CN103809591A - Automatic work system - Google Patents

Abstract

The invention relates to an automatic work system. The system comprises a working area identification module which includes a plurality of RFID labels arranged at intervals; automatic walking equipment which includes an RFID reader that includes an antenna module and a reading module, the antenna module sending out radio frequency electric waves to activate the RFID labels to send out RFID signals and receiving the RFID signals; and a master control mechanism. The antenna module activates at least two RFID labels through at least two radiation modes and receives at least two RFID signals. The master control mechanism judges a position relation of the automatic walking equipment relative to partial boundaries formed by the at least two RFID labels according to the at least two radiation modes that are adopted and the at least two RFID signals received correspondingly. By using the RFID labels, and by using the RFID reader on the automatic walking equipment to identify characteristics of the RFID signals, setting of the boundaries is simple and reliable.

Description

Automatic working system

Technical field

The present invention relates to a kind of automatic working system, relate in particular to the automatic working system that a kind of automatic running device is walked and worked in the perform region being limited by perform region identification module.

Background technology

Along with scientific and technical development, the automatic working system that comprises intelligent automatic running device is well known, because the program that automatic running device can set in advance is automatically carried out the inter-related task setting in advance, operation that need not be artificial and intervention, therefore the application on commercial Application and family product is very extensive.Industrial application is as carried out the robot of various functions, and the application on family product is as mower, suction cleaner etc., and these intelligent automatic running devices have greatly been saved people's time, all brings great convenience to commercial production and life staying idle at home.

For the perform region of planning automatic running device, the mode conventionally adopting is the boundary line that cable form is set, and carries border electric signal on boundary line, and the region that boundary line surrounds is the perform region of automatic running device.The U.S. Pat 6615108B1 of on May 11st, 1999 bulletin adopts the mode of burying boundary line on meadow underground that the perform region of robot is set.There are multiple deficiencies in which, as, burying boundary line underground needs professional instrument to slot on meadow, wastes time and energy, and can destroy the integrality on meadow.And for example, the extra continual current signal that provides of signal generation apparatus is provided in this kind of boundary line, and energy consumption is larger, and has certain danger.And for example, on boundary line, any one breaks down, and whole sideband signal all can disappear.In addition, once this boundary line is buried underground, again change and to repair line fault all very difficult.

Summary of the invention

The technical matters that the present invention solves is: a kind of automatic working system is provided, and its boundary line arranges and changes easily, and reliability is high.

For solving the problems of the technologies described above, technical scheme provided by the invention is:

A kind of automatic working system, comprise, limit the perform region identification module of the perform region of automatic working system, described perform region identification module comprises spaced multiple RFID label, each RFID label has unique identifying information, and described multiple RFID labels are connected to form the border of perform region; The automatic running device of automatically walking and working in described perform region, described automatic running device comprises: RFID reader, comprise Anneta module and read module, described Anneta module sends rf wave and sends described RFID signal and collect described RFID signal to activate described RFID label; Described read module reads the identifying information in described RFID signal; Main control mechanism, is connected with RFID reader, and described Anneta module, by Dynamic radiation pattern, activates respectively at least two RFID labels and collects at least two RFID signals with at least two kinds of radiation modes; Described main control mechanism, according to adopted at least two kinds of radiation modes and corresponding at least two RFID signals collecting, judges the position relationship of automatic running device with respect to the segment boundary of described at least two RFID labels formation.

Preferably, described Anneta module comprises reconfigurable antenna, and described reconfigurable antenna adopts Dynamic radiation pattern to change the radiation mode of rf wave, and at least one in radio frequency electrical wave line of propagation, shape and polarity changed.

Preferably, described reconfigurable antenna, under Dynamic radiation pattern, is dynamically adjusted the radio frequency electrical wave line of propagation of wave beam shape by wave beam control mode.

Preferably, described position relationship comprises internal and external relation.

Preferably, described main control mechanism is according to radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, the order of arranging of at least two relative automatic running devices of RFID label described in calculating, and by the standard arrangement order contrast of the RFID label of storing in this arrange order and main control mechanism, judge that according to comparing result automatic running device is positioned in or beyond described at least part of border.

Preferably, described automatic running device is walked one week along described border, by detecting successively described RFID label, to obtain the standard arrangement order of RFID label, and is stored in main control mechanism.

Preferably, described position relationship comprises angular relationship, and described main control mechanism, according to described radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, judges the angular relationship of automatic running device with respect to described segment boundary.

Preferably, described position relationship comprises distance relation.

Preferably, described main control mechanism, according to the mistiming between the time of origin of the rf wave of specific radiation mode and the time of return of the corresponding RFID signal of collecting, calculates the distance of automatic running device with respect to described segment boundary.

Preferably, after described main control mechanism sends according to the rf wave of specific radiation mode, the intensity of the RFID signal that correspondence is collected, calculates the distance of automatic running device with respect to described segment boundary.

Preferably, described main control mechanism is the position relationship with respect to described segment boundary according to automatic running device, the walking of instruction automatic running device.

Preferably, described automatic running device is mower.

Beneficial effect of the present invention is: by using RFID label, and utilize the feature of RFID reader on automatic running device identification RFID signal, user only need to be inserted into lawn edge by certain spacing by several RFID labels in the time that border is set, without burying and put boundary line along the special fluting of lawn edge as prior art, minority RFID label lost efficacy or skew also can not cause too large impact to border entirety, simultaneously, automatic running device can judge the position of self retive boundary, thereby in perform region, normally work, can out-of-bounds.

Accompanying drawing explanation

Technical matters, technical scheme and the beneficial effect that above-described the present invention solves can, by the detailed description that can realize preferably specific embodiment of the present invention below, be described and clearly acquisition simultaneously by reference to the accompanying drawings.

Identical label in accompanying drawing and instructions and symbol are for representing element identical or that be equal to.

Fig. 1 is the automatic working system schematic diagram of the embodiment of the invention.

Fig. 2 is the Boundary Recognition schematic diagram of the automatic working system shown in Fig. 1.

Fig. 3 is the module map of the automatic working system shown in Fig. 1.

Fig. 4 is the Anneta module scanning schematic diagram of the automatic working system shown in Fig. 1.

Fig. 5 is the schematic diagram that the automatic operation equipment of the automatic working system shown in Fig. 1 is positioned at border.

Fig. 6 is that the automatic operation equipment of the automatic working system shown in Fig. 1 is positioned at the schematic diagram outside border.

1 performregion 9 automatic running devices

2 area ofisolation 11 RFID readers

3border 13 Anneta modules

5RFID label 15 read modules

51 the oneRFID label 17 main control mechanisms

52 the2nd RFID label 19 rf waves

7 bus stops

Embodiment

About detailed description of the present invention and technology contents, coordinate accompanying drawing to be described as follows, but appended accompanying drawing only provide reference and explanation, is not used for the present invention to be limited.

As Fig. 1, in a kind of embodiment of the present invention, automatic working system comprisesautomatic running device 9 and perform region identification module.Perform region identification module comprises spacedmultiple RFID label 5, and eachRFID label 5 has unique identifying information, to make a distinction with other RFID labels 5.RFID label 5 is arranged in user to be needed around perform region 1 thatautomatic running device 9 walks and work, and the line that the point at multiple like thisRFID labels 5 places connects into has formed theborder 3 of perform region 1.In order to save the energy and to reduce border cost of layout,RFID label 5 be passive type, there is no internal power supply, and the energy of the outside rf wave of needs sends a RFID signal that carries self identifying information.Certainly,RFID label 5 can be also semi-passive or active, and its technical characterstic is known in those skilled in the art institute, does not repeat them here.

Automatic working system can also comprisebus stop 7, for stopping in the time not working forautomatic running device 9, or in the time of energy depletion makeupenergy.Bus stop 7 is preferably positioned onborder 3, so thatautomatic running device 9 location return.

Concrete,automatic running device 9 can be mower, suction cleaner, industrial robot etc.Whenautomatic running device 9 is mower, perform region 1 is the lawn that user safeguards,border 3 is usually located at the edge on lawn.RFID label preferably forms spike, in thetime arranging border 3, user only need to be inserted into lawn edge by certain spacing byseveral RFID labels 5, without burying and put boundary line along the special fluting of lawn edge as prior art,minority RFID label 5 lost efficacy or was offset also and can not cause too large impact to border 3 entirety, it is meanwhile, follow-up that if desired to adjust border also more convenient.

Continue with reference to Fig. 1, the inside of perform region 1 is also provided with some area ofisolation 2, if area ofisolation 2 equally byindividual RFID label 5 around to form border.Concrete, in the time thatautomatic running device 9 is mower, area ofisolation 2 can be flower platform, pools etc. do not need the region of mowing.

See figures.1.and.2, onautomatic running device 9, be provided withRFID reader 11 and themain control mechanism 17 being connected withRFID reader 11, the RFID signal thatRFID reader 11 sends for receivingRFID label 5, and obtaining the identifying information of theRFID label 5 carrying in RFID signal,RFID reader 11 also can record the information such as intensity, time of reception of RFID signal simultaneously.With reference to Fig. 3, concrete,RFID reader 11 comprises Annetamodule 13 and readmodule 15, and Annetamodule 13 is collected the RFID signal thatRFID label 5 sends, and readmodule 15 is to send tomain control mechanism 17 after identifying information by signal decoding.The temporal information of RFID signal sends tomain control mechanism 17 after can being identified by readmodule 15, but because decoding and the passing time of RFID signal are extremely short, also can in the time receiving the information thatRFID reader 11 sends, directly be recorded bymain control mechanism 17 this time of reception point.The signal strength information of RFID signal sends tomain control mechanism 17 after can being identified by readmodule 15 equally, but also can be identified by an independent signal strength detector that connects Annetamodule 13, sends to subsequentlymain control mechanism 17.

Exceptaforesaid RFID reader 11 andmain control mechanism 17,automatic running device 9 also comprises the energy module that complete machine operation energy is provided, set the operational module ofautomatic running device 9 functions for user, drive walking module, the operational module of execution work task and other supplementary modules of complete machine walking.

In the time thatautomatic running device 9 is mower, energy module is generally built-in power brick and the charging pole piece that is connected power brick; Walking module generally includes the wheels that are arranged on fuselage and drives the running motor of wheels, and the version that walking module can also have other as crawler type etc., does not repeat them here.Operational module is generally cutting mechanism, comprises cutting motor and cutting blade; Other supplementary modules comprise that induction barrier obtains rainwater/humidity inductive module of obstacle induction module, induction weather condition etc.

Main control mechanism 17 is walked automatically for controlling mower, work, makeup energy, according to set program, or carries out corresponding instruction according to the environment detecting, and is the core component of mower.The function that it is carried out comprises to be controlled operational module startup work or stops, generate walking path and control walking module according to this path walking, the electric weight the timely instruction mower that judge energy module return tobus stop 7 and automatic butt charging, in the present embodiment, particularly important, the signal thatmain control mechanism 17 can return according toRFID reader 11, judges the position relationship of mower with respect toborder 3.

Bus stop 7 is usually located onborder 3, provides system to be connected with civil power or other electric energy, returns to charging for mower, andbus stop 7 is provided with charged electrical pole piece, for docking with the corresponding electrode slice of mower.

By the cooperation of above modules, mower theborder 3 being formed byRFID label 5 around performregion 7 in cruise and carry out mowing work, under normal condition, mower straight line moving, until bump against border 3.If mower runs intoborder 3, it will turn to turn back gets back to the interior continuation straight line moving in perform region 1, until again run into border 3.By the above-mentioned interior mode of constantly turning back onborder 3, cover whole perform regions 1 and carry out work.Mower also can have other path planning pattern, for example, according to theRFID label 5 of its process, determines follow-up path.

Below introduce in detail boundary marking module andautomatic running device 9 and identify corresponding construction and the recognition method of boundary marking module.

RFID reader 11 sends rf wave to activateRFID label 5 by Annetamodule 13 wherein, sends a RFID signal that carries self identification information afterRFID label 5 is activated, and Annetamodule 13 receives this signal and is delivered to readmodule 15.

AttemptingRFID label 5 when identifying theborder 3 of perform region 1, a technical difficulty is, if it is less that the density of arranging byRFID label 5 onborder 3 arranges, Anneta module is difficult to search outRFID label 5, easily loses the definition to self-position; And if the density of arranging ofRFID label 5 is arranged larger, exist again and arrange boundary line time and effort consuming, and the problem such as border Material Cost height, meanwhile, excessive density also can cause Annetamodule 13 easily to miss someRFID labels 5.

In order to solve problem above, the Annetamodule 13 ofRFID reader 11 comprises reconfigurable antenna, the circuit characteristic of reconfigurable antenna can change, and then corresponding change can occur the characteristic of the rf wave sending of reconfigurable antenna, aforesaid characteristic includes but not limited to polarity, direction, shape etc.

Concrete, reconfigurable antenna adopts Dynamic radiation pattern to send rf wave, and under Dynamic radiation pattern, reconfigurable antenna is adjusted at least one in radio frequency electrical wave line of propagation, polarity and shape dynamically, to form multiple rf wave radiation mode.Like this, activate the method forRFID label 5 by the radiation mode with different, improve activation efficiency, success ratio and the overlay area of Annetamodule 13 toRFID label 5.

It may be noted that, because the conversion speed ofrf wave 19 paces of change of reconfigurable antenna under Dynamic radiation pattern and response speed,RFID reader 11 and themain control mechanism 17 ofRFID label 5 is all far longer than the travel speed ofautomatic running device 9, what can be similar to thinks, whenRFID reader 11 receives several RFID signals continuous in the regular hour, the position ofautomatic running device 9 does not change, and this time can be 0.1 second or less.

As shown in Figure 4, under Dynamic radiation pattern, reconfigurable antenna is dynamically adjusted the direction ofrf wave 19 by wave beam control mode.The shape ofrf wave 19 is remained on wave beam shape by reconfigurable antenna, narrow and grow, and dynamically change the radiation direction ofrf wave 19, like this,rf wave 19 has stronger energy density and clear and definite directive property, under any radiation mode, all can only be activated to minority and even there is noRFID label 5, but changing fast under the condition of radiation direction, can effectively activate successivelymultiple RFID labels 5 and receive the RFID signal that it sends, judging the position ofautomatic running device 9 formain control mechanism 17.

The Dynamic radiation pattern in Fig. 4 that be also to be understood that is simplified for convenience of description, is only exemplary.In actual application, except this kind of Dynamic radiation pattern, reconfigurable antenna can also adopt the shape and the direction that changerf wave 19 simultaneously, change polarity and the direction ofrf wave 19 simultaneously, periodically change successively shape and the direction ofrf wave 19, the mode such as shape that only changesrf wave 19 improves activation efficiency, success ratio and the scope of RFID label 5., reconfigurable antenna in wave beam control, can also superpose other radiation mode change.

As a scheme of the present invention,RFID reader 11, under Dynamic radiation pattern, sendsrf wave 19 by least two kinds of radiation modes, obtains at least twoRFID labels 5 and collects at least two RFID signals with corresponding activation.By the characteristic of analyzing radiation mode, and the various features of the corresponding RFID signal of collecting, as the time of the intensity of identifying information, signal, reception etc., the position of the judgementautomatic running device 9 of accurate stable.

RFID reader 11 can obtain by a kind of radiation mode identifying information and the signal strength information of aRFID label 5, then obtains the RFID signal of anotherRFID label 5 by another kind of radiation mode; Certainly,RFID reader 11 also can obtain by a kind of radiation mode the RFID signal of twoRFID labels 5, then obtains the RFID signal of these twoRFID labels 5 by another kind of radiation mode.It all belongs under general plotting of the present invention.

Below introduce in automatic working system the mode of the position relationship betweenautomatic running device 9 identification itself andborder 3.

Main control mechanism 17 is the position relationship with respect to describedborder 3 according toautomatic running device 9, and instructionautomatic running device 9 is walked.For example, in the time thatautomatic running device 9 is crossed describedborder 3, instructionautomatic running device 9 turns to and returns in perform region 1.In the time thatautomatic running device 9 is positioned at 3 inner side, border, instructionautomatic running device 9 is by set path walking.

As previously mentioned,RFID reader 11 sends at least tworf waves 19 by least two kinds of radiation modes, obtains at least twoRFID labels 5 and collects at least two RFID signals with corresponding activation.Main control mechanism 17 is according at least two kinds of adopted radiation modes, and corresponding at least two RFID signals collecting, judges the position relationship of the segment boundary thatautomatic running device 9 forms with respect to described at least two RFID labels 5.Be appreciated that in real work,RFID reader 11, by more radiation mode, scansmore RFID labels 5, and this is improved the scope and the precision that make aforesaid segment boundary, and the judgement of position relationship is also more accurate.

As previously mentioned, themain control mechanism 17 ofautomatic running device 9 is according to the radiation mode ofrf wave 19, and thecorresponding RFID signal 5 obtaining, and judges the position relationship ofautomatic running device 9 with respect to segment boundary.This position relationship comprises angular relationship, distance relation, internal and external relation etc.Conventionally, angular relationship relies on RFID signal returned and determine byrf wave 19 activation in which direction, and this direction is the direction of corresponding RFID label.Distance relation relies on the difference between the time of origin ofrf wave 19 and the time of return of corresponding RFID signal of particular radiation pattern, or and the intensity of the RFID signal ofrf wave 19 correspondences of particular radiation pattern determine.The RFID that internal and external relation detects byautomatic running device 9 the arrange similarities and differences of order of order and self built-in RFID of arranging are determined.Above position relationship determines that mode is only for schematic, and other modes are also feasible, below describe in detail.

The judgment mode of the angular relationship of the segment boundary thatautomatic running device 9 forms with respect at least twoRFID labels 5 that monitored by it is as described below.

Itself carried after the feature such as direction or shape, scope atrf wave 19, the corresponding signal strength information returning can also reflect angular relationship or other position relationships of thisRFID label 5 and automatic running device 9.Still, as Fig. 4, under Dynamic radiation pattern, reconfigurable antenna adopts wave beam control mode to change therf wave 19 giving off.Rf wave 19 narrow range that reconfigurable antenna gives off, and direction constantly changes, if under a certain radiation mode, do not find aparticular RFID tag 5, and on adjacent other direction, found thisspecific RFID label 5 on a certain correspondence direction.

Based on above-mentioned principle, at least in direction, change by least two kinds of radiation modes that make radiationelectric wave 19, at least on both direction,rf wave 19 can activate respectively theRFID label 5 being positioned in its radiation direction, andRFID reader 11 can be corresponding collects the RFID signal that theRFID label 5 that is activated returns;Main control mechanism 17 and then the RFID signal of collecting by direction and the correspondence ofrf wave 19, judge the angle ofautomatic running device 9 with respect to eachRFID label 5 of correspondence, also just obtained the angular relationship of the segment boundary thatautomatic running device 9 forms with respect to eachRFID label 5.

In the time changing the direction ofrf wave 19, can also change other characteristic simultaneously.

The judgment mode of the internal and external relation of the segment boundary thatautomatic running device 9 forms with respect at least twoRFID labels 5 that monitored by it is as described below.

Foregoing,main control mechanism 17 can judge the angular relationship of the segment boundary thatRFID label 5 thatautomatic running device 9 monitors with respect to it forms, based on same mode, with reference to figure 5 and Fig. 6,main control mechanism 17 can be identified takeautomatic running device 9 as observation point, the order of arranging of its at least twoRFID labels 5 that monitor.And in inner side and the outside onborder 3, this order of arranging is just in time contrary, based on this feature, while storing from the interior observation inborder 3 inmain control mechanism 17, the order of arranging of eachRFID label 5 onborder 3, and use this arrange order and itsRFID label 5 observing in motion order of arranging to contrast, and judge that if identical automatic running device is positioned atborder 3, if judge on the contrary, automatic running device is positioned at outside border 3.Certainly, as the simple replacement under same thinking, also can be built-in inmain control mechanism 17 when boundary appearance is surveyed the order of arranging of eachRFID label 5border 3, repeat no more.

Concrete, as Fig. 5,automatic running device 9 is positioned atborder 3, is placed with two RFID labels onborder 3, is respectivelyRFID label 51 and RFID label 52.Automatic running device 9 is with two kinds of radiation modes, sendrf wave 19 to both direction successively, activate respectivelyRFID label 51 andRFID label 52,RFID label 51 andRFID label 52 return to respectively a RFID signal,main control mechanism 17 is the corresponding relation with the RFID signal returning according to the direction of therf wave 19 sending, judge thatRFID label 51 is positioned at the left side ofRFID label 52,main control mechanism 17 is compared this arrange order and its built-in RFID label order of arranging, result is identical, and thenmain control mechanism 17 can judge that automatic running device is positioned at border 3.Contrary, as Fig. 6,border 3 is constant andautomatic running device 9 is positioned atoutside border 3, easily learn, nowmain control mechanism 17 judges that RFID51 is positioned at the right side ofRFID label 52, this arrange order and its built-inRFID label 5 order of arranging is contrary, and thenmain control mechanism 17 can judge thatautomatic running device 9 is positioned atoutside border 3.

To sum up,rf wave 19 by making at least two kinds of radiation modes at least direction changes, describedmain control mechanism 15 can be according to the direction ofrf wave 19 and the corresponding RFID signal of collecting, the order of arranging of at least twoRFID label 5 relativeautomatic running devices 9 described in calculating, and this arrange order and arranging ofmain control mechanism 17 interior storages are washed out to contrast, according to contrast mechanism judgeautomatic running device 9 be positioned at least part of border that at least twoRFID labels 5 form in or beyond.

Automatic running device 9 can be by walking one week alongborder 3 when the initial start-up, theRFID label 5 that detects of record is determined the arrange mode of order of RFID successively, obtain the standard arrangement order ofRFID label 5, and be stored inmain control mechanism 17, for inside and outside judgement.

Certainly, inside and outside judgement also can have other mode, for example, whenautomatic running device 9 can be started shooting take it, the position at place is inborder 3, and detect while self having moved by side to opposite side from one ofborder 3 when it, judge that it isoutside border 3, the mode that border 3 is crossed in judgement can be similar to above, the detection order of arranging reverses, also can there be other modes, as, detect that self is ascending to the distance of at least twoRFID labels 5 of annex from descending simultaneous mutation, detect the mode of distance in rear description.

The judgment mode of the distance relation of the segment boundary thatautomatic running device 9 forms with respect at least twoRFID labels 5 that monitored by it is as described below.

The distance relation of automatic running device 9 and segment boundary can be determined by the difference between the time of origin of rf wave 9 and the time of return of corresponding RFID signal of monitoring particular radiation mode.Because the speed of rf wave 19 is constant, the distance of aforementioned time difference and automatic running device 9 and corresponding RFID label 5 is directly proportional.Concrete, the RFID reader 11 of automatic running device 9 sends the rear beginning timing of rf wave 19 of particular radiation mode, after a period of time that rf wave 19 experiences and automatic running device 9 is directly proportional to the distance between particular RFID tag 5, arrive this particular RFID tag 5, RFID label 5 is activated and returns to a RFID signal, this signal is got back to the RFID reader 11 of automatic running device 9 after experiencing same a period of time, RFID reader 11 or main control mechanism 17 are recorded this time of return, main control mechanism 17 calculates the aforesaid mistiming subsequently, can obtain the distance sum of rf wave 19 and the RFID signal process of returning according to formula d=v/t, because the velocity of propagation of rf wave 19 and RFID signal is the light velocity, this mistiming is extremely short, the travel distance of automatic running device 9 self is close to 0, therefore, the distance sum obtaining is to the distance of automatic running device to specific RFID label 5 divided by 2 again.RFID reader 11 sends the rf wave 19 of at least two kinds of radiation modes, can obtain corresponding RFID signal, thereby calculate the distance of automatic running device 9 and at least two RFID labels 5, thereby obtain the distance relation of the segment boundary that automatic running device 9 and aforementioned at least two RFID labels 5 form.

It may be noted that, in such scheme,RFID label 5 places andautomatic running device 9 places to the processing time of each signal close to 0, negligible, certainly, in order further to improve the computational accuracy of distance, by after the approximate time of mistiming subtraction signal processing, it is also feasible carrying out distance calculating again, belongs to equally the Integral Thought of determining distance based on the mistiming.

The distance relation ofautomatic running device 9 and segment boundary can also be determined by the intensity of the RFID signal ofrf wave 19 correspondences of monitoring and particular radiation mode.

Rely on scheme principle that the intensity of RFID signal determines distance for:rf wave 19 power that reconfigurable antenna is launched be known or probably to determine, and the signal intensity of the corresponding RFID signal returning can decay along with distance, so signal intensity has reflected the far and near distance of thisRFID label 5 andautomatic running device 9, signal represents that more by force distance is nearer, and signal is more weak represents that distance is far away.Known equally, in the driving process ofautomatic running device 9, the variation of the signal power of the RFID signal ofspecific RFID label 5 correspondences has represented the variation of distance accordingly.Signal represents that by dying down by force distance is far away by nearly change,automatic running device 9 is leavingcorresponding RFID label 5; Signal changes from weak to strong and represents that distance is near by change far away, automatic running device is nearcorresponding RFID label 5.

According to above-mentioned principle, in this embodiment, theAnneta module 13 ofRFID reader 11 sendsrf wave 19,rf wave 19 is transmitted into a certainspecific RFID label 5 and by its activation, thisspecific RFID label 5 sends RFID signal and is received byAnneta module 13, signal intensity when this RFID signal arrivesAnneta module 13 goes on record, andmain control mechanism 17 calculates the distance of the correspondingautomatic running device 9 of signal intensity to thisparticular RFID tag 5 according to built-in algorithm.WhenAnneta module 13 sends while at least having therf wave 19 of two kinds of radiation modes the distance of corresponding acquisitionautomatic running device 9 and at least twoRFID labels 5, also just obtain accordingly the distance relation of the segment boundary thatautomatic running device 9 and aforementioned at least twoRFID labels 5 form.

In this embodiment,main control mechanism 17 according toautomatic running device 9 relatively described in the position relationship of at least twoRFID labels 5, walking between described at least two RFID labels 5.Concrete,automatic running device 9 can judge that self whether crossingborder 3 leaves perform region 1, and makes corresponding reaction, for example, and turning to and turn back in perform region 1 nearborder 3 or while crossing border 3.Automatic running device 9 can also determine the walking manner in perform region 1 according to aforesaid position relationship, as direction of travel, the speed of travel etc.

In this embodiment,main control mechanism 17 according toautomatic running device 9 relatively described in the position relationship of at least twoRFID labels 5, walking between described at least two RFID labels 5.

In other embodiments of the present invention, also can utilizeRFID label 5 to set up the map of perform region 1, then use the map of perform region 1 to assist to determine operating path.

The present invention relates to a kind of automatic working system, comprise, perform region identification module, comprises spaced multiple RFID label; Automatic running device, comprises RFID reader, comprises Anneta module and read module, and Anneta module sends rf wave and sends described RFID signal and collect described RFID signal to activate described RFID label; Main control mechanism; Described Anneta module activates respectively at least two RFID labels and collects at least two RFID signals with at least two kinds of radiation modes; Described main control mechanism, according to adopted at least two kinds of radiation modes and corresponding at least two RFID signals collecting, judges the position relationship of automatic running device with respect to the segment boundary of described at least two RFID labels formation.By using RFID label, and utilize the feature of the RFID reader identification RFID signal on automatic running device, border is set simple and reliable.

Claims (12)

1. an automatic working system, comprising:

Limit the perform region identification module of the perform region of automatic working system, described perform region identification module comprises spaced multiple RFID label, each RFID label has unique identifying information, and described multiple RFID labels are connected to form the border of perform region;

The automatic running device of automatically walking and working in described perform region, described automatic running device comprises:

RFID reader, comprises Anneta module and read module, and described Anneta module sends rf wave and sends described RFID signal and collect described RFID signal to activate described RFID label; Described read module reads the identifying information in described RFID signal;

Main control mechanism, is connected with RFID reader, it is characterized in that:

Described Anneta module, by Dynamic radiation pattern, activates respectively at least two RFID labels and collects at least two RFID signals with at least two kinds of radiation modes;

Described main control mechanism, according to adopted at least two kinds of radiation modes and corresponding at least two RFID signals collecting, judges the position relationship of automatic running device with respect to the segment boundary of described at least two RFID labels formation.

2. automatic working system according to claim 1, it is characterized in that: described Anneta module comprises reconfigurable antenna, described reconfigurable antenna adopts Dynamic radiation pattern to change the radiation mode of rf wave, and at least one in radio frequency electrical wave line of propagation, shape and polarity changed.

3. automatic working system according to claim 2, is characterized in that: described reconfigurable antenna, under Dynamic radiation pattern, is dynamically adjusted the radio frequency electrical wave line of propagation of wave beam shape by wave beam control mode.

4. automatic working system according to claim 3, is characterized in that: described position relationship comprises internal and external relation.

5. automatic working system according to claim 4, it is characterized in that: described main control mechanism is according to radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, the order of arranging of at least two relative automatic running devices of RFID label described in calculating, and by the standard arrangement order contrast of the RFID label of storing in this arrange order and main control mechanism, judge that according to comparing result automatic running device is positioned in or beyond described at least part of border.

6. automatic working system according to claim 5, is characterized in that: described automatic running device is walked one week along described border, by detecting successively described RFID label, to obtain the standard arrangement order of RFID label, and is stored in main control mechanism.

7. automatic working system according to claim 3, it is characterized in that: described position relationship comprises angular relationship, described main control mechanism, according to described radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, judges the angular relationship of automatic running device with respect to described segment boundary.

8. automatic working system according to claim 3, is characterized in that: described position relationship comprises distance relation.

9. automatic working system according to claim 8, it is characterized in that: described main control mechanism, according to the mistiming between the time of origin of the rf wave of specific radiation mode and the time of return of the corresponding RFID signal of collecting, calculates the distance of automatic running device with respect to described segment boundary.

10. automatic working system according to claim 8, it is characterized in that: after described main control mechanism sends according to the rf wave of specific radiation mode, the intensity of the RFID signal that correspondence is collected, calculates the distance of automatic running device with respect to described segment boundary.

11. according to arbitrary described automatic working system in claim 1-10, it is characterized in that: described main control mechanism is the position relationship with respect to described segment boundary according to automatic running device the walking of instruction automatic running device.

12. automatic working systems according to claim 1, is characterized in that: described automatic running device is mower.

Images