Control method, device, equipment and storage medium of automatic walking equipment

Abstract

The present disclosure provides a control method, device, equipment and storage medium for an automatic walking device. In some implementations of the present disclosure, the control method for the automatic walking device may include: obtaining a second signal, the second signal is generated based on a first signal applied to a boundary line by a signal transmitting device; performing nonlinear amplification and digital processing on the second signal to obtain timing data of the second signal; obtaining characteristic parameters of the second signal according to the timing data of the second signal; determining whether the automatic walking device is within or outside the area surrounded by the boundary line according to the characteristic parameters of the first signal and the characteristic parameters of the second signal, so that the automatic walking device controls itself to work within the area surrounded by the boundary line. The present disclosure has low implementation complexity and low cost.

Description

Technical Field

[0001] The present invention relates to a control method, device, equipment and storage medium for an automatic walking device. Background Art

[0002] Automatic walking devices such as automatic robots or semi-automatic robots need to work in a specific area. The automatic walking device is not allowed to leave the specific area when working. The specific area can be called the working area of ​​the automatic walking device. In this regard, the processing method of the related art is: a current flows on the boundary line of a pre-set working area to generate a specific magnetic field signal, and the automatic walking device determines whether it is in the working area by sensing the specific magnetic field signal. The disadvantage of this method is that the automatic walking device cannot determine which side of the boundary line it is on, that is, the automatic walking device cannot determine whether it is in the working area or outside the working area.

[0003] In view of the above problems, patents EP1025472, EP1047983, DE2228659, US3299351, and US5438266 disclose improved solutions, which apply two or more frequency AC signals to the wire, and these signals are in a frequency-multiplied or multiplied relationship with each other, and the automatic walking device determines which side of the boundary line it is located on through the indirect time or phase relationship of different signals. In the solution disclosed in US6300737, the baseband signal and the frequency-multiplied sine wave or cosine wave signal with a phase difference of 90° are transmitted simultaneously, and the positive and negative values ​​of the frequency-multiplied signal are used to judge the inside and outside of the boundary line when the baseband signal passes through the zero point. It can be seen that the above scheme is relatively complicated in both signal generation and received signal processing, with high cost and low efficiency.

[0004] Patent EP1512053B1 and patent CN103488172B disclose solutions that use the simplest periodic repetitive digital pulse signal to determine which side of the boundary the autonomous vehicle is located on. In these solutions, a pulse signal is first sent, and then the sequence of the pulse edges of the receiving end signal is determined to determine whether the autonomous vehicle is inside or outside the boundary. However, because the signal is too simple, it is easily affected by the environment and has poor accuracy.

[0005] In addition, the solutions disclosed in patents EP2564281B1 and EP2741160B1 use wireless communication coding to determine which side of the boundary the autonomous walking device is on. Since a complex pseudo-random coding method is used, these solutions also have the problems of high complexity and high cost. Summary of the invention

[0006] In order to solve at least one of the above technical problems, the present disclosure provides a control method, device, equipment and storage medium for an automatic walking device, which can efficiently and accurately detect whether the automatic walking device is in a specified area with lower complexity and lower cost.

[0007] A first aspect of the present disclosure provides a control method for an automatic walking device, wherein the automatic walking device needs to work within an area surrounded by a boundary line, and the boundary line is connected to a signal transmitting device; the method comprises:

[0008] Acquire a second signal, where the second signal is generated based on the first signal applied to the boundary line by the signal transmitting device;

[0009] Performing nonlinear amplification and digitization processing on the second signal to obtain time series data of the second signal;

[0010] Acquire characteristic parameters of the second signal according to the time series data of the second signal;

[0011] According to the characteristic parameters of the first signal and the characteristic parameters of the second signal, it is determined whether the automatic traveling device is within or outside the area surrounded by the boundary line, so that the automatic traveling device controls itself to work within the area surrounded by the boundary line.

[0012] In some possible implementations of the first aspect of the present disclosure, the first signal is an axially symmetrical signal having an even number of positive and negative pulses, and the duration of an interval between adjacent positive pulses in the first signal is an integer multiple of the duration of an interval between adjacent negative pulse peaks; or, the duration of an interval between adjacent negative pulses in the first signal is an integer multiple of the duration of an interval between adjacent positive pulses.

[0013] In some possible implementations of the first aspect of the present disclosure, the characteristic parameters include time parameters and state parameters, the time parameters include the jump time of each pulse in the signal, and the state parameters are used to indicate the pulse timing distribution of the signal.

[0014] In some possible implementations of the first aspect of the present disclosure, the nonlinear amplification is performed according to a preset nonlinear amplification factor template, and the nonlinear amplification factor template is a non-zero integer variable related to time.

[0015] In some possible implementations of the first aspect of the present disclosure, the nonlinear amplification factor template is determined according to the first signal or the acquired second signal.

[0016] In some possible implementations of the first aspect of the present disclosure, obtaining characteristic parameters of the second signal based on the timing data of the second signal includes: extracting non-zero data in the timing data of the second signal to generate state parameters of the second signal; and generating time parameters of the second signal based on time information of the non-zero data in the timing data of the second signal.

[0017] In some possible implementations of the first aspect of the present disclosure, determining whether the automatic walking device is within or outside the area surrounded by the boundary line according to the characteristic parameters of the first signal and the characteristic parameters of the second signal includes:

[0018] Determine the duration of adjacent positive pulse intervals and adjacent negative pulse intervals of the second signal according to the time parameter of the second signal;

[0019] comparing the state parameter of the second signal with the state parameter of the first signal to determine whether the pulse timing distribution of the second signal is the same as or opposite to the pulse timing distribution of the first signal;

[0020] When the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as the duration of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as the duration of adjacent negative pulse intervals of the first signal, it is determined that the automatic walking device is within the area surrounded by the boundary line;

[0021] When the pulse timing distribution of the second signal is opposite to that of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as that of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as that of adjacent negative pulse intervals of the first signal, it is determined that the automatic walking device is outside the area surrounded by the boundary line.

[0022] A second aspect of the present disclosure provides a control device for an automatic walking device, comprising:

[0023] an acquisition module, configured to acquire a second signal, wherein the second signal is generated based on the first signal applied by the signal emitting device to the boundary line;

[0024] an amplification processing module, used for performing nonlinear amplification and digital processing on the second signal to obtain time series data of the second signal;

[0025] A characteristic parameter extraction module, used for acquiring characteristic parameters of the second signal according to the time series data of the second signal;

[0026] A determination module is used to determine whether the automatic walking device is within or outside the area surrounded by the boundary line according to the characteristic parameters of the first signal and the characteristic parameters of the second signal, so that the automatic walking device controls itself to work within the area surrounded by the boundary line.

[0027] In some possible implementations of the second aspect of the present disclosure, the first signal is an axially symmetrical signal having an even number of positive and negative pulses, and the duration of an interval between adjacent positive pulses in the first signal is an integer multiple of the duration of an interval between adjacent negative pulse peaks; or, the duration of an interval between adjacent negative pulses in the first signal is an integer multiple of the duration of an interval between adjacent positive pulses.

[0028] In some possible implementations of the second aspect of the present disclosure, the characteristic parameters include time parameters and state parameters, the time parameters include the jump time of each pulse in the signal, and the state parameters are used to indicate the pulse timing distribution of the signal.

[0029] In some possible implementations of the second aspect of the present disclosure, the amplification processing module is used to perform the nonlinear amplification according to a preset nonlinear amplification factor template, and the nonlinear amplification factor template is a non-zero integer variable related to time.

[0030] In some possible implementations of the second aspect of the present disclosure, the amplification processing module is further used to determine the nonlinear amplification factor template according to the first signal or the acquired second signal.

[0031] In some possible implementations of the second aspect of the present disclosure, the feature parameter extraction module is specifically used to: extract non-zero data in the timing data of the second signal to generate state parameters of the second signal; and generate time parameters of the second signal based on time information of the non-zero data in the timing data of the second signal.

[0032] In some possible implementations of the second aspect of the present disclosure, the determining module is specifically configured to:

[0033] Determine the duration of adjacent positive pulse intervals and adjacent negative pulse intervals of the second signal according to the time parameter of the second signal;

[0034] comparing the state parameter of the second signal with the state parameter of the first signal to determine whether the pulse timing distribution of the second signal is the same as or opposite to the pulse timing distribution of the first signal;

[0035] When the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as the duration of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as the duration of adjacent negative pulse intervals of the first signal, it is determined that the automatic walking device is within the area surrounded by the boundary line;

[0036] When the pulse timing distribution of the second signal is opposite to that of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as that of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as that of adjacent negative pulse intervals of the first signal, it is determined that the automatic walking device is outside the area surrounded by the boundary line.

[0037] A third aspect of the present disclosure provides an electronic device, including:

[0038] a memory storing execution instructions; and

[0039] A processor executes the execution instructions stored in the memory, so that the processor executes the control method of the automatic walking device.

[0040] A fourth aspect of the present disclosure provides a readable storage medium, in which execution instructions are stored. When the execution instructions are executed by a processor, they are used to implement the control method of the above-mentioned automatic walking device.

[0041] The present invention obtains characteristic parameters of the second signal by performing nonlinear amplification, digital processing and characteristic parameter extraction on the second signal generated based on the first signal on the boundary line, and determines whether the automatic walking device is inside or outside the area surrounded by the boundary line based on the characteristic parameters of the second signal and the characteristic parameters of the first signal. It can efficiently and accurately detect whether the automatic walking device is in the specified area with lower complexity and lower cost, so that the automatic walking device can work in the specified area. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0043] Figure 1 is a schematic diagram of the structure of a system to which the present disclosure is applicable;

[0044] Figure 2 It is a flowchart of a control method of an automatic walking device according to an embodiment of the present disclosure;

[0045] Figure 3 is a waveform example diagram of a first signal in one embodiment of the present disclosure;

[0046] Figure 4 is a waveform example diagram of a first signal in another embodiment of the present disclosure;

[0047] Figure 5 is a waveform example diagram of a first signal transmitted continuously according to an embodiment of the present disclosure;

[0048] Figure 6 is an example diagram of a second signal waveform of an autonomous walking device within an area surrounded by a boundary line in one embodiment of the present disclosure;

[0049] Figure 7 is an example diagram of a second signal waveform of an autonomous vehicle outside an area surrounded by a boundary line in one embodiment of the present disclosure;

[0050] Figure 8 is a schematic diagram of a digital processing process of the amplified second signal in one embodiment of the present disclosure;

[0051] Fig. 9 is a schematic diagram of a process for obtaining a second signal characteristic parameter in an embodiment of the present disclosure;

[0052] Fig.10 is a schematic diagram of a process for obtaining a second signal characteristic parameter in one embodiment of the present disclosure;

[0053] Fig.11 is a schematic diagram of a flow chart for determining whether an autonomous vehicle is inside or outside an area surrounded by a boundary line in one embodiment of the present disclosure;

[0054] Fig.12 It is a schematic block diagram of the structure of an automatic walking equipment control device using a hardware implementation of a processing system according to an embodiment of the present disclosure.

[0055] Description of Reference Numerals

[0056] 110 Signal Transmitter

[0057] 120 Boundary Line

[0058] 130 Automatic walking equipment

[0059] 131 Boundary signal sensing unit

[0060] 132 Signal processing and control unit

[0061] 133 Drive travel unit

[0062] 134 Action execution unit

[0063] 1300 Control device for automatic walking equipment

[0064] 1400 Bus

[0065] 1500 processor

[0066] 1600 Memory

[0067] 1700 Various other circuits DETAILED DESCRIPTION

[0068] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0069] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0070] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged without departing from the technical concept of the present disclosure.

[0071] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.

[0072] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0073] The terms used herein are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used herein, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0074] Combine the following Figures 1 to 12 The specific embodiments of the present disclosure are described in detail.

[0075] Figure 1 A schematic diagram showing an exemplary application scenario and system architecture to which the present disclosure is applicable.

[0076] like Figure 1 As shown, an exemplary system 100 applicable to the present disclosure may include: a signal transmitting device 110, a boundary line 120 and an automatic walking device 130, wherein the boundary line 120 is deployed at the boundary of the working area of ​​the automatic walking device, that is, the area enclosed by the boundary line 120 is the working area of ​​the automatic walking device, and the automatic walking device can only move within the working area during the working process.

[0077] like Figure 1As shown, the signal transmitting device 110 is electrically connected to the boundary line 120, and the automatic walking device 130 needs to move in the area surrounded by the boundary line 120 during operation. The signal transmitting device 110 is used to continuously transmit a first signal to apply the first signal to the boundary line 120, so that the boundary line 120 generates a magnetic field under the action of the first signal, and the automatic walking device 130 moves in a vertical plane of the magnetic field generated by the boundary line 120. The automatic walking device 130 is used to sense the first signal under the action of the magnetic field generated by the boundary line 120, and detect in real time whether it is within or outside the area surrounded by the boundary line 120 according to the second signal, so that the automatic walking device 130 can control itself in real time to be within the area surrounded by the boundary line 120 during operation.

[0078] Figure 1 In FIG. 1 , a bold ellipse with an arrow represents the magnetic field of the boundary line 120 , the direction of the arrow is the direction of the magnetic field, and “→” represents the current direction of the first signal applied to the boundary line 120 .

[0079] Exemplarily, the automatic walking device 130 may be, but is not limited to, an intelligent lawn mower, an intelligent seed drill, an intelligent watering machine, an automatic walking device for agriculture, or other similar devices.

[0080] like Figure 1 As shown, the automatic walking device 130 may include: a boundary signal sensing unit 131, a signal processing and control unit 132, a driving walking unit 133 and an action execution unit 134, and the boundary signal sensing unit 131, the driving walking unit 133 and the action execution unit 134 are respectively connected to the signal processing and control unit 132.

[0081] The boundary signal sensing unit 131 can be used to sense the second signal and transmit it to the signal processing and control unit 132. The second signal is a magnetic induction signal. Specifically, according to the principle of electromagnetic induction, the second signal can be an induced voltage signal or an induced current signal generated by the movement of the automatic walking device 130 in a plane perpendicular to the magnetic field generated by the boundary line 120.

[0082] The driving unit 133 can be used to drive the automatic walking device 130 to move under the control of the signal processing and control unit 132. Exemplarily, the driving unit 133 can include components such as a motor and a driving wheel. The motor is used to rotate under the control of the signal processing and control unit 132 to drive the driving wheel to move, so that the automatic walking device 130 can automatically walk.

[0083] The action execution unit 134 is used to execute actions such as mowing and sowing under the control of the signal processing and processing unit 132. For example, the action execution unit 134 may include a mowing component, a sowing component, a watering component, or other similar components. In specific applications, the functions of the automatic walking device 130 are different, and the type and structure of the action execution unit 134 are different, which can be flexibly configured as needed.

[0084] The signal processing and control unit 132 can be used to detect in real time whether the automatic walking device 130 is within or outside the area surrounded by the boundary line 120 based on the second signal. If it is detected that the automatic walking device 130 is within the area surrounded by the boundary line 120, the action execution unit 134 and the driving walking unit 133 are controlled to work normally. If it is detected that the automatic walking device 130 is outside the area surrounded by the boundary line 120, the action execution unit 134 can be controlled to stop working, and at the same time, the driving walking unit 133 can be controlled to move according to a predetermined trajectory so that the automatic walking device 130 can move to the area surrounded by the boundary line 120.

[0085] Exemplarily, the signal processing and control unit 132 may be implemented by a processor (CPU), a microprocessor (MCU), an FPGA or an independent electronic device, etc. In the present disclosure, the signal processing and control unit 132 may be implemented as the electronic device described below or as a processor in the electronic device described below.

[0086] Exemplarily, the autonomous driving device 130 may be implemented as the electronic device described below or include the electronic device described below.

[0087] Figure 2 A schematic diagram showing a control method of an automatic walking device 130 according to some embodiments of the present disclosure is shown. The automatic walking device is suitable for Figure 1 In the system shown, the working area is delimited by a boundary line 120 , and a signal transmitting device 110 is connected to the boundary line 120 .

[0088] See also Figure 2 As shown, an exemplary process S20 of the control method of the automatic walking device 130 of the present disclosure may include:

[0089] Step S22, obtaining a second signal, where the second signal is generated based on the first signal applied to the boundary line by the signal transmitting device;

[0090] In some embodiments, the first signal is an axisymmetric signal with an even number of positive and negative pulses, and the duration of the interval between adjacent positive pulse peaks is an integer multiple of the duration of the interval between adjacent negative pulse peaks, or the duration of the interval between adjacent negative pulse peaks is an integer multiple of the duration of the interval between adjacent positive pulse peaks. Using such a first signal can make signal processing more resistant to interference, and the encoding is not complicated, reducing complexity.

[0091] For example, the first signal may be an axisymmetric signal having N positive pulses and N negative pulses, where N is an even number greater than 0. The duration of the interval between the peak values ​​of adjacent positive pulses in the N positive pulses is M1 times the duration of the interval between the peak values ​​of adjacent negative pulses in the N negative pulses, or the duration of the interval between the peak values ​​of adjacent negative pulses in the N negative pulses is M2 times the duration of the interval between the peak values ​​of adjacent positive pulses in the N positive pulses. Both M1 and M2 are integers greater than or equal to 1.

[0092] For example, the first signal may be Figure 3 The first rectangular wave signal shown is an axially symmetrical signal having 2 positive pulses and 2 negative pulses, wherein the interval between adjacent positive pulse peaks is 2△T and the interval between adjacent negative pulse peaks is △T, that is, the interval between adjacent positive pulse peaks of the first rectangular wave signal is twice the interval between adjacent negative pulse peaks.

[0093] For another example, the first signal may be Figure 4 The second rectangular wave signal shown is an axially symmetrical signal having 2 positive pulses and 2 negative pulses, wherein the interval between adjacent positive pulse peaks is △T and the interval between adjacent negative pulse peaks is 2△T, that is, the interval between adjacent negative pulse peaks of the second rectangular wave signal is twice the interval between adjacent positive pulse peaks.

[0094] Figure 5 FIG. 1 shows an example waveform of a first signal transmitted continuously. Assume that the first signal adopts Figure 3 The rectangular wave shown in FIG. 1 and the first signal of the continuous emission can be expressed as Figure 5 In the form shown, there is a certain time interval between adjacent first signals, and its digital representation may be “122100000012210000001221”, where “1221” represents the first signal and “000000” represents the interval between adjacent first signals.

[0095] As mentioned above, the second signal is a magnetic induction signal, which can be sensed by the boundary line sensing unit 131 in the automatic walking device 130. For example, the second signal can be an induced voltage signal or an induced current signal generated by the automatic walking device 130 moving in a plane perpendicular to the magnetic field generated by the boundary line 120.

[0096] Since the second signal is the magnetic induction signal of the first signal, according to the principle of electromagnetic induction, the second signal is determined by the first signal and the position of the automatic walking device 130 relative to the boundary line 120, and the second signal when the automatic walking device 130 is within the area surrounded by the boundary line 120 is opposite to the second signal when the automatic walking device 130 is outside the area surrounded by the boundary line 120.

[0097] When the first signal is an axisymmetric signal with positive and negative pulses, the second signal is also an axisymmetric signal with positive and negative pulses. It can be seen that since the first signal has good symmetry, the induced second signal also has good symmetry, which can make the second signal more anti-interference and the encoding is not complicated, which can reduce complexity, improve processing efficiency and save hardware resources while improving signal processing accuracy.

[0098] For example, the first signal is Figure 3 When the first rectangular wave signal is shown, the second signal can be Figure 6 or Figure 7 The rectangular wave signal shown, Figure 6 The waveform diagram of the second signal when the autonomous vehicle 130 is within the area surrounded by the boundary line 120 is shown. Figure 7 The waveform diagram of the second signal when the autonomous vehicle 130 is outside the area surrounded by the boundary line 120 is shown.

[0099] For example, the first signal is Figure 4 The first rectangular wave signal is shown, and the second signal is Figure 6 or Figure 7 The rectangular wave signal shown in FIG. 1 is a second signal waveform of the automatic walking device 130 within the area surrounded by the boundary line 120. Figure 7 As shown, the second signal waveform of the automatic walking device 130 outside the area surrounded by the boundary line 120 is as follows Figure 6 shown.

[0100] pass Figure 3 , Figure 4 , Figure 6 , Figure 7 It can be seen that when the automatic walking device 130 is within the area surrounded by the boundary line 120, the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal; when the automatic walking device 130 is within the area surrounded by the boundary line 120, the pulse timing distribution of the two signals is opposite to the pulse timing distribution of the first signal. In addition, when the automatic walking device 130 is within or outside the area surrounded by the boundary line 120, the duration of the adjacent positive pulse interval of the second signal is the same as the duration of the adjacent positive pulse interval of the first signal, and the duration of the adjacent negative pulse interval of the second signal is the same as the duration of the adjacent negative pulse interval of the first signal.

[0101] It can be seen that whether the autonomous driving device 130 is inside or outside the area surrounded by the boundary line 120 can be determined by the characteristic parameters of the second signal and the characteristic parameters of the first signal.

[0102] In some implementations, the characteristic parameters may include state parameters and time parameters. The time parameters include the jump time of each pulse in the signal. The state parameters may be used to indicate the pulse timing distribution of the signal.

[0103] In some embodiments, the characteristic parameters can be represented by arrays. For example, the time parameter can be represented by a time array, and the state parameter can be represented by a state array. The number of elements in the time array and the number of elements in the state array are the same as the number of pulses in the signal, and the arrangement of the elements is consistent with the pulse timing. The elements in the time array are used to record the jump time of a pulse, and the elements in the state array are used to record the positive and negative states of a pulse.

[0104] For example, when the first signal has 2M pulses, that is, when the first signal has M positive pulses and M negative pulses, the time parameter of the first signal can be expressed as a time array containing 2M elements, and the value of the element in the time array is the jump time of the pulse (for example, the corresponding moment of the rising edge threshold of the pulse); the state parameter of the first signal can be expressed as a state array containing 2M elements, and the value of the element in the state array can indicate whether the corresponding pulse in the first signal is a positive pulse or a negative pulse.

[0105] For example, for Figure 3 The state parameter of the first signal shown can be expressed as S'[4]={1,2,2,1}, "1" indicates that the pulse is positive, "2" indicates that the pulse is negative, and "S'[4]={1,2,2,1}" indicates that the first signal has 4 pulses and its timing distribution is: positive pulse-negative pulse-negative pulse-positive pulse. The time parameter of the first signal can be expressed as T'{4}={T'[0], T'[1], T'[2], T'[3]}, T'[3]-T'[0]=2△T, T'[2]-T'[1]=△T, T'[0], T'[1], T'[2], T'[3] respectively represent the jump time of the first pulse, the jump time of the second pulse, the jump time of the third pulse and the jump time of the fourth pulse in the first signal.

[0106] For example, for Figure 6 For the second signal shown, the state parameter can be expressed as "S[4] = {1, 2, 2, 1}", and the time parameter can be expressed as T{4} = {T[0], T[1], T[2], T[3]}, where T[0], T[1], T[2], and T[3] respectively represent the jump time of the first pulse, the jump time of the second pulse, the jump time of the third pulse, and the jump time of the fourth pulse in the second signal. Among them, T[3]-T[0] = 2△T, and T[2]-T[1] = △T.

[0107] For example, for Figure 7For the second signal shown, the state parameter can be expressed as "S[4] = {2, 1, 1, 2}", and the time parameter can be expressed as T{4} = {T[0], T[1], T[2], T[3]}, where T[3]-T[0] = 2ΔT, and T[2]-T[1] = ΔT.

[0108] In some embodiments, the jump time of the pulse may be, but is not limited to, the moment corresponding to the pulse peak, the moment corresponding to the pulse rising edge threshold, or the moment at other points on the pulse, and the present disclosure does not impose any limitation on this.

[0109] Step S24, performing nonlinear amplification and digitization processing on the second signal to obtain time series data of the second signal;

[0110] In some embodiments, nonlinear amplification of the second signal may include: performing nonlinear amplification processing on each signal unit of the second signal using a predetermined nonlinear amplification factor template, and the nonlinear amplification factor template A(t) may be a non-zero positive variable related to time t.

[0111] In a specific application, the length of the signal unit of the second signal may be determined according to a predetermined sampling frequency, and the sampling frequency may be determined by, for example, a sampling frequency of the signal processing unit 131 .

[0112] The nonlinear amplification factor template A(t) can be flexibly selected as needed. In some embodiments, the nonlinear amplification factor template A(t) can be determined based on the first signal and / or the acquired second signal, and the signal unit of the second signal is data formed according to a predetermined sampling frequency. Therefore, the nonlinear amplification factor template designed according to the signal morphology of the signal transmitted by the signal transmitting device 110 performs nonlinear amplification on each signal unit of the second signal, which can more effectively suppress interference signals and improve the anti-interference ability of the signal compared to the line-to-line amplification method.

[0113] For example, the nonlinear amplification factor template A(t) can be extracted from the acquired second signal. The nonlinear amplification factor template can be a sawtooth wave signal that is substantially consistent with the second signal in both morphology and timing.

[0114] Exemplarily, the nonlinear amplification template A(t) can be represented as a one-dimensional matrix An (n=1, 2, 3..., N) containing N elements, and each signal unit of the second signal can be represented as a one-dimensional matrix vn (n=1, 2, 3..., N) containing N elements. The value of each element vn in the one-dimensional matrix can represent the signal amplitude at the system time Tn or the proportional value compared to the signal amplitude. The signal unit Vn (n=1, 2, 3..., N) of the second signal after nonlinear processing can satisfy the relationship shown in the following formula (1):

[0115] Vn=An*vn,n=1,2,3……,N (1)

[0116] Wherein, N represents the number of frames of the signal unit in the second signal. For example, N may be 100.

[0117] In some embodiments, the digital processing may include: converting the amplified second signal into a timing data sequence based on the rising edge amplitude and falling edge amplitude of the positive pulse and the rising edge amplitude and falling edge amplitude of the negative pulse, and the timing data sequence may describe the pulse timing distribution of the second signal.

[0118] In some embodiments, the rising edge amplitude and the falling edge amplitude of the positive pulse can be determined according to the positive pulse peak value, and the rising edge amplitude and the falling edge amplitude of the negative pulse can be determined according to the negative pulse peak value. For example, the rising edge amplitude of the positive pulse can be 60% to 70% of the positive pulse peak value, the rising edge amplitude of the negative pulse can be 60% to 70% of the negative pulse peak value, the falling edge amplitude of the positive pulse can be 30% to 40% of the positive pulse peak value, and the rising edge amplitude of the negative pulse can be 30% to 40% of the negative pulse peak value.

[0119] In some implementations, each signal unit Vn (n=1, 2, 3, ..., N) of the amplified second signal may be digitized according to the following formula (2) to obtain a time series data sequence f(Vn) (n=0, 1, 2, 3, ..., N) of the second signal:

[0120]

[0121]

[0122] Wherein, Vn (n=1, 2, 3, ..., N) represents the signal unit of the amplified second signal, V HT Represents the rising edge amplitude of the positive pulse, V Hr Represents the falling edge amplitude of the positive pulse, V LT Indicates the rising edge amplitude of the negative pulse, V Lr Indicates the falling edge amplitude of the negative pulse, "&&" indicates the AND operation, V r Indicates the reference value. For example, when the second signal is the induced voltage, Vn, V HT 、V Hr 、V LT , V Lr 、V r All are voltage values.

[0123] Figure 8 An example diagram of the second signal digitization process is shown. Figure 8It can be seen that when a positive pulse jumps, f(Vn) takes a value of 1, when a negative pulse jumps, f(Vn) takes a value of 2, and in other cases, f(Vn) takes a value of 0. Therefore, the timing data sequence of the second signal can be obtained as "010202010", which can characterize the pulse timing distribution of the second signal in one cycle.

[0124] It can be seen from the above that in the digital processing of the second signal, the present disclosure adopts a dual-threshold shaping scheme for processing both positive and negative pulses. Compared with the single-threshold shaping in the related art, it has stronger anti-jitter performance and less complicated encoding.

[0125] Step S26, acquiring characteristic parameters of the second signal according to the time series data of the second signal;

[0126] In some implementations, step S26 may include: extracting non-zero data in the timing data of the second signal to generate state parameters of the second signal; and generating time parameters of the second signal based on time information of the non-zero data in the timing data of the second signal.

[0127] Fig. 9 An example diagram of the process of obtaining the second signal characteristic parameter is shown. Figure 8 As shown, the timing data sequence f(Vn) (n=0,1,2,3,...,N) of the second signal obtained after nonlinear amplification and digital processing is "010202010", the invalid data "0" is removed, and the valid data "1" and "2" are retained, and arranged in chronological order to form a state array S[4]={1,2,2,1}, "1" represents a positive pulse, and "2" represents a negative pulse. At the same time, the starting time t1, t2, t3 and t4 of the retained data are recorded, and arranged in chronological order to form a time array T[4]={t1,t2,t3,t4}, t1 is the rising edge threshold time of the first pulse in the second signal, t2 is the rising edge threshold time of the second pulse in the second signal, t3 is the rising edge threshold time of the third pulse in the second signal, and t4 is the rising edge threshold time of the fourth pulse in the second signal.

[0128] In some embodiments, Fig.10 As shown, the process of obtaining the second signal characteristic parameter may include the following steps:

[0129] Step S112, obtaining system time T n , (n=0,1,2,3,...,N);

[0130] Step S114, obtaining the system time T from the timing data sequence of the second signal n Corresponding time series data f(Vn);

[0131] Step S116, determine whether n is greater than 0, if yes, proceed to step S118, otherwise, return to step S112;

[0132] Step S118, determine whether the time series data f(Vn) is greater than the time series data f(Vn-1), if yes, continue to step S111, otherwise return to step S112;

[0133] Step S111, updating the time parameter T of the second signal according to the following formula (3), and updating the state parameter S of the second signal according to the following formula (4):

[0134] T[0]=T[1], T[1]=T[2], T[2]=T[1],..., T[2M-1]=T n ; (3)

[0135] S[0]=S[1], S[1]=S[2], S[2]=S[1],..., S[2M-1]=f(Vn); (4)

[0136] Wherein, 2M represents the number of pulses in the second signal.

[0137] Step S28, determining whether the autonomous vehicle is within or outside the area surrounded by the boundary line based on the characteristic parameters of the first signal and the characteristic parameters of the second signal, so that the autonomous vehicle controls itself to operate within the area surrounded by the boundary line.

[0138] In some implementations, step S28 may include:

[0139] Determine the duration of adjacent positive pulse intervals and adjacent negative pulse intervals of the second signal according to the time parameter of the second signal;

[0140] comparing the state parameter of the second signal with the state parameter of the first signal to determine whether the pulse timing distribution of the second signal is the same as or opposite to the pulse timing distribution of the first signal;

[0141] When the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as the duration of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as the duration of adjacent negative pulse intervals of the first signal, it is determined that the autonomous driving device is within the area surrounded by the boundary line;

[0142] When the pulse timing distribution of the second signal is opposite to that of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as that of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as that of adjacent negative pulse intervals of the first signal, it is determined that the autonomous driving device is outside the area surrounded by the boundary line;

[0143] If the pulse timing distribution of the second signal is neither the same as nor opposite to the pulse timing distribution of the first signal, or the adjacent positive pulse interval duration of the second signal is different from the adjacent positive pulse interval duration of the first signal, or the adjacent negative pulse interval duration of the second signal is different from the adjacent negative pulse interval duration of the first signal, then the second signal currently acquired is an invalid signal.

[0144] Therefore, the position of the automatic walking device relative to the boundary line can be determined through characteristic parameters that are easy to encode and compare. This method has low complexity and is easy to implement, which can effectively reduce hardware resource consumption and improve processing efficiency.

[0145] Fig.11 FIG. 2 shows a schematic diagram of the process of obtaining the second signal characteristic parameter. Figure 3 For the first signal shown, Fig.11 As shown, the process of obtaining the second signal characteristic parameter may include the following steps:

[0146] Step S122, determining whether the state parameter S[4] of the second signal is "1221", if so, it indicates that the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal, and proceeding to step S124, otherwise proceeding to step S128;

[0147] Step S124, determine whether the time parameter T satisfies "T[2]-T[1] == △T&&T[3]-T[0] == 2△T". If so, it indicates that the time parameter of the second signal is consistent with the time parameter of the first signal, and continue to step S126. Otherwise, it indicates that the time parameter of the second signal is inconsistent with the time parameter of the first signal, and jump to step S125.

[0148] Step S126, determining that the autonomous vehicle is within the area surrounded by the boundary line, and the autonomous vehicle can control itself to continue working.

[0149] Step S128, determining whether the state parameter S[4] of the second signal is "2112", if so, it indicates that the pulse timing distribution of the second signal is opposite to that of the first signal, and continuing to step S121, otherwise jumping to step S125;

[0150] Step S121, determine whether the time parameter T satisfies "T[2]-T[1] == △T&&T[3]-T[0] == 2△T". If so, it indicates that the time parameter of the second signal is consistent with the time parameter of the first signal, and continue to step S123. Otherwise, it indicates that the time parameter of the second signal is inconsistent with the time parameter of the first signal, and jump to step S125.

[0151] Step S123: If it is determined that the autonomous vehicle is outside the area surrounded by the boundary line, the autonomous vehicle can control itself to stop working.

[0152] Step S125: the second signal is invalid, and it is determined that the sensing signal of the boundary line is not received.

[0153] Fig.12 It is a schematic block diagram of the structure of a control device for an automatic walking device using a hardware implementation of a processing system according to an embodiment of the present disclosure.

[0154] The device may include a corresponding module for performing each or several steps in the above flowchart. Therefore, each step or several steps in the above flowchart may be performed by a corresponding module, and the device may include one or more modules in these modules. The module may be one or more hardware modules specially configured to perform the corresponding steps, or implemented by a processor configured to perform the corresponding steps, or stored in a computer-readable medium for implementation by a processor, or implemented by some combination.

[0155] The hardware structure can be implemented using a bus architecture. The bus architecture can include any number of interconnecting buses and bridges, depending on the specific application and overall design constraints of the hardware. The bus 1400 connects various circuits including one or more processors 1500, memory 1600, and / or hardware modules together. The bus 1400 can also connect various other circuits 1700 such as peripherals, voltage regulators, power management circuits, external antennas, etc.

[0156] The bus 1400 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component (EISA) bus, etc. A bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one connecting line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0157] Any process or method description in the flowchart or otherwise described herein can be understood as a module, fragment or portion of a code representing one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes other implementations, in which the functions may not be performed in the order shown or discussed, including performing the functions in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by a person skilled in the art of the present disclosure. The processor performs the various methods and processes described above. For example, the method implementation in the present disclosure can be implemented as a software program, which is tangibly contained in a machine-readable medium, such as a memory. In some embodiments, part or all of the software program can be loaded and / or installed via a memory and / or a communication interface. When the software program is loaded into the memory and executed by the processor, one or more steps in the method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform one of the above methods in any other appropriate manner (e.g., by means of firmware).

[0158] The logic and / or steps represented in the flowchart or otherwise described herein may be embodied in any readable storage medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions on an instruction execution system, apparatus, or device), or in combination with such instruction execution systems, apparatuses, or devices.

[0159] For the purposes of this specification, a "readable storage medium" may be any device that can contain, store, communicate, propagate or transmit a program for use with or in conjunction with an instruction execution system, device or apparatus. More specific examples of readable storage media (a non-exhaustive list) include the following: an electrical connection with one or more wirings (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), a fiber optic device, and a portable read-only memory (CDROM). In addition, the readable storage medium may even be paper or other suitable medium on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a memory.

[0160] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0161] A person skilled in the art may understand that all or part of the steps of implementing the above-mentioned implementation method may be completed by instructing related hardware through a program, and the program may be stored in a readable storage medium, which, when executed, includes one or a combination of the steps of the implementation method.

[0162] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a readable storage medium. The storage medium may be a read-only memory, a disk or an optical disk, etc.

[0163] like Fig.12 As shown, the control device 1300 of the automatic walking device according to some embodiments of the present disclosure may include:

[0164] An acquisition module 1302 is used to acquire a second signal, where the second signal is generated based on the first signal applied to the boundary line by the signal transmitting device;

[0165] an amplification processing module 1304, configured to perform nonlinear amplification and digitization processing on the second signal to obtain time series data of the second signal;

[0166] A characteristic parameter extraction module 1306, configured to obtain characteristic parameters of the second signal according to the time series data of the second signal;

[0167] The determination module 1308 is used to determine whether the automatic moving device is within or outside the area surrounded by the boundary line according to the characteristic parameters of the first signal and the characteristic parameters of the second signal, so that the automatic moving device controls itself to work within the area surrounded by the boundary line.

[0168] In some embodiments, the first signal is an axially symmetrical signal having an even number of positive and negative pulses, and the interval between adjacent positive pulses in the first signal is an integer multiple of the interval between adjacent negative pulse peaks; or, the interval between adjacent negative pulses in the first signal is an integer multiple of the interval between adjacent positive pulses.

[0169] In some implementations, the characteristic parameters include time parameters and state parameters. The time parameters include the jump time of each pulse in the signal, and the state parameters are used to indicate the pulse timing distribution of the signal.

[0170] In some implementations, the amplification processing module 1304 may be configured to perform nonlinear amplification according to a preset nonlinear amplification factor template, where the nonlinear amplification factor template is a non-zero integer variable related to time.

[0171] In some implementations, the amplification processing module 1304 may also be configured to determine a nonlinear amplification factor template according to the first signal or the acquired second signal.

[0172] In some implementations, the characteristic parameter extraction module 1306 can be specifically used to: extract non-zero data in the timing data of the second signal to generate state parameters of the second signal; and generate time parameters of the second signal based on time information of the non-zero data in the timing data of the second signal.

[0173] In some implementations, the determination module 1308 is specifically configured to:

[0174] Determine the duration of adjacent positive pulse intervals and adjacent negative pulse intervals of the second signal according to the time parameter of the second signal;

[0175] comparing the state parameter of the second signal with the state parameter of the first signal to determine whether the pulse timing distribution of the second signal is the same as or opposite to the pulse timing distribution of the first signal;

[0176] When the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as the duration of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as the duration of adjacent negative pulse intervals of the first signal, it is determined that the autonomous driving device is within the area surrounded by the boundary line;

[0177] When the pulse timing distribution of the second signal is opposite to that of the first signal, the duration of adjacent positive pulse intervals of the second signal is the same as that of adjacent positive pulse intervals of the first signal, and the duration of adjacent negative pulse intervals of the second signal is the same as that of adjacent negative pulse intervals of the first signal, it is determined that the automatic walking device is outside the area surrounded by the boundary line.

[0178] Exemplarily, the control device 1300 of the automatic walking device can be implemented as the signal processing and control unit 131 or a partial component thereof in the automatic walking device 130. Alternatively, the control device 1300 of the automatic walking device can be implemented as an independent component in the automatic walking device 130 or an external component or external device of the automatic walking device 130.

[0179] The present disclosure also provides an automatic walking device, including: a memory, the memory stores execution instructions; and a processor or other hardware module, the processor or other hardware module executes the execution instructions stored in the memory, so that the processor or other hardware module executes the control method of the above-mentioned automatic walking device.

[0180] Exemplarily, the electronic device may be implemented as the aforementioned automatic walking device or as a component of the automatic walking device, for example, may be implemented as the signal processing and control unit 132 of the automatic walking device.

[0181] The present disclosure also provides a readable storage medium, in which execution instructions are stored. When the execution instructions are executed by a processor, they are used to implement the control method of the above-mentioned automatic walking device.

[0182] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms are not necessarily the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0183] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0184] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A control method for an automatic walking device, characterized in that: The automatic walking device needs to work within the area surrounded by the boundary line, and the boundary line is connected to a signal transmitting device; The method comprises: Acquire a second signal, the second signal is generated based on the first signal applied to the boundary line by the signal transmitting device; wherein the first signal is an axisymmetric signal with an even number of positive and negative pulses, and the interval between adjacent positive pulses in the first signal is an integer multiple of the interval between adjacent negative pulse peaks; or, the interval between adjacent negative pulses in the first signal is an integer multiple of the interval between adjacent positive pulses; perform nonlinear amplification and digital processing on the second signal to obtain time series data of the second signal; wherein the nonlinear amplification is performed according to a pre-set nonlinear amplification factor template, and the nonlinear amplification factor template is a non-zero integer variable related to time; wherein the nonlinear amplification factor template is represented as a one-dimensional matrix An containing N elements, n=1,2,3...,N, and each signal unit of the second signal is represented as a one-dimensional matrix vn containing N elements; the value of each element in the one-dimensional matrix vn represents the signal amplitude of the system time or the proportional value compared to the signal amplitude, and the signal unit Vn of the second signal after nonlinear processing satisfies the relationship shown in the following formula (1): Vn=An*vn (1); wherein N represents the number of frames of the signal unit in the second signal; wherein the digital processing comprises: according to the rising edge amplitude and the falling edge amplitude of the positive pulse and the rising edge amplitude and the falling edge amplitude of the negative pulse, converting the amplified second signal into a time series data sequence, wherein the time series data sequence can describe the pulse timing distribution of the second signal; and performing digital processing on each signal unit Vn of the amplified second signal according to the following formula (2) to obtain the time series data sequence f(Vn) of the second signal: Wherein, Vn represents the signal unit of the amplified second signal, V HT Represents the rising edge amplitude of the positive pulse, V Hr Represents the falling edge amplitude of the positive pulse, V LT Indicates the rising edge amplitude of the negative pulse, V Lr Indicates the falling edge amplitude of the negative pulse, "&&" indicates the AND operation; Acquire characteristic parameters of the second signal according to the timing data of the second signal; wherein the characteristic parameters include time parameters and state parameters, the time parameters include the jump time of each pulse in the signal, and the state parameters are used to indicate the pulse timing distribution of the signal; Determine, according to the characteristic parameters of the first signal and the characteristic parameters of the second signal, whether the autonomous vehicle is within or outside the area surrounded by the boundary line, so that the autonomous vehicle controls itself to operate within the area surrounded by the boundary line; Wherein, acquiring the characteristic parameters of the second signal according to the time series data of the second signal includes: extracting non-zero data in the time series data of the second signal to generate the state parameters of the second signal; generating the time parameters of the second signal according to the time information of the non-zero data in the time series data of the second signal; Determining whether the automatic walking device is within the area surrounded by the boundary line or outside the area surrounded by the boundary line according to the characteristic parameters of the first signal and the characteristic parameters of the second signal, including: determining the adjacent positive pulse interval duration and the adjacent negative pulse interval duration of the second signal according to the time parameter of the second signal; comparing the state parameter of the second signal with the state parameter of the first signal to determine whether the pulse timing distribution of the second signal is the same as or opposite to the pulse timing distribution of the first signal; determining that the automatic walking device is within the area surrounded by the boundary line when the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal, the adjacent positive pulse interval duration of the second signal is the same as the adjacent positive pulse interval duration of the first signal, and the adjacent negative pulse interval duration of the second signal is the same as the adjacent negative pulse interval duration of the first signal; determining that the automatic walking device is outside the area surrounded by the boundary line when the pulse timing distribution of the second signal is opposite to the pulse timing distribution of the first signal, the adjacent positive pulse interval duration of the second signal is the same as the adjacent positive pulse interval duration of the first signal, and the adjacent negative pulse interval duration of the second signal is the same as the adjacent negative pulse interval duration of the first signal.

2. A control device for an automatic walking device, characterized in that: include: An acquisition module, used to acquire a second signal, wherein the second signal is generated based on a first signal applied to a boundary line by a signal transmitting device; wherein the first signal is an axisymmetric signal having an even number of positive and negative pulses, and the interval between adjacent positive pulses in the first signal is an integer multiple of the interval between adjacent negative pulse peaks; or, the interval between adjacent negative pulses in the first signal is an integer multiple of the interval between adjacent positive pulses; An amplification processing module is used to perform nonlinear amplification and digital processing on the second signal to obtain the time series data of the second signal; wherein the amplification processing module is used to perform the nonlinear amplification according to a pre-set nonlinear amplification factor template, and the nonlinear amplification factor template is a non-zero integer variable related to time; wherein the nonlinear amplification factor template is represented by a one-dimensional matrix An containing N elements, n=1,2,3...,N, and each signal unit of the second signal is represented by a one-dimensional matrix vn containing N elements; the value of each element in the one-dimensional matrix vn represents the signal amplitude of the system time or the proportional value compared to the signal amplitude, and the signal unit Vn of the second signal after nonlinear processing satisfies the relationship shown in the following formula (1): Vn=An*vn (1); wherein N represents the number of frames of the signal unit in the second signal; wherein the digital processing comprises: according to the rising edge amplitude and the falling edge amplitude of the positive pulse and the rising edge amplitude and the falling edge amplitude of the negative pulse, converting the amplified second signal into a time series data sequence, wherein the time series data sequence can describe the pulse timing distribution of the second signal; and performing digital processing on each signal unit Vn of the amplified second signal according to the following formula (2) to obtain the time series data sequence f(Vn) of the second signal: Wherein, Vn represents the signal unit of the amplified second signal, V HT Represents the rising edge amplitude of the positive pulse, V Hr Represents the falling edge amplitude of the positive pulse, V LT Indicates the rising edge amplitude of the negative pulse, V Lr Indicates the falling edge amplitude of the negative pulse, "&&" indicates the AND operation; A characteristic parameter extraction module, used to obtain characteristic parameters of the second signal according to the timing data of the second signal; wherein the characteristic parameters include time parameters and state parameters, the time parameters include the jump time of each pulse in the signal, and the state parameters are used to indicate the pulse timing distribution of the signal; a determination module, configured to determine whether the autonomous vehicle is within or outside the area surrounded by the boundary line according to the characteristic parameters of the first signal and the characteristic parameters of the second signal, so that the autonomous vehicle controls itself to operate within the area surrounded by the boundary line; The characteristic parameter extraction module is specifically used to: extract non-zero data in the time series data of the second signal to generate the state parameter of the second signal; generate the time parameter of the second signal according to the time information of the non-zero data in the time series data of the second signal; The determination module is specifically used to: determine the adjacent positive pulse interval duration and the adjacent negative pulse interval duration of the second signal according to the time parameter of the second signal; compare the state parameter of the second signal with the state parameter of the first signal to determine whether the pulse timing distribution of the second signal is the same as or opposite to the pulse timing distribution of the first signal; determine that the automatic walking device is within the area surrounded by the boundary line when the pulse timing distribution of the second signal is the same as the pulse timing distribution of the first signal, the adjacent positive pulse interval duration of the second signal is the same as the adjacent positive pulse interval duration of the first signal, and the adjacent negative pulse interval duration of the second signal is the same as the adjacent negative pulse interval duration of the first signal; determine that the automatic walking device is outside the area surrounded by the boundary line when the pulse timing distribution of the second signal is opposite to the pulse timing distribution of the first signal, the adjacent positive pulse interval duration of the second signal is the same as the adjacent positive pulse interval duration of the first signal, and the adjacent negative pulse interval duration of the second signal is the same as the adjacent negative pulse interval duration of the first signal.

3. An electronic device, characterized in that: include: A memory storing execution instructions; as well as A processor, wherein the processor executes the execution instructions stored in the memory, so that the processor executes the control method of the automatic walking device according to claim 1.

4. A readable storage medium, characterized in that: The readable storage medium stores execution instructions, which are used to implement the control method of the automatic walking device according to claim 1 when executed by the processor.

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