Boundary line signal detection method and automatic walking equipment

Abstract

The present application provides a boundary line signal detection method and an automatic walking device. The present application senses a detection signal through a boundary line signal detection unit, determines the carbon brush pulse signal status according to the internal motor operation status of the automatic walking device, thereby removing the interference of the carbon brush pulse signal from the detection signal and obtaining a boundary line signal with a high signal-to-noise ratio. The present application can automatically suppress the interference caused by the carbon brush pulse according to the real-time operation status of the automatic walking device, obtain a pure boundary line signal, and ensure that the boundary line signal can be accurately identified during the operation of the automatic walking device to accurately control the automatic walking device to adjust the operation status and improve the operation efficiency of the equipment. During the operation of the automatic walking device of the present application, the pulse signal can be actively screened to avoid the boundary line signal being submerged in the noise, and the equipment travel operation can be suspended to regain the effective boundary line signal, thereby affecting the operation efficiency.

Description

Technical Field

[0001] The present application relates to the field of garden tools, and more particularly to a boundary line signal detection method and an automatic walking device. Background Art

[0002] The brushless motor drives the motor rotor to run through brush commutation. The carbon brush commutation will generate sparks, and the electromagnetic field excited by the sparks can be sensed and received by the boundary signal detection unit of the automatic walking equipment, causing interference to it and affecting the recognition of the boundary line signal. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present application provides a boundary line signal detection method and an automatic walking device. The present application removes the electromagnetic signal interference excited by the electric spark from the detection signal sensed by the boundary signal detection unit, thereby obtaining a boundary line recognition signal with a higher signal-to-noise ratio to accurately control the automatic walking device to adjust the operating state. The present application specifically adopts the following technical solutions.

[0004] First of all, in order to achieve the above-mentioned purpose, a boundary line signal detection method is proposed, which is used for an automatic walking device equipped with a brush motor, and includes the following steps: receiving a detection signal sensed by a boundary signal detection unit; stripping the carbon brush pulse signal in the detection signal to obtain a boundary line recognition signal; and adjusting the operating state of the automatic walking device according to the boundary line recognition signal.

[0005] Optionally, a boundary line signal detection method as described in any of the above, wherein the specific steps of stripping the carbon brush pulse signal from the detection signal include: identifying a continuous pulse waveform in the detection signal as a carbon brush pulse signal, or identifying a signal in the detection signal whose amplitude exceeds the boundary line signal amplitude range as a carbon brush pulse signal, or identifying a signal with a maximum peak in the detection signal as a carbon brush pulse signal, or identifying a signal with an amplitude exceeding a preset peak value as a carbon brush pulse signal, or determining the carbon brush pulse signal according to the operating status of the automatic walking device; removing the above-mentioned carbon brush pulse signal from the detection signal or superimposing the reverse waveform of the above-mentioned carbon brush pulse signal.

[0006] Optionally, a boundary line signal detection method as described in any of the above, wherein the step of determining the carbon brush pulse signal according to the operating state of the automatic walking equipment includes: calculating the carbon brush pulse signal frequency or carbon brush pulse signal period corresponding to the current operating state according to the number of electrodes, the number of carbon brushes and the motor speed in the brush motor; generating or calling the corresponding carbon brush pulse signal according to the carbon brush pulse signal frequency or the carbon brush pulse signal period.

[0007] Optionally, in any of the boundary line signal detection methods described above, the current operating state of the automatic walking device is obtained based on sensor signals, motor voltage signals and / or motor current signals on the automatic walking device.

[0008] Optionally, a boundary line signal detection method as described in any of the above, wherein the step of generating a corresponding carbon brush pulse signal according to the carbon brush pulse signal frequency or the carbon brush pulse signal period includes: calling up a pre-stored carbon brush pulse unit waveform according to the carbon brush pulse signal frequency or the carbon brush pulse signal period, and sequentially splicing each carbon brush pulse unit waveform into a carbon brush pulse signal that matches the current carbon brush pulse signal frequency or the carbon brush pulse signal period.

[0009] At the same time, in order to achieve the above-mentioned purpose, the present application also provides an automatic walking device, which includes: a boundary signal detection unit, which is arranged on the shell of the automatic walking device, and is used to sense the boundary line signal and the steering spark of the brush motor of the automatic walking device to generate a detection signal; a boundary line signal identification unit, which is connected to the boundary signal detection unit, and is used to strip the carbon brush pulse signal in the detection signal, obtain the boundary line identification signal, and trigger the automatic walking device to adjust its operating state according to the boundary line identification signal.

[0010] Optionally, in an automatic walking device as described in any of the above, the boundary line signal identification unit includes: a carbon brush pulse signal identification unit, used to identify the carbon brush pulse signal in the detection signal according to the pulse waveform, signal amplitude or signal peak of the detection signal; a signal operation unit, removing the above carbon brush pulse signal from the detection signal or superimposing the reverse waveform of the above carbon brush pulse signal.

[0011] Optionally, in an automatic walking device as described above, the carbon brush pulse signal identification unit is also used to calculate the carbon brush pulse signal frequency or carbon brush pulse signal period corresponding to the current operating state according to the number of electrodes, the number of carbon brushes and the motor speed in the brush motor, and generate or call the corresponding carbon brush pulse signal according to the carbon brush pulse signal frequency or the carbon brush pulse signal period.

[0012] Optionally, the automatic walking device as described in any of the above also includes an operating status acquisition module, which includes any one of the following or a combination thereof: a sensor, a motor voltage collector and / or a motor current collector arranged on the automatic walking device; the operating status acquisition module is used to obtain the current operating status of the automatic walking device based on the sensor signal, the motor voltage signal and / or the motor current signal on the automatic walking device.

[0013] Optionally, an automatic walking device as described in any of the above, further includes a waveform storage unit for storing the carbon brush pulse unit waveform in the carbon brush pulse signal, and is also used to output the carbon brush pulse unit waveform according to the carbon brush pulse signal frequency or the carbon brush pulse signal period so that the carbon brush pulse signal identification unit can splice them in sequence to form a carbon brush pulse signal that matches the current carbon brush pulse signal frequency or the carbon brush pulse signal period.

[0014] Beneficial Effects

[0015] The present application senses the detection signal through the boundary line signal detection unit, determines the carbon brush pulse signal status according to the internal motor operation status of the automatic walking device, thereby removing the interference of the carbon brush pulse signal from the detection signal and obtaining a boundary line signal with a high signal-to-noise ratio. The present application can automatically suppress the interference caused by the carbon brush pulse according to the real-time operation status of the automatic walking device, obtain a pure boundary line signal, and ensure that the boundary line signal can be accurately identified during the operation of the automatic walking device to accurately control the automatic walking device to adjust the operation status and improve the equipment operation efficiency. During the operation of the automatic walking device of the present application, the pulse signal can be actively screened to avoid the boundary line signal being submerged in the noise, and the equipment travel operation can be suspended to regain the effective boundary line signal, thereby affecting the operation efficiency.

[0016] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0018] Figure 1 It is a schematic diagram of the working state of the automatic walking device of the present application;

[0019] Figure 2 It is a schematic diagram of identifying a boundary signal from a detection signal in the automatic walking device of the present application;

[0020] Figure 3 It is a comparative schematic diagram of the recognition of boundary line signals of the automatic walking device in this application under different motor speed states;

[0021] In the figure, 1 represents an automatic walking device; 2 represents a brushed motor; and 3 represents a boundary signal detection unit. DETAILED DESCRIPTION

[0022] In order to make the purpose and technical solution of the embodiment of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0024] The meaning of "and / or" described in this application means that the situations where each exists alone or both exist at the same time are included.

[0025] The meaning of "inside" and "outside" mentioned in this application refers to the direction relative to the track system itself, that is, the direction pointing to the inside of the track system is inside, and the opposite direction is outside; it is not a specific limitation on the device mechanism of this application.

[0026] The meaning of "left and right" mentioned in this application refers to that when the user is facing the direction of travel of the automatic walking device, the user's left is left and the user's right is right, rather than a specific limitation on the device mechanism of this application.

[0027] The term “connection” as used in this application may mean a direct connection between components or an indirect connection between components via other components.

[0028] The meaning of "up and down" mentioned in this application refers to that when the user is facing the forward direction of the automatic walking device, the direction from the ground to the top of the automatic walking device is up, and the opposite is down, rather than a specific limitation on the device mechanism of this application.

[0029] The meaning of "inside" and "outside" mentioned in this application refers to the working area enclosed by the boundary line of the automatic walking equipment as inside, and vice versa, rather than a specific limitation on the device mechanism of this application.

[0030] Figure 1 An automatic walking device according to the present application includes: a walking drive unit, an operating unit and a corresponding control system. Among them, the walking drive unit can be realized by a motor driving the walking wheels arranged at the bottom of the automatic walking device; the operating unit can realize mowing and cutting operations on the ground of the working area by another motor driving the internal blade, cutting line and other operating modules of the automatic walking device. The motor arranged in the walking drive unit and / or the operating unit can be selected in any form such as a brushed motor and a brushless motor. For a brushed motor, its driving signal needs to be coordinated with the rotation angle of the motor rotor, so it is necessary to set a control system accordingly to output a driving signal based on the real-time steering angle of the motor to improve the motor driving efficiency.

[0031] In order to ensure that the automatic walking device only operates within its working area, the automatic walking device of the present application is also provided with a boundary line and a base station at the outer boundary of its working area. The base station matches the automatic walking device, and drives the boundary line to radiate the boundary line signal according to the preset cycle and signal waveform. In addition, the boundary signal emitted by the electronic component driving the boundary line in the base station can also flexibly adjust its waveform to carry data information according to the design and work requirements, so as to achieve the purpose of data communication, etc.

[0032] During the walking process, in order to determine the position of the automatic walking device and determine the positional relationship between the device itself and the boundary line, so as to accurately guide the device to operate within the specified working area, a boundary signal detection unit 3 matching the boundary line signal is required to be set on the automatic walking device. The control unit of the automatic walking device adjusts the running direction and walking path of the device accordingly based on the electromagnetic radiation signal generated by the boundary line received by the boundary signal detection unit 3. The boundary line signal usually corresponds to Figure 1 The regularly changing signal waveform is shown in the upper left corner.

[0033] However, when a brushed motor is used as a driving device of a walking drive unit and / or an operating unit inside an automatic walking device, since the commutator segments provided on the commutator of the brushed motor rotate synchronously with the rotor, the gap friction between the brush and the two adjacent commutator segments will cause electric sparks, and the electric sparks will correspondingly excite pulse electromagnetic signals in the working environment, and the pulse signals will be received synchronously with the boundary line signals by the boundary signal detection unit 3 to form interference noise affecting the judgment of the device on the real boundary line signal. Considering that the pulse signal interference noise corresponds to the operating state of the commutator segments and brushes of the brushed motor in real time, the present application can further automatically identify the interference caused by the corresponding electric spark pulse signal according to the operating state of the brushed motor in the automatic walking device while receiving the boundary line signal, thereby further ensuring the accuracy and sensitivity of the device to the effective boundary line signal by eliminating the interference component. Since the automatic walking device can directly and accurately obtain and effectively identify various types of information carried by the boundary line signal after directly filtering out the interference of the pulse signal, the automatic walking device of the present application will no longer need to pause the brushed motor to restore the boundary line signal. Therefore, the present application can realize efficient and accurate recognition of boundary line signals at a lower hardware cost through the existing automatic walking equipment hardware.

[0034] Based on the above ideas, the present application provides a boundary line signal identification unit, which can be independently set up from the control unit of the automatic walking device, or can be directly integrated into the main control unit of the automatic walking device, and provide offset or filtering of the brushed motor pulse signal through the corresponding algorithm module, so as to accurately identify the boundary line signal whose original side is covered by the pulse signal.

[0035] The following first takes the boundary line signal recognition unit independently connected to the boundary signal detection unit 3 as an example to illustrate how the automatic walking device of the present application realizes the extraction of the boundary line signal.

[0036] In the automatic walking device of the present application, the boundary signal detection unit 3 can be directly set on the housing of the automatic walking device, and arranged at the front end of the automatic walking device to sense the boundary line signal and the steering spark of the brush motor 2 of the automatic walking device to generate a detection signal. The boundary line signal recognition unit of the present application is connected to the boundary signal detection unit 3, and the carbon brush pulse signal in the detection signal is stripped according to the operating state of the automatic walking device to obtain the boundary line recognition signal, so that the automatic walking device can adjust its operating state according to the boundary line recognition signal.

[0037] Specifically, since the number of commutator segments and carbon brushes in the brushed motor are fixed and unchanged. For example, the commutator in the brushed motor is composed of three commutator segments and the number of brushes is 2. Therefore, for this motor, a complete rotation of the motor rotor will generate 6 pulse signals according to the motor operation cycle because the two carbon brushes pass through the gaps between the three commutator segments respectively. In addition, due to the fact that the waveform of a single pulse signal does not change much under different motor speeds, only the interval time between the pulse signals is adjusted according to the motor rotation speed. Therefore, as long as the automatic walking device can determine the occurrence time period of the pulse signal through data such as its motor speed and the rotation angle of the motor rotor, the cancellation signal that matches the current operating condition of the motor can be synthesized by calculation, thereby removing the corresponding pulse signal received by the boundary signal detection unit 3 by signal cancellation, and obtaining a pure boundary line signal. The boundary line signal with a higher signal-to-noise ratio obtained in this way can more accurately adjust the operation of the automatic walking device.

[0038] refer to Figure 2 As shown, during the steering process of the brushed motor, the carbon brush and the steering gear contact and rub against each other according to the motor operation cycle, generating periodic electric sparks. The energy excited by the electric sparks is radiated through space and is received by inductive elements such as inductors, generating periodic pulse signals related to the rotation speed. This pulse signal that matches the motor carbon brush operation cycle is superimposed on the square wave signal on the boundary line that is sent at intervals. Since the pulse signal excited by the motor carbon brush often has higher instantaneous energy and amplitude, there is a certain time interval between the two groups of square wave signals during the transmission of the boundary signal. Therefore, the boundary line signal containing the pulse signal actually received by the boundary line signal detection unit 3 will be close to Figure 2The waveform obtained by superimposing the pulse signal on the boundary line signal is shown on the lower side. Since the waveform of each pulse signal is triggered by the contact gap between the carbon brush and the commutator segment, the signal waveform of each pulse signal itself is basically consistent. Therefore, the present application can form an operation status acquisition module through a sensor, a motor voltage collector and / or a motor current collector arranged on the automatic walking device, and obtain the current operation status of the automatic walking device through the operation status acquisition module according to the sensor signal, the motor voltage signal and / or the motor current signal on the automatic walking device, so as to retrieve the carbon brush pulse unit waveform in the waveform storage unit based on the current steering cycle of the motor, and splice the carbon brush pulse unit waveform according to the motor operation cycle frequency to generate a carbon brush pulse signal matching the current motor commutation state for signal cancellation.

[0039] Thus, the present application can identify the carbon brush pulse waveform that matches the current running state of the motor through the sensor signal, motor voltage signal and / or motor current signal on the automatic walking device, or identify the carbon brush pulse signal in the current running state of the automatic walking device according to the pulse waveform, signal amplitude or signal peak of the detection signal or according to the current running state of the automatic walking device through the carbon brush pulse signal identification unit in the boundary line signal identification unit, thereby removing the above-mentioned carbon brush pulse waveform signal from the detection signal obtained by the induction element detection or directly superimposing the reverse waveform of the above-mentioned carbon brush pulse signal on the detection signal, stripping the interference of the carbon brush pulse signal from the detection signal, extracting the induction signal actually received by the boundary line signal detection unit 3, and obtaining a boundary line signal with a high signal-to-noise ratio. The boundary line signal with the pulse signal noise removed is amplified to a suitable amplitude range and then transferred to the processor or control unit unit. After parsing the corresponding boundary line transmission data, the running direction and running state of the automatic walking device within the boundary line can be adjusted in real time according to the boundary line signal to drive the automatic walking device to maintain efficient operation within the boundary line.

[0040] Among them, the step of determining the carbon brush pulse signal according to the operating state of the automatic walking equipment includes: calculating the carbon brush pulse signal frequency or carbon brush pulse signal period corresponding to the current operating state according to the number of electrodes, the number of carbon brushes and the motor speed in the brush motor 2, generating or calling the corresponding carbon brush pulse signal according to the carbon brush pulse signal frequency or the carbon brush pulse signal period, and splicing it into a cancellation signal with the same amplitude period but opposite phase as the actual pulse signal according to the interval time matching the current rotation state of the motor.

[0041] Since the pulse signal generated by the carbon brush commutation spark is completely dependent on the instantaneous commutation gap between the carbon brush and the commutation segment, the waveform of each signal unit in the carbon brush pulse signal is basically consistent. Therefore, in order to improve the efficiency of splicing and synthesizing the cancellation signal, the present application can further set a waveform storage unit in the automatic walking device, and use the waveform storage unit to store the carbon brush pulse unit waveform in the carbon brush pulse signal, so that it can output the carbon brush pulse unit waveform according to the carbon brush pulse signal frequency or carbon brush pulse signal period through the call of the signal operation unit, so that the carbon brush pulse signal identification unit can sequentially splice each unit waveform into a carbon brush pulse signal that matches the current carbon brush pulse signal frequency or carbon brush pulse signal period, thereby canceling the pulse waveform in the detection signal.

[0042] During the splicing process, the signal operation unit obtains the number of carbon brush pulse signals per unit time or the interval between two adjacent pulse signals according to the frequency of the rotor rotation in the brushed motor multiplied by the product of the number of commutator segments and carbon brushes, or according to the unit time length of the rotor rotation cycle in the brushed motor divided by the product of the number of commutator segments and carbon brushes. Therefore, the carbon brush pulse unit waveform is retrieved according to the interval time length, and it is spliced ​​to form a carbon brush pulse signal that matches the current carbon brush pulse signal frequency or carbon brush pulse signal cycle, so as to achieve the cancellation of the pulse waveform in the detection signal.

[0043] In other application scenarios. For an automatic walking device that uses a brushed motor as a lawn mowing motor, the motor used for mowing on the automatic walking device 1 is a brushed motor. When the brushed motor 2 used for mowing is running, the electric sparks generated by the commutation of the carbon brush will generate a corresponding electromagnetic signal, which will be received by the boundary sensor and interfere with it. Specifically, when the machine is close to the boundary line, the boundary signal strength can be kept higher than the interference strength of the brushed motor, and the signal-to-noise ratio is relatively high. However, as the machine gradually moves to the middle of the site, the interference strength of the brushed motor pulse signal remains unchanged, but the strength of the boundary signal gradually decays as the machine gradually moves away from the boundary line, and the signal-to-noise gradually decreases. In order to improve the reliability of the automatic walking device in the center of the working area in this working scenario, the suppression of the carbon brush pulse signal can be achieved in the following ways:

[0044] a. When the brush mower motor is not started, the boundary signals detected by all signal receiving sensors must meet the boundary signals before the brush mower motor is started;

[0045] b. After the brush mower motor is started, when the boundary signal strength is higher than the preset value (i.e., the automatic walking device runs close to the boundary line), the boundary signals detected by all signal receiving sensors must meet the boundary signal to consider that the machine is working within the boundary, otherwise the brush mower motor will stop rotating;

[0046] c. When the boundary signal strength is lower than a preset value (i.e., the automatic walking device moves to a position far away from the boundary line), as long as any boundary signal sensor can receive the boundary signal, it can be considered that the automatic walking device is working within the boundary.

[0047] In actual use, due to the large amplitude of the carbon brush pulse signal, it often drowns out the boundary line signal that can be received at the center of the working area. Therefore, it is often necessary to pause the brush mower motor to identify the boundary line signal drowned by the carbon brush pulse. In order to overcome the adverse effect of pausing the brush mower motor on the mowing effect, the present application further adjusts the working mode of the above-mentioned automatic walking device to the following scheme:

[0048] a. When the brush mower motor is not started, the boundary signals detected by all signal receiving sensors must meet the boundary signals before the brush mower motor can be started.

[0049] b. After the brush mower motor is started, the signal receiving sensor performs a signal self-check after receiving the boundary signal. When the boundary line signal signal-to-noise ratio is high and meets the use conditions, the machine uses the detected boundary signal to control subsequent actions. The boundary signals detected by all signal receiving sensors must meet the boundary signal to consider that the machine is working within the boundary, otherwise the brush mower motor stops rotating; when the boundary line signal signal-to-noise ratio is low and does not meet the use conditions, go to step c.

[0050] c. From the boundary signal actually detected, the periodic pulse signal generated by the rotation of the brushed motor is stripped according to the real-time operating status of the automatic walking device to obtain the processed boundary signal, and the processed boundary signal is used for signal self-check. When the processed boundary signal meets the use conditions, the machine uses the processed boundary signal for subsequent action control. The boundary signals detected by all signal receiving sensors must meet the boundary signal to consider that the machine is working within the boundary, otherwise the brushed mowing motor is stopped; when the processed boundary line signal still does not meet the use conditions, enter step d.

[0051] d. Stop the mowing motor until a boundary signal that meets the requirements is obtained again, and return to step a.

[0052] In the above step b, the signal self-check can adopt the conventional signal verification step in automatic walking equipment such as lawn mowing robots to determine whether the signal received by the equipment is a boundary line signal. In this step, the frequency, period and other data of the signal received by the boundary line signal detection unit can usually be compared with the preset comparison data matching the boundary line signal. If the two correspond to each other and meet the matching conditions, it is considered that the signal received by the boundary line signal detection unit is a boundary line signal, otherwise the signal is re-acquired for identification.

[0053] In the above step c, in order to remove the interference of the periodic signal generated by the motor rotation on the boundary line signal, any of the following stripping methods can be used to cancel the noise:

[0054] 1. If the brushed mower motor of the automatic walking device uses a fixed speed, it can be clearly generated according to the operation cycle of the motor, and the pulse waveform and signal waveform of the pulse waveform are kept fixed and consistent. Therefore, the automatic walking device can store the pulse waveform of the mower motor in the machine main control program in advance, so as to remove the pre-stored waveform from the boundary signal actually detected by the boundary line signal detection unit or superimpose the reverse waveform of the pre-stored waveform, so as to achieve the offset of the carbon brush pulse signal in the detection waveform.

[0055] 2. In some automatic walking devices that use brushed lawn mowing motors with variable speeds, for the same motor, the interval time of the pulse signal will be different at different speeds, but the waveform of the periodically appearing single pulses usually does not change much. Therefore, the present application can pre-store a single pulse waveform, and during the operation of the machine, synthesize the corresponding motor periodic signal according to the acquired motor speed information, so that the periodic signal matches the interval between adjacent pulses at the current speed of the motor. Thus, by removing the synthesized motor periodic signal waveform from the actual detected boundary signal or superimposing its reverse waveform, the carbon brush pulse signal can be completely offset. In this process, the motor speed can be obtained by an additional motor speed sensor, or it can be directly obtained by detecting the motor current, voltage, etc. using existing hardware devices.

[0056] In summary, the present invention aims at the problem of carbon brush pulse signal during commutation of a brushless motor and provides a method for removing the pulse signal of a brushless motor. The rotation speed of the brushless motor is detected by using a machine boundary signal detection element, and the interference of the pulse signal can be filtered out in real time according to the operating conditions of the motor. There is no need to add other components, which simplifies the number of electronic components of the whole machine, reduces costs, and has higher reliability.

[0057] Furthermore, the present application can directly use the boundary signal detection element to distinguish the boundary signal from the signal emitted by the brush motor spark through the signal amplitude characteristics. The operation process and hardware design of the present application are relatively simple, which can effectively ensure the system operation efficiency and improve the real-time performance of the calculation. After the brush mower motor is started, the present application can also autonomously identify the pulse noise component in the boundary line signal based on the motor rotation state and filter it out to achieve anti-interference detection.

[0058] The system of the present invention adopts a boundary signal sensor to realize the rotation speed detection of the brushed motor. The method directly uses the original sensor of the machine to realize the rotation speed detection, which can reduce the cost and has high reliability.

[0059] The above is only an implementation method of the present application, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A boundary line signal detection method, It is characterized in that An automatic walking device provided with a brushed motor (2), comprising the following steps: receiving a detection signal sensed by a boundary signal detection unit (3); The carbon brush pulse signal in the stripping detection signal is obtained to obtain a boundary line recognition signal; Adjust the running state of the automatic walking equipment according to the boundary line recognition signal; The step of determining the carbon brush pulse signal according to the operating state of the automatic walking device comprises: calculating the carbon brush pulse signal frequency or the carbon brush pulse signal period corresponding to the current operating state according to the number of electrodes, the number of carbon brushes and the motor speed in the brush motor (2); Generate or retrieve a corresponding carbon brush pulse signal according to the carbon brush pulse signal frequency or carbon brush pulse signal period; The step of generating a corresponding carbon brush pulse signal according to the carbon brush pulse signal frequency or the carbon brush pulse signal period includes: calling the pre-stored carbon brush pulse unit waveform according to the carbon brush pulse signal frequency or the carbon brush pulse signal period, and sequentially splicing each carbon brush pulse unit waveform into a carbon brush pulse signal that matches the current carbon brush pulse signal frequency or the carbon brush pulse signal period.

2. The boundary line signal detection method according to claim 1, It is characterized in that The specific steps of stripping the carbon brush pulse signal in the detection signal include: identifying a continuous pulse waveform in the detection signal as a carbon brush pulse signal, or identifying a signal in the detection signal whose amplitude exceeds the boundary line signal amplitude range as a carbon brush pulse signal, or identifying a signal with a maximum peak in the detection signal as a carbon brush pulse signal, or identifying a signal with an amplitude exceeding a preset peak value as a carbon brush pulse signal, or determining the carbon brush pulse signal according to the running state of the automatic walking device; The carbon brush pulse signal is removed from the detection signal or the reverse waveform of the carbon brush pulse signal is superimposed.

3. The boundary line signal detection method according to claim 2, It is characterized in that The current operating state of the automatic walking device is obtained according to the sensor signal, the motor voltage signal and / or the motor current signal on the automatic walking device.

4. An automatic walking device, It is characterized in that include: A boundary signal detection unit (3), which is arranged on the housing of the automatic walking device and is used to generate a detection signal by sensing the boundary line signal and the steering spark of the brush motor (2) of the automatic walking device; A boundary line signal recognition unit is connected to the boundary signal detection unit (3) and is used to strip the carbon brush pulse signal in the detection signal according to the method of claim 1, obtain a boundary line recognition signal, and trigger the automatic walking device to adjust its operating state according to the boundary line recognition signal.

5. The automatic walking device according to claim 4, It is characterized in that The boundary line signal recognition unit includes: a carbon brush pulse signal recognition unit, which is used to recognize the carbon brush pulse signal in the detection signal according to the pulse waveform, signal amplitude or signal peak of the detection signal; The signal operation unit removes the carbon brush pulse signal from the detection signal or superimposes the reverse waveform of the carbon brush pulse signal.

6. The automatic walking device according to claim 5, It is characterized in that The carbon brush pulse signal identification unit is further used to calculate the carbon brush pulse signal frequency or carbon brush pulse signal period corresponding to the current operating state according to the number of electrodes, the number of carbon brushes and the motor speed in the brushed motor (2), and to generate or retrieve the corresponding carbon brush pulse signal according to the carbon brush pulse signal frequency or the carbon brush pulse signal period.

7. The automatic walking device according to claim 6, It is characterized in that It also includes a running status acquisition module, which includes any one of the following or a combination thereof: a sensor, a motor voltage collector and / or a motor current collector arranged on the automatic walking device; The operation status acquisition module is used to obtain the current operation status of the automatic walking device according to the sensor signal, the motor voltage signal and / or the motor current signal on the automatic walking device.

8. The automatic walking device according to claim 7, It is characterized in that It also includes a waveform storage unit for storing the carbon brush pulse unit waveform in the carbon brush pulse signal, and is also used to output the carbon brush pulse unit waveform according to the carbon brush pulse signal frequency or the carbon brush pulse signal period so that the carbon brush pulse signal identification unit can splice them in sequence to form a carbon brush pulse signal that matches the current carbon brush pulse signal frequency or the carbon brush pulse signal period.

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