Automatic working system and control method therefor, and automatic walking device
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Solution Overview
Problem
Automatic moving devices face interference from electromagnetic fields generated by motors and adjacent working regions, as well as environmental electromagnetic waves, leading to incorrect judgments about their location within working regions, resulting in inappropriate control commands.
Innovation Solution
A control method that involves generating a current signal to create an electromagnetic field, using multiple detection devices to sense this field, multiplying the detection signals to generate a product signal with a consistent direction, determining characteristic points, and comparing these values with thresholds to identify noise interference and accurately determine the device's location within the working region.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single detection device is used to sense the electromagnetic field, then the device structure is simple, but the detection precision is reduced due to interference from motors, adjacent working regions, and environmental electromagnetic waves
Solution Approach 1:
The patent divides the detection system into multiple detection devices (at least two) instead of using a single detection device. Each detection device independently senses the electromagnetic field and generates a detection signal. By segmenting the detection function across multiple devices, the system achieves better noise cancellation and interference rejection through signal comparison and processing, thereby improving measurement precision while managing device complexity.
2Reliability
If the detection signal is used directly for control judgment, then the control response is fast, but the reliability is reduced due to noise interference causing wrong judgments
Solution Approach 1:
The patent implements a feedback mechanism where detection signals from multiple detection devices are continuously processed, compared, and analyzed to determine whether the automatic moving device is inside or outside the working region. The controller uses this processed information to adjust control commands in real-time, creating a closed-loop feedback system that improves reliability by continuously validating detection results against expected patterns and thresholds.
Solution Approach 2:
The patent performs preliminary signal processing operations including multiplying detection signals, determining characteristic points, and comparing with thresholds before final control judgment. This preliminary action prepares the signals in advance, filtering out noise and interference patterns beforehand, so that the final control decision is based on pre-validated information, improving reliability without significant time loss.
3Ease of operation
If electromagnetic fields from motors and adjacent regions are present, then the working device can function normally, but the object-affected harmful factors increase causing incorrect location judgment
Solution Approach 1:
The patent converts the harmful electromagnetic interference from motors and adjacent working regions into a beneficial signal processing opportunity. By using multiple detection devices and multiplying their signals, the system creates a product signal where interference patterns from different sources tend to cancel out or become distinguishable from the boundary wire electromagnetic field. This transforms the previously harmful interference into a means for better signal validation and noise rejection.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method effectively reduces signal interference, improving the accuracy of the automatic working system's control commands by filtering out noise and ensuring precise location determination within the working region.
Implementation Method 1
A current flows by the boundary wire marked by the outer boundary of the working region. The generated electric field or magnetic field can be detected by a proper sensor in the automatic moving device
Implementation Method 2
The signal detection apparatus 110' usually is a sensing coil, which senses the changed electromagnetic field 90' to generate a detection signal
Data Source
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AI summary
The present invention relates to a control method of an automatic working system, and the control method comprises the following steps: generating a boundary signal by a signal generating apparatus; generating an electromagnetic field as the boundary signal flows by the boundary wire; detecting the electromagnetic field by an automatic moving device to at least generate a first detection signal and a second detection signal, and multiplying the first detection signal and the second detection signal to generate a product signal; determining a first signal point and a second signal point by the product signal; generating characteristic values based on parameters of the first signal point and the second signal point, comparing the characteristic values with preset thresholds, and judging whether the first detection signal is interfered by noise, thereby effectively removing an interference signal. The present invention also relates to an automatic working system executing the above control method. The control method and automatic working system have higher anti-motor interference, anti-adjacency interference and anti-environment interference capacities.