Automatic working system and control method thereof and automatic moving device

Patent metadata

Field	Value
Publication number	US-11003192-B2
Application number	US-201615775222-A
Country	US
Kind code	B2
Filing date	Nov 4, 2016
Priority date	Nov 10, 2015
Publication date	May 11, 2021
Grant date	May 11, 2021

Abstract

Disclosed is an apparatus and a control method of an automatic working system, and the control method comprises the following steps: generating a boundary signal by a signal generating apparatus; generating an electromagnetic field as the boundary signal flows by the boundary wire; detecting the electromagnetic field by an automatic moving device to at least generate a first detection signal and a second detection signal, and multiplying the first detection signal and the second detection signal to generate a product signal; determining a first signal point and a second signal point by the product signal; generating characteristic values based on parameters of the first signal point and the second signal point, comparing the characteristic values with preset thresholds, and judging whether the first detection signal is interfered by noise, thereby effectively removing an interference signal. Also disclosed is an automatic working system executing the above control method.

First claim

What is claimed is:

1. A control method of an automatic working system, comprising the following steps:
providing a signal generation apparatus configured to generate a current signal, the current signal flowing by a boundary wire to generate an electromagnetic field;
providing an automatic moving device, the automatic moving device being provided with a plurality of detection devices comprising a first induction coil located at a first position and a second induction coil located at a second position, each of the plurality of detection devices being configured to detect said electromagnetic field;
detecting said electromagnetic field by said plurality of detection devices to generate a plurality of detection signals respectively, the plurality of detection signals comprising a first detection signal generated by the first induction coil and a second detection signal generated by the second induction coil;
multiplying said plurality of detection signals including the first detection signal and the second detection signal to generate a product signal, the direction of said product signal being kept same as that one of said plurality of detection signals;
determining a first signal point and a second signal point based on said product signal;
generating characteristic values based on parameters of said first signal point and said second signal point, comparing said characteristic values with preset thresholds and obtaining a comparison result, and judging whether said one of said plurality of detection signals is interfered by noise comprising signal interference caused by an environment or a motor according to said comparison result; and
in response to judging that said one of said plurality of detection signals is not interfered by noise:
judging whether a corresponding one of said plurality of detection devices is inside a working region; and
sending a control command to control the automatic working system based on the judging whether the corresponding one of said plurality of detection devices is inside the working region.

2. The control method of an automatic working system according to claim 1 , wherein said plurality of detection devices comprise a first detection device and a second detection device;
detecting said electromagnetic field by said first detection device and said second detection device to generate a first detection signal and a second detection signal respectively;
wherein said first detection signal is said one of said plurality of detection signals.

3. The control method of an automatic working system according to claim 2 , wherein said first signal point is on said first detection signal and its position is corresponding to the position of a maximal value point of said product signal; and said second signal point is on said first detection signal and its position is corresponding to the position of a minimal value point of said product signal; or said first signal point is on said second detection signal and its position is corresponding to the position of a maximal value point of said product signal; and said second signal point is on said second detection signal and its position is corresponding to the position of a minimal value point of said product signal.

4. The control method of an automatic working system according to claim 2 , wherein said first signal point is a maximal value point of said product signal; and said second signal point is a minimal value point of said product signal.

5. The control method of an automatic working system according to claim 2 , wherein said characteristic values comprise an amplitude value of said first signal point, and said amplitude value is defined as a peak value; said characteristic values also comprise an amplitude value of said second signal point, and said amplitude value is defined as a valley value; said preset thresholds comprise a threshold value; the absolute values of said peak value and said valley value are compared with said threshold value respectively, if said absolute values of the peak value and said valley value are both larger than said threshold value, said first detection signal is judged not to be interfered by the noise, otherwise, said first detection signal is judged to be interfered by the noise.

6. The control method of an automatic working system according to claim 2 , wherein said characteristic values comprise a time difference between said first signal point and said second signal point, which is defined as a peak-valley time difference; said preset thresholds value comprises an interval lower limit value and an interval upper limit value; said peak-valley time difference is compared with said interval lower limit value and said interval upper limit value, if said peak-valley time difference is larger than or equal to said interval lower limit value and smaller than or equal to said interval upper limit value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.

7. The control method of an automatic working system according to claim 6 , wherein value ranges of said interval lower limit value and said interval upper limit value are based on a period of said current signal.

8. The control method of an automatic working system according to claim 2 , wherein, said characteristic values comprise an amplitude value difference between said first signal point and said second signal point, which is defined as a peak-valley amplitude difference; said preset thresholds value comprises an amplitude value; said peak-valley amplitude difference is compared with said amplitude value, if said peak-valley amplitude difference is smaller than or equal to said amplitude value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.

9. The control method of an automatic working system according to claim 2 , wherein if said first detection signal is not interfered by the noise, then a time sequence relation between said first signal point and said second signal point is compared, then said first detection device generating said first detection signal is judged to be located in or out said working region encircled by said boundary wire.

10. The control method of an automatic working system according to claim 2 , wherein the method of keeping the direction of said product signal and that of said first detection signal same comprises: solving the absolute value of said second detection signal, then multiplying said absolute value of said second detection signal by said first detection signal, to generate said product signal.

11. The control method of an automatic working system according to claim 2 , wherein said first detection signal and said second detection signal are multiplied after being subjected to analog digital conversion.

12. The control method of an automatic working system according to claim 11 , wherein said characteristic values comprise a position coordinate index corresponding to the maximal value of said product signal, and such index is defined as a large value index; said characteristic values also comprise a position coordinate index corresponding to the minimal value of said product signal, and such index is defined as a small value index.

13. The control method of an automatic working system according to claim 11 , wherein said characteristic values also comprise an amplitude value of said first detection signal at said large value index, which is defined as a peak value; and said characteristic values also comprise an amplitude value of said first detection signal at said small value index, which

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Dalfra Davide
• Conti Emanuel

Classifications

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