

19. self-movement robot systems according to claim 17, it is characterised in that the signal generation apparatus are arranged on On the charging station, the holding wire is connected with the signal generation apparatus, and the self-movement robot is provided with a letter Number detection means.

20. self-movement robot systems according to claim 17, it is characterised in that the signal generation apparatus are arranged on On the charging station, the holding wire is connected with the signal generation apparatus, and the self-movement robot is provided with a plurality of described Signal supervisory instrument.

21. self-movement robot systems according to claim 20, it is characterised in that the self-movement robot is provided with two The individual signal supervisory instrument, the respectively detection means of signal first and signal second detection device.

22. self-movement robot systems according to claim 21, it is characterised in that under Regression Model, in the letter The testing result that number the first detection means and signal second detection device are detected is reached after the second predetermined threshold value, the control Unit controls the walking of self-movement robot so that the detection means of the signal first and signal second detection device testing result Intensity difference be in preset strength threshold range in.

23. self-movement robot systems according to claim 16, it is characterised in that the charging station is provided with or connects One signal supervisory instrument, the self-movement robot is provided with the signal generation apparatus；Certainly the mobile machine People and charging station are respectively equipped with a radio communication device, and testing result is sent to the control list by radio communication device Unit.

24. self-movement robot systems according to claim 23, it is characterised in that the radio communication device includes red Outer communication device, Wi-Fi devices, cellular communications device, blue-tooth device, GPS device, Zigbee devices, 2.4GHZ radio communications Device, 433MHZ radio communication devices or Z-WAVE radio communication devices.

25. self-movement robot systems according to claim 16, it is characterised in that the self-movement robot is provided with one The individual signal generation apparatus and a signal supervisory instrument, the respectively generating means of signal first and signal second are detected Device；The charging station is provided with or connects a signal supervisory instrument and the signal generation apparatus, respectively The detection means of signal first and the generating means of signal second；The generating means of the signal first and the generating means of signal second are distinguished The modulated signal with different characteristic frequency；The detection means of the signal first and signal second detection device are recognized respectively The signal of different characteristic frequency and produce the testing result of corresponding frequencies.

A kind of 26. self-movement robot systems, it is characterised in that including：

Self-movement robot, automatically moves in working region and works automatically；

Holding wire, defines the border of the working region or/and defines the path that the self-movement robot is returned；

Radio signal generating means, produces radio signal；

Radio signal detection means, detects radio signal and draws the signal strength values of default characteristic frequency；

The holding wire includes beginning and end, and the starting point connects the radio signal generating means or/and described wireless Electrical signal detection device, for radiating radio signal or reception radio signal；The terminal is the freedom of the holding wire End；

Control unit, is arranged in the self-movement robot, receives the signal strength values, and control self-movement robot It is mobile to cause that the signal strength values meet preset algorithm.

27. self-movement robot systems according to claim 26, it is characterised in that the preset algorithm is calculated including border Method, the Boundary algorithm includes that, when the signal strength values are more than or equal to the first predetermined threshold value, control unit control is certainly The direction movement that mobile robot reduces toward signal strength values.

28. self-movement robot systems according to claim 26, it is characterised in that the preset algorithm includes that guiding is calculated Method, the bootstrap algorithm includes that after the signal strength values are more than or equal to the second predetermined threshold value control unit is controlled Self-movement robot adjustment direction of advance causes that the signal intensity of testing result is within preset threshold range.

The 29. self-movement robot system according to claim 27 or 28, it is characterised in that when described control unit is implemented During the Boundary algorithm, the self-movement robot automatically moved with holding wire as boundary line, in the side of the holding wire and Automatic work；When described control unit implement the bootstrap algorithm when, the self-movement robot with holding wire as guide line, greatly Cause is returned to a predeterminated position along the holding wire.

30. self-movement robot systems according to claim 26, it is characterised in that the radio generating means is produced The reference carrier frequency of raw radio signal is less than or equal to 10MHZ.

31. self-movement robot systems according to claim 26, it is characterised in that the default characteristic frequency region For 100HZ to 500KHZ.

A kind of 32. self-movement robot systems, including：

Self-movement robot, automatically moves in working region and works automatically；

Signal generation apparatus, produce the preset signals with characteristic frequency；

Holding wire, the preset signals are radiated or received with radio waveform in the form of radio wave in free space There are the preset signals in free space in formula；

Signal supervisory instrument, detects the signal intensity corresponding to the characteristic frequency after radio signal is demodulated；

Control unit, is arranged in the self-movement robot, receives the signal intensity, and control according to the signal intensity Self-movement robot is moved or worked；

Characterized in that, the holding wire is connected with the signal generation apparatus or/and the signal supervisory instrument, no current stream Through the holding wire；The holding wire is arranged in the border of the working region or the working region, and limitation is described from shifting The working range or/and the guiding self-movement robot of mobile robot are returned to a predeterminated position.

33. self-movement robot systems according to claim 32, it is characterised in that the preset signals have including one The modulated signal of characteristic frequency and a carrier signal with carrier frequency.

34. self-movement robot systems according to claim 33, it is characterised in that the carrier frequency of the carrier signal Scope be less than or equal to 10MHZ.

35. self-movement robot systems according to claim 33, it is characterised in that the characteristic frequency of the modulated signal Scope be 100HZ to 500KHZ.

36. self-movement robot systems according to claim 32, it is characterised in that described control unit is according to the inspection Result is surveyed, the distance between the self-movement robot and described holding wire is judged.

37. self-movement robot systems according to claim 36, it is characterised in that the self-movement robot has work Operation mode, under the mode of operation, the distance between described control unit control self-movement robot and holding wire are more than etc. In the first predeterminable range so that self-movement robot is automatically moved in the side of the holding wire and worked automatically.

38. self-movement robot systems according to claim 36, it is characterised in that the self-movement robot has back Return pattern, under the Regression Model, the distance between described control unit control self-movement robot and holding wire are in one Within the scope of individual predeterminable range so that self-movement robot is returned to the predeterminated position approximately along the holding wire.