Signal anti-interference method, device and medium applied to robot boundary system

Abstract

The present invention provides a signal anti-interference method, device, and medium for a robot boundary system. The method comprises: a magnetic field induction sensor receives a real-time feedback signal, compares the received real-time feedback signal with a theoretical feedback signal generated in response to a currently transmitted electrical pulse signal, and determines whether the waveform of the real-time feedback signal received at a predetermined position in a predetermined cycle is consistent with the waveform of the currently transmitted theoretical feedback signal at the predetermined position in the predetermined cycle; if not, a control signal generator adjusts the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at the predetermined position in the predetermined cycle is consistent with the waveform of the currently transmitted theoretical feedback signal at the predetermined position in the predetermined cycle. By adjusting the transmitted electrical pulse signal based on the feedback signal, the present invention effectively prevents the lawn mowing robot from being affected by adjacent boundary signals and causing malfunction.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control, and in particular to a signal anti-interference method, device and medium applied to a robot boundary system. Background Art

[0002] Low repetition rate and high coverage are the goals of traversal robots, such as those used for vacuuming, mowing, and pool cleaning. For example, a smart lawnmower robot operates within a lawn surrounded by a boundary, with the rest of the lawn defined as the non-operating area.

[0003] During operation, the robot limits its working area by setting boundary lines. If two adjacent working areas are set up on the same lawn, or if the same lawn mower robot is used in different lawn working areas of adjacent households at the same time, the signals on the adjacent boundary lines may affect each other and cause signal interference, making it impossible for the lawn mower robot to accurately determine whether it is inside or outside the boundary line, resulting in the lawn mower robot not being able to work normally. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a signal anti-interference method, device and medium applied to a robot boundary system.

[0005] To achieve one of the above-mentioned objectives, an embodiment of the present invention provides a signal anti-interference method for a robot boundary system, the system comprising: a signal generator, a boundary line connected to both ends of the signal generator to form a closed loop, and a magnetic field sensing sensor communicatively connected to the signal generator;

[0006] The signal generator is configured to emit an electric pulse signal along a closed loop formed by the boundary line;

[0007] The method comprises:

[0008] The magnetic field induction sensor receives a real-time feedback signal, compares the received real-time feedback signal with a theoretical feedback signal generated corresponding to the electric pulse signal currently transmitted by the signal generator, and determines whether a waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with a waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period;

[0009] If not, the control signal generator adjusts the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period.

[0010] By using the above method, the waveform change caused by the influence of adjacent boundary signals can be effectively avoided.

[0011] As a further improvement of one embodiment of the present invention, controlling the signal generator to adjust the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period includes:

[0012] The control signal generator adjusts the phase and / or period of the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period;

[0013] The transmitted electrical pulse signal is adjusted in a preferred real-time manner so that the acquired feedback signal remains within a preset range.

[0014] As a further improvement of an embodiment of the present invention, a periodic signal group is preconfigured, wherein the periodic signal group includes a plurality of periods of different sizes;

[0015] The control signal generator adjusts the period of the transmitted electric pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period, including:

[0016] M1. Randomly select any period from the periodic signal group, and use the currently selected period to adjust the transmitted electrical pulse signal, and determine whether the waveform of the real-time feedback signal received at a predetermined position in the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period.

[0017] If so, keep transmitting the electric pulse signal at the current cycle;

[0018] If not, loop and execute M1;

[0019] The transmitted electrical pulse signal is adjusted in a preferred real-time manner so that the acquired feedback signal remains within a preset range.

[0020] As a further improvement to one embodiment of the present invention, controlling the signal generator to adjust the phase and period of the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period includes:

[0021] N1. Alternately adjust the period and phase of the transmitted electrical pulse signal to determine whether the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform of the theoretical feedback signal formed at a predetermined position in the predetermined period.

[0022] If so, keep transmitting the electric pulse signal at the current cycle or the current phase;

[0023] If not, loop and execute N1;

[0024] The transmitted electrical pulse signal is adjusted in a preferred real-time manner so that the acquired feedback signal remains within a preset range.

[0025] As a further improvement to one embodiment of the present invention, controlling the signal generator to adjust the phase and period of the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period includes:

[0026] P1. Adjust the period of the transmitted electric pulse signal to determine whether the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform of the theoretical feedback signal formed at the predetermined position of the predetermined period.

[0027] If they are consistent, the electric pulse signal is continuously transmitted at the current cycle;

[0028] If not, proceed to step P2;

[0029] P2, looping step P1 N times. If, after the Nth execution of step P1, the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is still inconsistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period, then executing step P3;

[0030] P3. cyclically adjusting the phase of the transmitted electrical pulse signal until the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period;

[0031] The transmitted electrical pulse signal is adjusted in a preferred real-time manner so that the acquired feedback signal remains within a preset range.

[0032] As a further improvement to one embodiment of the present invention, controlling the signal generator to adjust the phase and period of the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period includes:

[0033] Continuously adjusting the transmitted electrical pulse signal by adjusting either the period or the phase;

[0034] If within the predetermined time, the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is still inconsistent with the waveform of the theoretical feedback signal formed at the predetermined position of the predetermined period, then the transmission electric pulse signal is adjusted by adjusting the period or the phase.

[0035] wherein, within each predetermined period, the selected period and phase are different;

[0036] The transmitted electrical pulse signal is adjusted in a preferred real-time manner so that the acquired feedback signal remains within a preset range.

[0037] As a further improvement of an embodiment of the present invention, the magnetic field induction sensor is configured to be disposed on the signal generator;

[0038] Through this embodiment, the installation position of the magnetic field sensing sensor is clarified.

[0039] As a further improvement to an embodiment of the present invention, the signal generators are arranged in a system close to a neighborhood boundary.

[0040] In order to achieve one of the above-mentioned purposes of the invention, one embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the steps of the signal anti-interference method applied to the robot boundary system as described above.

[0041] In order to achieve one of the above-mentioned objects of the invention, one embodiment of the present invention provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the signal anti-interference method applied to the robot boundary system as described above.

[0042] Compared with the prior art, the signal anti-interference method, system, electronic device and storage medium applied to the robot boundary system of the present invention adjust the transmitted electric pulse signal according to the feedback signal, so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period, effectively preventing the lawn mowing robot from being affected by the adjacent boundary signal and causing malfunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 1 is a flow chart of a signal anti-interference method applied to a robot boundary system provided by one embodiment of the present invention;

[0044] Figure 2 It is a structural diagram of a specific example of the present invention;

[0045] Figure 3 、 4 5 are schematic diagrams of the timing structure of the feedback signal of a specific example of the present invention. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below with reference to the various embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0047] The robot of the present invention can be a lawn mower robot, a sweeping robot, a snow blower, a leaf vacuum, a golf course ball picker, etc. Various robots can automatically walk in the working area and perform corresponding work. In the specific example of the present invention, the robot is a lawn mower as an example for specific description. Accordingly, the working area can be a lawn.

[0048] During the operation of the robot, the working area of ​​the lawn mower is limited by arranging boundary lines. Accordingly, there may be adjacent working areas outside the working area of ​​the robot. In addition, when the robot of the present application is operating in the working area set in the present application, the adjacent working areas synchronously transmit interference signals. The present invention is mainly used to adjust its own transmitting electric pulse signal when the adjacent working areas synchronously transmit interference signals, so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period; thereby avoiding the interference of the robot of the present application by the interference of the interference signals synchronously transmitted from the adjacent working areas.

[0049] like Figure 1 As shown, the signal anti-interference method applied to the robot boundary system provided by the first embodiment of the present invention includes the following steps:

[0050] S1. Receive the real-time feedback signal and compare it with the theoretical feedback signal generated by the current transmitted electrical pulse signal.

[0051] S2. determining whether a waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with a waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period;

[0052] S3. If not, adjust the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period;

[0053] If so, keep the transmitting electric pulse signal unchanged.

[0054] In a specific embodiment of the present invention, a magnetic field induction sensor is provided in a signal generator, the signal generator is used to transmit an electrical pulse signal, and the magnetic field induction sensor is used to receive a feedback signal and feed back the feedback result to the signal generator.

[0055] Combine Figure 2As shown, two adjacent work areas are shown: the work area Q1 of the present invention on the left and the adjacent other work area Q2 on the right. The work area Q1 of the present invention is formed by a signal generator 1 and a boundary line 2 that connects the two ends of the signal generator to form a closed loop. The signal generator 1 is provided with a magnetic field sensing sensor 3. The robot 4 operates within the work area Q1. After the signal generator 1 is started, it transmits an electric pulse signal along the boundary line 2, thereby generating a continuous magnetic field signal near the boundary line 2. The robot 4 senses the magnetic field signal through the sensor on it to maintain operation within the boundary line. However, due to the existence of the adjacent work area Q2, if the signal generator 1' in the work area Q2 transmits the same electric pulse signal as the signal generator 1 in the work area Q1, within a certain period of time, the magnetic field signal generated by the signal generator 1' on its boundary line 2' may interfere with the magnetic field signal generated on the boundary line 1 of the work area Q1.

[0056] In a specific embodiment of the present invention, by judging whether the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the theoretical feedback signal at a predetermined position in the predetermined period, it is indirectly judged whether the magnetic field signals in the two areas interfere with each other, and adjustments are made based on the judgment result.

[0057] For ease of understanding, continue Figure 2 As shown, the following specific examples are described for reference. In the following example, A is the theoretical feedback signal that should theoretically be received after the signal generator 1 in the working area Q1 transmits the electric pulse signal, B is the interference feedback signal formed after the signal generator 1' in the adjacent working area Q2 transmits the electric pulse signal, and A+B is the real-time feedback signal actually received by the magnetic field sensing sensor 3.

[0058] like Figure 3 The example shown is: the theoretical feedback signal A and the interference feedback signal B have the same period, opposite pulse directions, and a phase difference of one pulse. The amplitude of the interference feedback signal B is smaller than the amplitude of the theoretical feedback signal A. After signal superposition, the actual feedback signal formed has an unchanged period and partially distorted amplitude compared to the theoretical feedback signal. Specifically, the falling edge at time t1 is extended; in the interval t1-t2, the amplitude in the opposite direction increases; and the falling edge at time t3 is extended. In this way, it is confirmed that the waveform received by the real-time feedback signal at a predetermined position in the predetermined period is inconsistent with the waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period.

[0059] In the implementation methods of the present invention, there are multiple ways to implement step S3; step S3 adjusts the transmitted electrical pulse signal, including: adjusting the phase and / or period of the transmitted electrical pulse signal so that the waveform received by the real-time feedback signal at a predetermined position in a predetermined period is consistent with the waveform formed by the theoretical feedback signal at a predetermined position in the predetermined period.

[0060] In a specific embodiment of the present invention, the following schemes can be used to implement step S3:

[0061] Specifically, in the first preferred embodiment of the present invention, step S3 of adjusting the transmitted electrical pulse signal includes: preconfiguring a periodic signal group, wherein the periodic signal group includes a plurality of periods of different sizes;

[0062] Adjusting the period of the transmitted electrical pulse signal so that a waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with a waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period includes:

[0063] M1. Randomly select any period from the periodic signal group, and use the currently selected period to adjust the transmitted electrical pulse signal, and determine whether the waveform of the real-time feedback signal received at a predetermined position in the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period.

[0064] If so, keep transmitting the electric pulse signal at the current cycle;

[0065] If not, loop and execute M1.

[0066] In a second preferred embodiment of the present invention, step S3 of adjusting the transmitted electrical pulse signal includes: N1, alternately adjusting the period and phase of the transmitted electrical pulse signal, and determining whether the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period,

[0067] If so, keep transmitting the electric pulse signal at the current cycle or the current phase;

[0068] If not, loop and execute N1.

[0069] In a third preferred embodiment of the present invention, step S3 of adjusting the transmitted electrical pulse signal includes: P1, adjusting the period of the transmitted electrical pulse signal, and determining whether the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period,

[0070] If they are consistent, the electric pulse signal is continuously transmitted at the current cycle;

[0071] If not, proceed to step P2;

[0072] P2, looping step P1 N times. If, after the Nth execution of step P1, the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is still inconsistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period, then executing step P3;

[0073] P3. cyclically adjust the phase of the transmitted electrical pulse signal until the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period.

[0074] In a fourth preferred embodiment of the present invention, step S3 of adjusting the transmitted electrical pulse signal includes: continuously adjusting the transmitted electrical pulse signal by adjusting one of the period or the phase;

[0075] If within the predetermined time, the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is still inconsistent with the waveform of the theoretical feedback signal formed at the predetermined position of the predetermined period, then the transmission electric pulse signal is adjusted by adjusting the period or the phase.

[0076] Wherein, within each predetermined period, the selected period and phase are different.

[0077] To facilitate understanding, two examples are described for reference.

[0078] Combine Figure 4 As shown, Figure 4 exist Figure 3 Based on the example shown, the transmitted electric pulse signal is adjusted by adjusting the period of the transmitted pulse signal. Before the adjustment, the real-time feedback signal received by the magnetic field sensing sensor 3 is A+B. Correspondingly, the waveform of the signal A+B is inconsistent with the waveform of the theoretical feedback signal A at a predetermined position of the predetermined period. At this time, the waveforms are made consistent by adjusting the period of the transmitted pulse signal. Specifically, the period of the transmitted pulse signal is adjusted from T1 to T2, where T2 is less than T1. In other real-time methods of the present invention, T2 may also be not less than T1. C is the theoretical feedback signal generated by the transmitted electric pulse signal with a period of T2. C+B is the real-time feedback signal actually received by the magnetic field sensing sensor 3. As shown in the figure, after the feedback signal formed by the transmitted electric pulse signal with a period adjusted from T1 to T2 is interfered by the interference feedback signal, the waveform of the real-time feedback signal C+B received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal C at the predetermined position of the predetermined period. At this time, when the robot is working in the working area Q1, it will not be affected by the magnetic field signal in the Q2 area, and the magnetic field signal in the area Q1 can be accurately identified to achieve robot positioning.

[0079] Combine Figure 5 As shown, Figure 5 exist Figure 3Based on the example shown, the transmitted electric pulse signal is adjusted by adjusting the phase of the transmitted pulse signal. Before the adjustment, the real-time feedback signal received by the magnetic field induction sensor 3 is A+B. Correspondingly, the signal A+B is inconsistent with the waveform of the theoretical feedback signal A at a predetermined position in a predetermined period. At this time, the waveforms are made consistent by adjusting the phase of the transmitted pulse signal. Specifically, the transmitted pulse signal is delayed; C is the theoretical feedback signal generated by the delayed transmitted electric pulse signal; C+B is the real-time feedback signal actually received by the magnetic field induction sensor 3. It can be seen from the figure that after the feedback signal formed by the delayed transmitted electric pulse signal is interfered by the interference feedback signal, the waveform of the real-time feedback signal C+B received at the predetermined position in the predetermined period is consistent with the waveform formed by the theoretical feedback signal C at the predetermined position in the predetermined period. At this time, when the robot works in the working area Q1, it will not be affected by the magnetic field signal in the Q2 area, and the magnetic field signal in the area Q1 can be accurately identified to achieve robot positioning.

[0080] Combine Figure 2 As shown, one embodiment of the present invention provides a boundary signal anti-interference system, comprising: a signal generator 1, a boundary line 2 respectively connected to both ends of the signal generator 1 to form a closed loop, and a magnetic field induction sensor 3 communicatively connected to the signal generator; the signal generator 1 is configured to transmit an electric pulse signal along the closed loop formed by the boundary line 2; the magnetic field induction sensor 3 is configured to: receive a real-time feedback signal, compare the received real-time feedback signal with a theoretical feedback signal generated corresponding to the transmitted electric pulse signal, and determine whether the waveform of the real-time feedback signal received at a predetermined position of a predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period; if not, the magnetic field induction sensor 3 feedback controls the signal generator 1, and the signal generator 1 adjusts the transmitted electric pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period.

[0081] In addition, the magnetic field sensing sensor 3 is also used to implement steps S1 and S2 in the signal anti-interference method applied to the robot boundary system, and the signal generator 1 is also used to implement step S3 in the signal anti-interference method applied to the robot boundary system, which will not be repeated here.

[0082] Preferably, the magnetic field induction sensor 3 is arranged on the signal generator 1 .

[0083] Preferably, the signal generator 1 is arranged near the neighborhood boundary system. In one embodiment of the present invention, an electronic device is further provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the signal anti-interference method applied to the robot boundary system described in any of the above embodiments are implemented.

[0084] In one embodiment of the present invention, a readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the signal anti-interference method applied to the robot boundary system described in any of the above embodiments are implemented.

[0085] To sum up, the signal anti-interference method, device and medium applied to the robot boundary system of the present invention adjust the transmitted electric pulse signal according to the feedback signal, so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period, effectively preventing the lawn mowing robot from being affected by the adjacent boundary signal and failing to work normally.

[0086] In the several implementation modes provided in this application, it should be understood that the systems and methods can be implemented in other ways.

[0087] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A signal anti-interference method applied to a robot boundary system, characterized in that: The system includes: a signal generator, a boundary line connected to both ends of the signal generator to form a closed loop, and a magnetic field sensing sensor in communication with the signal generator; the magnetic field sensing sensor is disposed on the signal generator, and the signal generator is systematically arranged near the neighborhood boundary; The signal generator is configured to emit an electric pulse signal along a closed loop formed by the boundary line; The method comprises: The magnetic field induction sensor receives a real-time feedback signal, compares the received real-time feedback signal with a theoretical feedback signal generated corresponding to the electric pulse signal currently transmitted by the signal generator, and determines whether a waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with a waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period; If not, the control signal generator adjusts the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period; The control signal generator adjusts the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period, including: The control signal generator adjusts the phase and / or period of the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at a predetermined position of the predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period.

2. The signal anti-interference method applied to the robot boundary system according to claim 1, characterized in that: The method further comprises: preconfiguring a periodic signal group, the periodic signal group comprising a plurality of periods of different sizes; The control signal generator adjusts the period of the transmitted electric pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period, including: M1. Randomly select any period from the periodic signal group, and use the currently selected period to adjust the transmitted electrical pulse signal, and determine whether the waveform of the real-time feedback signal received at a predetermined position in the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position in the predetermined period. If so, keep transmitting the electric pulse signal at the current cycle; If not, loop and execute M1.

3. The signal anti-interference method applied to the robot boundary system according to claim 1, characterized in that: The control signal generator adjusts the phase and period of the transmitted electric pulse signal so that the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period, including: N1, alternately adjusting the period and phase of the transmitted electric pulse signal, and judging whether the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period, If so, keep transmitting the electric pulse signal at the current cycle or the current phase; If not, loop and execute N1.

4. The signal anti-interference method applied to the robot boundary system according to claim 1, characterized in that: The control signal generator adjusts the phase and period of the transmitted electrical pulse signal so that the waveform of the real-time feedback signal received at a predetermined position in a predetermined period is consistent with the waveform formed by the current theoretical feedback signal at the predetermined position in the predetermined period, including: P1. Adjust the period of the transmitted electric pulse signal to determine whether the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform of the theoretical feedback signal formed at the predetermined position of the predetermined period. If they are consistent, the electric pulse signal is continuously transmitted at the current cycle; If not, proceed to step P2; P2, looping step P1 N times. If, after the Nth execution of step P1, the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is still inconsistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period, then executing step P3; P3. cyclically adjust the phase of the transmitted electrical pulse signal until the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is consistent with the waveform formed by the theoretical feedback signal at the predetermined position of the predetermined period.

5. The signal anti-interference method applied to the robot boundary system according to claim 1, characterized in that: Controlling the signal generator to adjust the phase and period of the transmitted electrical pulse signal so that a waveform of the real-time feedback signal received at a predetermined position of the predetermined period is consistent with a waveform formed by the current theoretical feedback signal at the predetermined position of the predetermined period includes: continuously adjusting the transmitted electrical pulse signal in a manner of adjusting one of the period or the phase; If within the predetermined time, the waveform of the real-time feedback signal received at the predetermined position of the predetermined period is still inconsistent with the waveform of the theoretical feedback signal formed at the predetermined position of the predetermined period, then the transmission electric pulse signal is adjusted by adjusting the period or the phase. Wherein, within each predetermined period, the selected period and phase are different.

6. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the program, the steps of the signal anti-interference method applied to the robot boundary system according to any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the signal anti-interference method applied to a robot boundary system according to any one of claims 1 to 5 are implemented.

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