CN104503448B - Device used to define working area of mobile robot and defining method thereof - Google Patents

Abstract

The invention discloses a device for defining the working area of a mobile robot and a method for defining the same. The device includes a controller and at least one signal detector, the controller and the signal detector are installed on the mobile robot, and the signal detector includes a An induction coil that generates electromagnetic induction with the boundary of the conductive material and a detection circuit for obtaining the loss resistance or resonance frequency of the induction coil, the position of the induction coil on the mobile robot is higher than the boundary, and the detection circuit obtains the induction coil in real time The loss resistance or resonant frequency, and convert the loss resistance or resonant frequency into a real-time digital signal and send it to the controller. The controller compares the real-time digital signal with the reference value range, and if it falls within the reference value range, then The mobile robot reaches the boundary; the advantage is that only conductive materials need to be used as the passive boundary, the boundary material can be selected in a wide range, no additional signal generator is required, and the cost is low.

Description

Device and method for defining mobile robot working area

technical field

The invention relates to a technology for defining a working area of a mobile robot, in particular to a device for defining a working area of a mobile robot and a method for defining the working area.

Background technique

Mobile robot technology originated abroad. Currently, research institutions such as MIT, Georgia Tech, Caltech and Stanford are vigorously researching this aspect, and have achieved remarkable results in the field of artificial intelligence and robot hardware design. Most of the mobile robots with better performance on the market for cleaning or pruning come from large foreign companies, such as Roomba from Irobot, RC from Karcher and FM from Fmart, and Robomow from Friendly Machines, Zucchetti Lawn mower robots such as the Ambrigio Robo-Lawnmower and the Husqvarna Auto Mower from Electrolux. These mobile robots complete the cleaning or pruning work by traversing in a designated working area, thus, the device that defines the working area of the mobile robot becomes an indispensable part of the mobile robot.

US Patent No. US20080097645 discloses a device for defining a working area of a mobile robot. The device detects the boundary based on the electromagnetic effect, and mainly includes a controller, a signal generator and a signal detector. The device forms a square with cables connected with a signal generator to form an active square boundary, where the magnetic field intensity is the largest. The signal generator makes the boundary generate a magnetic field. When the mobile robot moves close to the boundary, the signal detector installed on the mobile robot acquires the magnetic field signal generated by the boundary in real time, and the signal detector converts the obtained magnetic field signal into a voltage signal and transmits it in real time. To the controller, the controller compares the received voltage signal with the reference voltage signal corresponding to the magnetic field strength at the boundary stored inside, determines whether the mobile robot has reached the boundary, and controls the direction of travel of the mobile robot according to the determination result, thereby ensuring that the mobile robot is at the boundary. Move within the working area enclosed by the boundaries.

But the above-mentioned device that is used to define the working area of the mobile robot has the following problems: the limit of the boundary material is relatively large, in order to make the boundary generate a magnetic field, a signal generator must be equipped to form an active boundary with the cable, and each boundary requires a signal Generator, if a new boundary is laid within the existing boundary, an additional signal generator is required, and the cost is high.

Contents of the invention

One of the technical problems to be solved by the present invention is to provide a device for defining the working area of the mobile robot. The signal detector in the device includes an induction coil and a detection circuit. Based on the fact that the induction coil is close to the conductive material, electromagnetic induction will occur. The principle that the loss resistance and resonant frequency of the induction coil will change. The detection circuit can obtain the loss resistance or resonant frequency of the induction coil in real time to determine the boundary. Therefore, only conductive materials need to be used as the passive boundary, and the range of boundary material selection is wide , and does not need to be equipped with additional signal generators, and the cost is low.

The technical solution adopted by the present invention to solve one of the above technical problems is: a device for defining the working area of a mobile robot, including a controller and at least one signal detector, the controller and the signal detector are installed On the mobile robot, it is characterized in that the signal detector includes an induction coil for generating electromagnetic induction phenomenon with the boundary of the conductive material and a detection circuit for obtaining the loss resistance or resonance frequency of the induction coil, the said The position of the induction coil on the mobile robot is higher than the boundary, and the reference value range of the loss resistance or the resonant frequency when the induction coil extends above the boundary is stored in the controller, and the detection circuit obtains the reference value range of the resonance frequency in real time. The loss resistance or resonant frequency of the induction coil described above, and the loss resistance or resonant frequency is converted into a digital signal and sent to the controller, and the controller compares the value of the real-time digital signal with the reference value range, if The value of the real-time digital signal falls within the range of the reference value, and the mobile robot reaches the boundary.

The detection circuit includes an inductance-to-digital converter, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, and a seventh capacitor, and the model of the inductance-to-digital converter is LDC1000 , LDC1041 or LDC1051, the 4th pin of the inductance-to-digital converter, one end of the first capacitor and one end of the second capacitor are connected and the connection end is connected to 3.3V voltage, the first The other end of the capacitor and the other end of the second capacitor are grounded, the 13th pin of the inductance-to-digital converter is connected to one end of the third capacitor, and the other end of the third capacitor is grounded, The 7th pin of the inductance-to-digital converter is connected to one end of the fourth capacitor, the other end of the fourth capacitor is connected to the 8th pin of the inductance-to-digital converter, and the inductance digital Both the 11th pin and the 17th pin of the converter are connected to the analog ground, the 9th pin of the inductance-to-digital converter, one end of the seventh capacitor and one end of the induction coil are connected, and the inductance digital The 10th pin of the converter, the other end of the seventh capacitor and the other end of the induction coil are connected, the 12th pin of the inductance-to-digital converter, one end of the fifth capacitor and the One end of the sixth capacitor is connected and its connection end is connected to 5V voltage, the other end of the fifth capacitor and the other end of the sixth capacitor are both connected to analog ground, and the first inductance-to-digital converter of the The pin, the 2nd pin, the 3rd pin, the 5th pin, the 14th pin and the 16th pin are respectively connected with the controller.

The controller includes a control chip of model STM32F103, a voltage regulator chip of model SPX1117, a first resistor, a second resistor, a third resistor, a fourth resistor, an eighth capacitor, a ninth capacitor, a tenth capacitor, The eleventh capacitor, the twelfth capacitor, the thirteenth capacitor, the fourteenth capacitor, the fifteenth capacitor, the sixteenth capacitor, the seventeenth capacitor, the eighteenth capacitor, the nineteenth capacitor, the twentieth capacitor, The twenty-first capacitor, the twenty-second capacitor, the twenty-third capacitor, the first crystal oscillator, the second crystal oscillator, buttons and connection terminals;

One end of the first resistor is grounded, the other end of the first resistor is connected to the analog ground, the second pin of the voltage regulator chip, one end of the eighth capacitor and the ninth capacitor One end is connected and its connection end is connected to 5V voltage, the third pin of the voltage regulator chip, one end of the tenth capacitor and one end of the eleventh capacitor are connected and the connection end outputs 3.3V voltage, The other end of the eighth capacitor, the other end of the ninth capacitor, the other end of the tenth capacitor and the other end of the eleventh capacitor are all grounded;

One end of the twelfth capacitor, the second pin of the first crystal oscillator and the twelfth pin of the control chip are connected, the other end of the twelfth capacitor is connected to the thirteenth capacitor One end of both is grounded, the other end of the thirteenth capacitor, the first pin of the first crystal oscillator is connected to one end of the second resistor, the other end of the second resistor is connected to the The 13th pin connection of the control chip;

One end of the fourteenth capacitor, the second pin of the second crystal oscillator and the eighth pin of the control chip are connected, the other end of the fourteenth capacitor is connected to the fifteenth capacitor One end of both is grounded, the other end of the fifteenth capacitor, the first pin of the second crystal oscillator and the ninth pin of the control chip are connected;

One end of the sixteenth capacitor, one end of the seventeenth capacitor, one end of the eighteenth capacitor, one end of the nineteenth capacitor, one end of the twentieth capacitor, One end of the twenty-first capacitor is connected to one end of the twenty-second capacitor and its connection end is connected to a 3.3V voltage, the other end of the sixteenth capacitor, the seventeenth capacitor the other end of the eighteenth capacitor, the other end of the nineteenth capacitor, the other end of the twentieth capacitor, the other end of the twenty-first capacitor and the The other end of the twenty-second capacitor mentioned above is all grounded;

One end of the third resistor is connected to 3.3V voltage, the other end of the third resistor, the second pin of the connecting terminal is connected to the 94th pin of the control chip, and the connecting terminal The first pin of the ground is grounded; one end of the fourth resistor is connected to a 3.3V voltage, the other end of the fourth resistor, one end of the twenty-third capacitor, one end of the button and the The 14th pin of the control chip is connected, and the other end of the button and the other end of the twenty-third capacitor are grounded;

The 47th pin of the control chip is connected to the 16th pin of the inductance-to-digital converter, the 48th pin of the control chip is connected to the 14th pin of the inductance-to-digital converter, and the control The 51st pin of the chip is connected to the 2nd pin of the inductance-to-digital converter, the 52nd pin of the control chip is connected to the 1st pin of the inductance-to-digital converter, and the 53rd pin of the control chip The pin is connected to the 5th pin of the inductance-to-digital converter, the 54th pin of the control chip is connected to the 3rd pin of the inductance-to-digital converter, the 6th pin, the 11th pin of the control chip Pin, 28th pin, 50th pin, 75th pin and 100th pin are all connected to 3.3V voltage, and the 10th pin, 27th pin, 49th pin, 74th pin and 99th pin of the control chip are connected grounded.

The second technical problem to be solved by the present invention is to provide a method for defining a device for defining the working area of a mobile robot. The principle that the magnitude of the frequency will change. The boundary can be determined by obtaining the loss resistance or resonance frequency of the induction coil in real time through the detection circuit. After the boundary is determined, the controller drives and guides the mobile robot to traverse in the working area to realize the definition of the boundary and the mobile robot. The guidance of the work, so this method only needs to use conductive materials as the passive boundary, the range of boundary material selection is wide, and no additional signal generator is required, the cost is low, and the complete traversal of the working area can be realized.

Compared with the prior art, the advantage of the device of the present invention is that by setting the induction coil and the detection circuit, based on the electromagnetic induction phenomenon will occur when the induction coil is close to the conductive material, the loss resistance and the resonance frequency of the induction coil will change. Principle, the controller stores the reference value range corresponding to the loss resistance or resonance frequency when the induction coil extends above the boundary, the detection circuit obtains the loss resistance or resonance frequency of the induction coil in real time, and converts the loss resistance or resonance frequency into a digital signal After sending it to the controller, the controller compares the value of the real-time digital signal with the reference value range. If the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary and obtains the loss resistance of the induction coil or the resonance frequency in real time. The boundary can be determined, so only conductive materials need to be used as the passive boundary, the boundary material can be selected in a wide range, and no additional signal generator is required, and the cost is low.

The technical solution adopted by the present invention to solve the above-mentioned technical problem 2 is: a method for defining a device for defining the working area of a mobile robot, which is characterized in that the number of the signal detectors is two, and the two The induction coils of the signal detector are set in parallel, specifically including the following steps:

① Initialize the controller and signal detector;

② Store the loss resistance or the reference value range Vmin~Vmax corresponding to the resonance frequency when the induction coil extends above the boundary into the controller, where Vmin is the loss resistance or the digital signal corresponding to the resonance frequency when the induction coil starts to enter the boundary Size, Vmax is the size of the digital signal corresponding to the loss resistance or the resonance frequency when the induction coil fully enters the boundary;

③Adjust the moving direction of the mobile robot into the working area:

③-1 The controller drives the mobile robot to enter the working area through a boundary, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to the controller. The value of the digital signal corresponding to the loss resistance or the resonant frequency obtained by the detection circuit in real time is denoted as V1 and V2;

③-2 If one of V1 and V2 falls within the range of Vmin～Vmax first, the controller drives the mobile robot to adjust the moving direction until both V1 and V2 fall within the range of Vmin～Vmax and are equal in size; When entering the range of Vmin～Vmax, if V1 and V2 are equal, the moving direction of the mobile robot does not need to be adjusted. If V1 and V2 are not equal, the controller drives the mobile robot to adjust the moving direction until V1 and V2 are equal in size and fall into Vmin～ Within the range of Vmax, at this time, the moving direction of the mobile robot in the working area is perpendicular to the boundary of the entry point;

④ Control the mobile robot to traverse in the right area of the working area, the specific process is:

④-1 The mobile robot moves forward along the direction perpendicular to the boundary of the entrance, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to The controller, the controller compares the value of the real-time digital signal with the reference value range Vmin～Vmax, if the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary opposite to the boundary of the entry point;

④-2 When the mobile robot reaches the boundary opposite to the entry boundary, the controller controls the mobile robot to turn 90 degrees clockwise and then move forward for a distance d parallel to the direction of the boundary opposite to the entry boundary, where d is equal to the mobile robot working width, and then turn 90 degrees clockwise to move forward;

④-3 Repeat step ④-2 every time it encounters the boundary opposite to the boundary of the entry point, and count the number of times the mobile robot moves forward along the direction parallel to the boundary opposite to the boundary of the entry point, and record the number of times as n; when the mobile robot reaches the right boundary while moving along the boundary parallel to the boundary opposite to the entry boundary, stop moving, control the mobile robot to rotate clockwise 90 degrees and then move forward to the boundary to complete the traversal of the right area;

⑤Control the mobile robot to rotate 90 degrees clockwise at the right boundary, and then move a distance of n*d perpendicular to the right boundary, and then rotate 90 degrees clockwise. At this time, the moving direction of the mobile robot is perpendicular to the boundary of the entry place;

⑥Control the mobile robot to traverse in the left area of the working area, the specific process is:

⑥-1 The mobile robot moves forward along the direction perpendicular to the boundary of the entrance, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to The controller, the controller compares the value of the real-time digital signal with the reference value range Vmin～Vmax, if the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary opposite to the boundary of the entry point;

⑥-2 When the mobile robot reaches the boundary opposite to the entry boundary, the controller controls the mobile robot to turn 90 degrees counterclockwise and then move forward for a distance d in a direction parallel to the boundary opposite to the entry boundary, where d is equal to the movement The working width of the robot, and then turn 90 degrees counterclockwise to move forward;

⑥-3 Repeat step ⑥-2 every time it encounters the boundary opposite to the boundary of the entry point. When the mobile robot moves to the left boundary, stop moving, control the mobile robot to turn 90 degrees counterclockwise and move forward to the boundary , to complete the left area traversal.

The detection circuit includes an inductance-to-digital converter, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, and a seventh capacitor, and the model of the inductance-to-digital converter is LDC1000 , LDC1041 or LDC1051, the 4th pin of the inductance-to-digital converter, one end of the first capacitor and one end of the second capacitor are connected and the connection end is connected to 3.3V voltage, the first The other end of the capacitor and the other end of the second capacitor are grounded, the 13th pin of the inductance-to-digital converter is connected to one end of the third capacitor, and the other end of the third capacitor is grounded, The 7th pin of the inductance-to-digital converter is connected to one end of the fourth capacitor, the other end of the fourth capacitor is connected to the 8th pin of the inductance-to-digital converter, and the inductance digital Both the 11th pin and the 17th pin of the converter are connected to the analog ground, the 9th pin of the inductance-to-digital converter, one end of the seventh capacitor and one end of the induction coil are connected, and the inductance digital The 10th pin of the converter, the other end of the seventh capacitor and the other end of the induction coil are connected, the 12th pin of the inductance-to-digital converter, one end of the fifth capacitor and the One end of the sixth capacitor is connected and its connection end is connected to 5V voltage, the other end of the fifth capacitor and the other end of the sixth capacitor are both connected to analog ground, and the first inductance-to-digital converter of the The pin, the 2nd pin, the 3rd pin, the 5th pin, the 14th pin and the 16th pin are respectively connected with the controller.

The controller includes a control chip of model STM32F103, a voltage regulator chip of model SPX1117, a first resistor, a second resistor, a third resistor, a fourth resistor, an eighth capacitor, a ninth capacitor, a tenth capacitor, The eleventh capacitor, the twelfth capacitor, the thirteenth capacitor, the fourteenth capacitor, the fifteenth capacitor, the sixteenth capacitor, the seventeenth capacitor, the eighteenth capacitor, the nineteenth capacitor, the twentieth capacitor, The twenty-first capacitor, the twenty-second capacitor, the twenty-third capacitor, the first crystal oscillator, the second crystal oscillator, buttons and connection terminals;

One end of the first resistor is grounded, the other end of the first resistor is connected to the analog ground, the second pin of the voltage regulator chip, one end of the eighth capacitor and the ninth capacitor One end is connected and its connection end is connected to 5V voltage, the third pin of the voltage regulator chip, one end of the tenth capacitor and one end of the eleventh capacitor are connected and the connection end outputs 3.3V voltage, The other end of the eighth capacitor, the other end of the ninth capacitor, the other end of the tenth capacitor and the other end of the eleventh capacitor are all grounded;

One end of the twelfth capacitor, the second pin of the first crystal oscillator and the twelfth pin of the control chip are connected, the other end of the twelfth capacitor is connected to the thirteenth capacitor One end of both is grounded, the other end of the thirteenth capacitor, the first pin of the first crystal oscillator is connected to one end of the second resistor, the other end of the second resistor is connected to the The 13th pin connection of the control chip;

One end of the fourteenth capacitor, the second pin of the second crystal oscillator and the eighth pin of the control chip are connected, the other end of the fourteenth capacitor is connected to the fifteenth capacitor One end of both is grounded, the other end of the fifteenth capacitor, the first pin of the second crystal oscillator and the ninth pin of the control chip are connected;

One end of the sixteenth capacitor, one end of the seventeenth capacitor, one end of the eighteenth capacitor, one end of the nineteenth capacitor, one end of the twentieth capacitor, One end of the twenty-first capacitor is connected to one end of the twenty-second capacitor and its connection end is connected to a 3.3V voltage, the other end of the sixteenth capacitor, the seventeenth capacitor the other end of the eighteenth capacitor, the other end of the nineteenth capacitor, the other end of the twentieth capacitor, the other end of the twenty-first capacitor and the The other end of the twenty-second capacitor mentioned above is all grounded;

One end of the third resistor is connected to 3.3V voltage, the other end of the third resistor, the second pin of the connecting terminal is connected to the 94th pin of the control chip, and the connecting terminal The first pin of the ground is grounded; one end of the fourth resistor is connected to a 3.3V voltage, the other end of the fourth resistor, one end of the twenty-third capacitor, one end of the button and the The 14th pin of the control chip is connected, and the other end of the button and the other end of the twenty-third capacitor are grounded;

The 47th pin of the control chip is connected to the 16th pin of the inductance-to-digital converter, the 48th pin of the control chip is connected to the 14th pin of the inductance-to-digital converter, and the control The 51st pin of the chip is connected to the 2nd pin of the inductance-to-digital converter, the 52nd pin of the control chip is connected to the 1st pin of the inductance-to-digital converter, and the 53rd pin of the control chip The pin is connected to the 5th pin of the inductance-to-digital converter, the 54th pin of the control chip is connected to the 3rd pin of the inductance-to-digital converter, the 6th pin, the 11th pin of the control chip Pin, 28th pin, 50th pin, 75th pin and 100th pin are all connected to 3.3V voltage, and the 10th pin, 27th pin, 49th pin, 74th pin and 99th pin of the control chip are connected grounded.

Compared with the prior art, the advantage of the method of the present invention is that by setting the induction coil and the detection circuit, based on the principle that the electromagnetic induction phenomenon will occur when the induction coil is close to the conductive material, the loss resistance of the induction coil and the size of the resonance frequency will change. , the controller stores the reference value range corresponding to the loss resistance or resonance frequency when the induction coil extends above the boundary, the detection circuit obtains the loss resistance or resonance frequency of the induction coil in real time, and converts the loss resistance or resonance frequency into a real-time digital signal After sending it to the controller, the controller compares the value of the real-time digital signal with the reference value range. If the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary and obtains the loss resistance of the induction coil or the resonance frequency in real time. The boundary can be determined, so only conductive materials need to be used as the passive boundary, the boundary material can be selected in a wide range, and no additional signal generator is required, and the cost is low. When the mobile robot enters the boundary, adjust the movement of the mobile robot into the working area The moving direction makes the moving direction perpendicular to the entry boundary. When the mobile robot reaches the opposite boundary or the left and right boundaries, the controller changes the planned task according to the boundary reached by the mobile robot, and drives the mobile robot to adjust its direction and return to the working area. , reciprocate in this way, so that the mobile robot reciprocates in the working area, thereby realizing the guidance of the mobile robot's work, with simple operation and high precision.

Description of drawings

Fig. 1 is the circuit diagram of signal detector of the present invention;

Fig. 2 is the circuit diagram of controller of the present invention;

Fig. 3 is the structural representation of mobile robot in the method of the present invention;

Fig. 4 is the traveling schematic diagram of mobile robot in the definition method of the present invention;

Fig. 5 is a schematic diagram of the mobile robot moving along the boundary in the definition method of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

The invention discloses a device for defining the working area of a mobile robot, comprising a controller and at least one signal detector, the controller and the signal detector are installed on the mobile robot, and the signal detector includes a device for generating a boundary with a conductive material The induction coil L1 of the electromagnetic induction phenomenon and the detection circuit used to obtain the loss resistance or resonance frequency of the induction coil L1, the position of the induction coil L1 on the mobile robot is higher than the boundary, and the induction coil L1 is stored above the boundary in the controller The reference value range corresponding to the loss resistance or resonant frequency at time, the detection circuit obtains the loss resistance or resonant frequency of the induction coil L1 in real time, converts the loss resistance or resonant frequency into a real-time digital signal and sends it to the controller, and the controller converts the real-time digital signal The value of the signal is compared with a reference value range, and if the value of the real-time digital signal falls within the reference value range, the mobile robot has reached the boundary.

Embodiment: A device for defining the working area of a mobile robot, including a controller and at least one signal detector, the controller and the signal detector are installed on the mobile robot, and the signal detector includes a The induction coil L1 of the magnetic induction phenomenon and the detection circuit used to obtain the loss resistance or resonance frequency of the induction coil L1, the position of the induction coil L1 on the mobile robot is higher than the boundary, and the controller stores when the induction coil L1 extends above the boundary The reference value range Vmin～Vmax corresponding to the loss resistance or resonant frequency of the induction coil L1 in real time, the detection circuit obtains the loss resistance or resonant frequency of the induction coil L1 in real time, and converts the loss resistance or resonant frequency into real-time digital signals and sends them to the controller. The value of the real-time digital signal is compared with the reference value range, and if the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary.

In this embodiment, Vmin in the reference digital signal range is the size of the digital signal corresponding to the loss resistance or resonance frequency when the induction coil L1 starts to enter above the boundary, and Vmax is the loss resistance or the number corresponding to the resonance frequency when the induction coil L1 completely enters the boundary. the size of the signal.

In this embodiment, the material of the boundary comes from a wide range of sources, such as low-cost pressed foil or common iron wire, as long as it is a common conductor, it can be used to establish the boundary.

In this embodiment, as shown in FIG. 1 , the detection circuit includes an inductance-to-digital converter U1, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6 and The seventh capacitor C7, the model of the inductance-to-digital converter U1 is LDC1000, LDC1041 or LDC1051, the 4th pin of the inductance-to-digital converter U1, one end of the first capacitor C1 and one end of the second capacitor C2 are connected and its connection end is connected to 3.3 V voltage, the other end of the first capacitor C1 and the other end of the second capacitor C2 are both grounded, the 13th pin of the inductance-to-digital converter U1 is connected to one end of the third capacitor C3, the other end of the third capacitor C3 is grounded, and the inductance digital The 7th pin of the converter U1 is connected to one end of the fourth capacitor C4, the other end of the fourth capacitor C4 is connected to the 8th pin of the inductance-to-digital converter U1, and the 11th and 17th pins of the inductance-to-digital converter U1 are both connected to Analog ground, the 9th pin of the inductance-to-digital converter, one end of the seventh capacitor C7, and one end of the induction coil L1 are connected, the tenth pin of the inductance-to-digital converter U1, the other end of the seventh capacitor C7, and the other end of the induction coil L1 Connection, the 12th pin of the inductance-to-digital converter U1, one end of the fifth capacitor C5 and one end of the sixth capacitor C6 are connected and the connection end is connected to a 5V voltage, the other end of the fifth capacitor C5 is connected to the other end of the sixth capacitor C6 All are connected to the analog ground, and pins 1, 2, 3, 5, 14 and 16 of the inductance-to-digital converter U1 are respectively connected to the controller.

In this embodiment, as shown in FIG. 2 , the controller includes a control chip U2 whose model is STM32F103, a voltage regulator chip M1 whose model is SPX1117, a first resistor R1, a second resistor R2, a third resistor R3, and a fourth resistor R4, eighth capacitor C8, ninth capacitor C9, tenth capacitor C10, eleventh capacitor C11, twelfth capacitor C12, thirteenth capacitor C13, fourteenth capacitor C14, fifteenth capacitor C15, sixteenth capacitor Capacitor C16, seventeenth capacitor C17, eighteenth capacitor C18, nineteenth capacitor C19, twentieth capacitor C20, twenty-first capacitor C21, twenty-second capacitor C22, twenty-third capacitor C23, first Crystal oscillator Y1, second crystal oscillator Y2, button S1 and connecting terminal P1;

One end of the first resistor R1 is grounded, the other end of the first resistor R1 is connected to the analog ground, the second pin of the voltage regulator chip M1, one end of the eighth capacitor C8 and one end of the ninth capacitor C9 are connected, and the connecting end is connected to 5V voltage , the third pin of the voltage regulator chip M1, one end of the tenth capacitor C10 and one end of the eleventh capacitor C11 are connected and the connecting end outputs a voltage of 3.3V, the other end of the eighth capacitor C8, the other end of the ninth capacitor C9, The other end of the tenth capacitor C10 and the other end of the eleventh capacitor C11 are grounded;

One end of the twelfth capacitor C12, the second pin of the first crystal oscillator Y1 and the twelfth pin of the control chip U2 are connected, the other end of the twelfth capacitor C12 and one end of the thirteenth capacitor C13 are grounded, and the thirteenth capacitor C13 The other end of the first crystal oscillator Y1 is connected to one end of the second resistor R2, and the other end of the second resistor R2 is connected to the 13th pin of the control chip U2;

One end of the fourteenth capacitor C14, the second pin of the second crystal oscillator Y2 and the eighth pin of the control chip U2 are connected, the other end of the fourteenth capacitor C14 and one end of the fifteenth capacitor C15 are grounded, and the fifteenth capacitor C15 The other end of the second crystal oscillator Y2 is connected to the 9th pin of the control chip U2;

One end of the sixteenth capacitor C16, one end of the seventeenth capacitor C17, one end of the eighteenth capacitor C18, one end of the nineteenth capacitor C19, one end of the twentieth capacitor C20, one end of the twenty-first capacitor C21 and the One end of the twenty-second capacitor C22 is connected and its connection end is connected to 3.3V voltage, the other end of the sixteenth capacitor C16, the other end of the seventeenth capacitor C17, the other end of the eighteenth capacitor C18, and the nineteenth capacitor C19 The other end of the twentieth capacitor C20, the other end of the twenty-first capacitor C21 and the other end of the twenty-second capacitor C22 are all grounded;

One end of the third resistor R3 is connected to 3.3V voltage, the other end of the third resistor R3, the second pin of the connection terminal P1 is connected to the 94th pin of the control chip U2, and the first pin of the connection terminal P1 is grounded; the fourth resistor R4 One end of the fourth resistor R4 is connected to the 3.3V voltage, the other end of the fourth resistor R4, one end of the twenty-third capacitor C23, one end of the button S1 is connected to the 14th pin of the control chip U2, and the other end of the button S1 is connected to the twenty-third capacitor The other end of C23 is grounded;

The 47th pin of the control chip U2 is connected to the 16th pin of the inductance-to-digital converter U1, the 48th pin of the control chip U2 is connected to the 14th pin of the inductance-to-digital converter U1, and the 51st pin of the control chip U2 is connected to the inductance-to-digital converter The 2nd pin of U1 is connected, the 52nd pin of the control chip U2 is connected with the 1st pin of the inductance-to-digital converter U1, the 53rd pin of the control chip U2 is connected with the 5th pin of the inductance-to-digital converter U1, and the 5th pin of the control chip U2 Pin 54 is connected to pin 3 of inductance-to-digital converter U1, pin 6, pin 11, pin 28, pin 50, pin 75 and pin 100 of the control chip U2 are all connected to 3.3V voltage, and the control chip The 10th, 27th, 49th, 74th and 99th pins of U2 are all grounded.

The present invention also discloses a method for defining the above-mentioned device for defining the working area of a mobile robot. The number of signal detectors is two, and the induction coils L1 of the two signal detectors are arranged on the mobile robot in parallel, as shown in FIG. 3 Show. The following will be described in conjunction with specific embodiments.

Embodiment: A method for defining a device for defining the working area of a mobile robot. The working area is surrounded by a square border, and the border material has a wide range of sources, which can be low-cost pressed foil or common iron wire, specifically including the following step:

① Initialize the controller and signal detector;

② Store the reference value range Vmin~Vmax corresponding to the loss resistance or resonance frequency when the induction coil L1 extends above the boundary into the controller, where Vmin is the loss resistance or the number corresponding to the resonance frequency when the induction coil L1 starts to enter above the boundary The size of the signal, Vmax is the size of the digital signal corresponding to the loss resistance or the resonance frequency when the induction coil L1 completely enters the boundary;

③Adjust the moving direction of the mobile robot into the working area:

③-1 The controller drives the mobile robot to enter the working area through a boundary, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil L1 in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to the controller. The digital signals corresponding to the loss resistance or resonance frequency obtained by the two detection circuits in real time are denoted as V1 and V2;

③-2 If one of V1 and V2 falls within the range of Vmin～Vmax first, the controller drives the mobile robot to adjust the moving direction until both V1 and V2 fall within the range of Vmin～Vmax and are equal in size; When entering the range of Vmin～Vmax, if V1 and V2 are equal, the moving direction of the mobile robot does not need to be adjusted. If V1 and V2 are not equal, the controller drives the mobile robot to adjust the moving direction until V1 and V2 are equal in size and fall into Vmin～ Within the range of Vmax, at this time, the moving direction of the mobile robot in the working area is perpendicular to the boundary of the entry point;

④ Control the mobile robot to traverse in the right area of the working area, the specific process is:

④-1 The mobile robot moves forward in a direction perpendicular to the boundary of the entry point. The two detection circuits obtain the loss resistance or resonance frequency of the induction coil L1 in real time, and convert the loss resistance or resonance frequency into a digital signal and send it to the controller. The controller compares the value of the real-time digital signal with the reference value range Vmin～Vmax, and if the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary opposite to the boundary of the entry point;

④-2 When the mobile robot reaches the boundary opposite to the entry boundary, the controller controls the mobile robot to turn 90 degrees clockwise and then move forward for a distance d parallel to the direction of the boundary opposite to the entry boundary, where d is equal to the mobile robot The working width (for example, d in the mobile robot for mowing is the length of the mowing tool, and d in the mobile robot for sweeping the floor is the suction distance of the dust collection equipment), and then rotate 90 degrees clockwise to move forward;

④-3 Repeat step ④-2 every time it encounters the boundary opposite to the boundary of the entry point, and count the number of times the mobile robot moves forward along the direction parallel to the boundary opposite to the boundary of the entry point, and record the number of times as n; when the mobile robot reaches the right boundary while moving along the boundary parallel to the boundary opposite to the entry boundary, stop moving, control the mobile robot to rotate clockwise 90 degrees and then move forward to the boundary to complete the traversal of the right area;

⑤Control the mobile robot to rotate 90 degrees clockwise at the right boundary, and then move a distance of n*d perpendicular to the right boundary, and then rotate 90 degrees clockwise. At this time, the moving direction of the mobile robot is perpendicular to the boundary of the entry place;

⑥Control the mobile robot to traverse in the left area of the working area, the specific process is:

⑥-1 The mobile robot moves forward along the direction perpendicular to the boundary of the entrance, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil L1 in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to To the controller, the controller compares the real-time digital signal with the reference value range Vmin～Vmax, if the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary opposite to the boundary of the entry point;

⑥-2 When the mobile robot reaches the boundary opposite to the entry boundary, the controller controls the mobile robot to turn 90 degrees counterclockwise and then move forward for a distance d in a direction parallel to the boundary opposite to the entry boundary, where d is equal to the movement The working width of the robot, and then turn 90 degrees counterclockwise to move forward;

⑥-3 Repeat step ⑥-2 every time when encountering the boundary opposite to the boundary of the entry point. When the mobile robot reaches the left boundary while moving along the boundary parallel to the boundary opposite to the entry point, stop moving and control the mobile robot After turning 90 degrees counterclockwise, move forward to the boundary to complete the traversal of the left area.

In this embodiment, the encoder adopts a mature product in its technical field. As shown in Figure 4, the mobile robot 1 moves in a certain way in the working area 2 according to the planned tasks. When entering the working area 2, the position of the mobile robot 1 relative to the boundary 3 is corrected by two detection circuits so that Correct to a state perpendicular to the boundary 31 at the entry point. The detection circuit actually detects the loss resistance or resonance frequency of the induction coil L1 and transmits the corresponding signal to the controller. When the mobile robot encounters the boundary 32 opposite to the boundary 31, the detection circuit detects the change of the magnetic field signal of the induction coil L1. The loss resistance or resonant frequency of coil L1 changes, and the corresponding signal is sent to the controller. The controller determines that the mobile robot has reached the boundary, changes the planned task, and drives the mobile robot 1 to turn around and return to the working area. The robot 1 works reciprocally in the working area.

In this embodiment, as shown in FIG. 1 , the detection circuit includes an inductance-to-digital converter U1, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6 and The seventh capacitor C7, the model of the inductance-to-digital converter U1 is LDC1000, LDC1041 or LDC1051, the 4th pin of the inductance-to-digital converter U1, one end of the first capacitor C1 and one end of the second capacitor C2 are connected and its connection end is connected to 3.3 V voltage, the other end of the first capacitor C1 and the other end of the second capacitor C2 are both grounded, the 13th pin of the inductance-to-digital converter U1 is connected to one end of the third capacitor C3, the other end of the third capacitor C3 is grounded, and the inductance digital The 7th pin of the converter U1 is connected to one end of the fourth capacitor C4, the other end of the fourth capacitor C4 is connected to the 8th pin of the inductance-to-digital converter U1, and the 11th and 17th pins of the inductance-to-digital converter U1 are both connected to Analog ground, the 9th pin of the inductance-to-digital converter, one end of the seventh capacitor C7, and one end of the induction coil L1 are connected, the tenth pin of the inductance-to-digital converter U1, the other end of the seventh capacitor C7, and the other end of the induction coil L1 Connection, the 12th pin of the inductance-to-digital converter U1, one end of the fifth capacitor C5 and one end of the sixth capacitor C6 are connected and the connection end is connected to a 5V voltage, the other end of the fifth capacitor C5 is connected to the other end of the sixth capacitor C6 All are connected to the analog ground, and pins 1, 2, 3, 5, 14 and 16 of the inductance-to-digital converter U1 are respectively connected to the controller.

In this embodiment, as shown in FIG. 2 , the controller includes a control chip U2 whose model is STM32F103, a voltage regulator chip M1 whose model is SPX1117, a first resistor R1, a second resistor R2, a third resistor R3, and a fourth resistor R4, eighth capacitor C8, ninth capacitor C9, tenth capacitor C10, eleventh capacitor C11, twelfth capacitor C12, thirteenth capacitor C13, fourteenth capacitor C14, fifteenth capacitor C15, sixteenth capacitor Capacitor C16, seventeenth capacitor C17, eighteenth capacitor C18, nineteenth capacitor C19, twentieth capacitor C20, twenty-first capacitor C21, twenty-second capacitor C22, twenty-third capacitor C23, first Crystal oscillator Y1, second crystal oscillator Y2, button S1 and connecting terminal P1;

One end of the first resistor R1 is grounded, the other end of the first resistor R1 is connected to the analog ground, the second pin of the voltage regulator chip M1, one end of the eighth capacitor C8 and one end of the ninth capacitor C9 are connected, and the connecting end is connected to 5V voltage , the third pin of the voltage regulator chip M1, one end of the tenth capacitor C10 and one end of the eleventh capacitor C11 are connected and the connecting end outputs a voltage of 3.3V, the other end of the eighth capacitor C8, the other end of the ninth capacitor C9, The other end of the tenth capacitor C10 and the other end of the eleventh capacitor C11 are grounded;

One end of the twelfth capacitor C12, the second pin of the first crystal oscillator Y1 and the twelfth pin of the control chip U2 are connected, the other end of the twelfth capacitor C12 and one end of the thirteenth capacitor C13 are grounded, and the thirteenth capacitor C13 The other end of the first crystal oscillator Y1 is connected to one end of the second resistor R2, and the other end of the second resistor R2 is connected to the 13th pin of the control chip U2;

One end of the fourteenth capacitor C14, the second pin of the second crystal oscillator Y2 and the eighth pin of the control chip U2 are connected, the other end of the fourteenth capacitor C14 and one end of the fifteenth capacitor C15 are grounded, and the fifteenth capacitor C15 The other end of the second crystal oscillator Y2 is connected to the 9th pin of the control chip U2;

One end of the sixteenth capacitor C16, one end of the seventeenth capacitor C17, one end of the eighteenth capacitor C18, one end of the nineteenth capacitor C19, one end of the twentieth capacitor C20, one end of the twenty-first capacitor C21 and the One end of the twenty-second capacitor C22 is connected and its connection end is connected to 3.3V voltage, the other end of the sixteenth capacitor C16, the other end of the seventeenth capacitor C17, the other end of the eighteenth capacitor C18, and the nineteenth capacitor C19 The other end of the twentieth capacitor C20, the other end of the twenty-first capacitor C21 and the other end of the twenty-second capacitor C22 are all grounded;

One end of the third resistor R3 is connected to 3.3V voltage, the other end of the third resistor R3, the second pin of the connection terminal P1 is connected to the 94th pin of the control chip U2, and the first pin of the connection terminal P1 is grounded; the fourth resistor R4 One end of the fourth resistor R4 is connected to the 3.3V voltage, the other end of the fourth resistor R4, one end of the twenty-third capacitor C23, one end of the button S1 is connected to the 14th pin of the control chip U2, and the other end of the button S1 is connected to the twenty-third capacitor The other end of C23 is grounded;

The 47th pin of the control chip U2 is connected to the 16th pin of the inductance-to-digital converter U1, the 48th pin of the control chip U2 is connected to the 14th pin of the inductance-to-digital converter U1, and the 51st pin of the control chip U2 is connected to the inductance-to-digital converter The 2nd pin of U1 is connected, the 52nd pin of the control chip U2 is connected with the 1st pin of the inductance-to-digital converter U1, the 53rd pin of the control chip U2 is connected with the 5th pin of the inductance-to-digital converter U1, and the 5th pin of the control chip U2 Pin 54 is connected to pin 3 of inductance-to-digital converter U1, pin 6, pin 11, pin 28, pin 50, pin 75 and pin 100 of the control chip U2 are all connected to 3.3V voltage, and the control chip The 10th, 27th, 49th, 74th and 99th pins of U2 are all grounded.

In the present invention, when the mobile robot needs to walk along the boundary, we can complete it in a guiding manner similar to the above definition method, that is, after encountering the boundary, adjust the mobile robot so that the moving direction of the mobile robot is perpendicular to the boundary, and then control the movement The robot is turned 90 degrees so that it is parallel to the boundary, and then it can move along the boundary, as shown in Figure 5.

Claims (4)

1. A device for defining the working area of a mobile robot, comprising a controller and at least one signal detector, said controller and said signal detector being mounted on a mobile robot, characterized in that said signal detector The device includes an induction coil for generating electromagnetic induction with the boundary of the conductive material and a detection circuit for obtaining the loss resistance or resonance frequency of the induction coil, and the position of the induction coil on the mobile robot is higher than the boundary, The reference value range of the loss resistance or the resonant frequency when the induction coil extends above the boundary is stored in the controller, and the detection circuit acquires the loss resistance or the resonant frequency of the induction coil in real time, and The loss resistance or the resonant frequency is converted into a digital signal and sent to the controller, and the controller compares the value of the real-time digital signal with the reference value range, and if the value of the real-time digital signal falls within the reference value range, then The mobile robot reaches the border; The detection circuit includes an inductance-to-digital converter, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, and a seventh capacitor, and the model of the inductance-to-digital converter is LDC1000 , LDC1041 or LDC1051, the 4th pin of the inductance-to-digital converter, one end of the first capacitor and one end of the second capacitor are connected and the connection end is connected to 3.3V voltage, the first The other end of the capacitor and the other end of the second capacitor are grounded, the 13th pin of the inductance-to-digital converter is connected to one end of the third capacitor, and the other end of the third capacitor is grounded, The 7th pin of the inductance-to-digital converter is connected to one end of the fourth capacitor, the other end of the fourth capacitor is connected to the 8th pin of the inductance-to-digital converter, and the inductance digital Both the 11th pin and the 17th pin of the converter are connected to the analog ground, the 9th pin of the inductance-to-digital converter, one end of the seventh capacitor and one end of the induction coil are connected, and the inductance digital The 10th pin of the converter, the other end of the seventh capacitor and the other end of the induction coil are connected, the 12th pin of the inductance-to-digital converter, one end of the fifth capacitor and the One end of the sixth capacitor is connected and its connection end is connected to 5V voltage, the other end of the fifth capacitor and the other end of the sixth capacitor are both connected to analog ground, and the first inductance-to-digital converter of the The pin, the 2nd pin, the 3rd pin, the 5th pin, the 14th pin and the 16th pin are respectively connected with the controller. 2. The device for defining the working area of a mobile robot according to claim 1, wherein said controller includes a control chip that is a model STM32F103, a voltage regulator chip that a model is SPX1117, a first resistor, a second Resistor, third resistor, fourth resistor, eighth capacitor, ninth capacitor, tenth capacitor, eleventh capacitor, twelfth capacitor, thirteenth capacitor, fourteenth capacitor, fifteenth capacitor, sixteenth capacitor capacitor, the seventeenth capacitor, the eighteenth capacitor, the nineteenth capacitor, the twentieth capacitor, the twenty-first capacitor, the twenty-second capacitor, the twenty-third capacitor, the first crystal oscillator, the second crystal oscillator, the button and connecting terminal; One end of the first resistor is grounded, the other end of the first resistor is connected to the analog ground, the second pin of the voltage regulator chip, one end of the eighth capacitor and the ninth capacitor One end is connected and its connection end is connected to 5V voltage, the third pin of the voltage regulator chip, one end of the tenth capacitor and one end of the eleventh capacitor are connected and the connection end outputs 3.3V voltage, The other end of the eighth capacitor, the other end of the ninth capacitor, the other end of the tenth capacitor and the other end of the eleventh capacitor are all grounded; One end of the twelfth capacitor, the second pin of the first crystal oscillator and the twelfth pin of the control chip are connected, the other end of the twelfth capacitor is connected to the thirteenth capacitor One end of both is grounded, the other end of the thirteenth capacitor, the first pin of the first crystal oscillator is connected to one end of the second resistor, the other end of the second resistor is connected to the The 13th pin connection of the control chip; One end of the fourteenth capacitor, the second pin of the second crystal oscillator and the eighth pin of the control chip are connected, the other end of the fourteenth capacitor is connected to the fifteenth capacitor One end of both is grounded, the other end of the fifteenth capacitor, the first pin of the second crystal oscillator and the ninth pin of the control chip are connected; One end of the sixteenth capacitor, one end of the seventeenth capacitor, one end of the eighteenth capacitor, one end of the nineteenth capacitor, one end of the twentieth capacitor, One end of the twenty-first capacitor is connected to one end of the twenty-second capacitor and its connection end is connected to a 3.3V voltage, the other end of the sixteenth capacitor, the seventeenth capacitor the other end of the eighteenth capacitor, the other end of the nineteenth capacitor, the other end of the twentieth capacitor, the other end of the twenty-first capacitor and the The other end of the twenty-second capacitor mentioned above is all grounded; One end of the third resistor is connected to 3.3V voltage, the other end of the third resistor, the second pin of the connecting terminal is connected to the 94th pin of the control chip, and the connecting terminal The first pin of the ground is grounded; one end of the fourth resistor is connected to a 3.3V voltage, the other end of the fourth resistor, one end of the twenty-third capacitor, one end of the button and the The 14th pin of the control chip is connected, and the other end of the button and the other end of the twenty-third capacitor are grounded; The 47th pin of the control chip is connected to the 16th pin of the inductance-to-digital converter, the 48th pin of the control chip is connected to the 14th pin of the inductance-to-digital converter, and the control The 51st pin of the chip is connected to the 2nd pin of the inductance-to-digital converter, the 52nd pin of the control chip is connected to the 1st pin of the inductance-to-digital converter, and the 53rd pin of the control chip The pin is connected to the 5th pin of the inductance-to-digital converter, the 54th pin of the control chip is connected to the 3rd pin of the inductance-to-digital converter, the 6th pin, the 11th pin of the control chip Pin, 28th pin, 50th pin, 75th pin and 100th pin are all connected to 3.3V voltage, and the 10th pin, 27th pin, 49th pin, 74th pin and 99th pin of the control chip are connected grounded. 3. A method for defining the device for defining the working area of a mobile robot as claimed in claim 1, wherein the number of the signal detectors is two, and the induction coils of the two signal detectors are parallel Settings, specifically include the following steps: ① Initialize the controller and signal detector; ② Store the loss resistance or the reference value range Vmin~Vmax corresponding to the resonance frequency when the induction coil extends above the boundary into the controller, where Vmin is the loss resistance or the digital signal corresponding to the resonance frequency when the induction coil starts to enter the boundary Size, Vmax is the size of the digital signal corresponding to the loss resistance or the resonance frequency when the induction coil fully enters the boundary; ③Adjust the moving direction of the mobile robot into the working area: ③-1 The controller drives the mobile robot to enter the working area through a boundary, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to the controller. The digital signals corresponding to the loss resistance or the resonant frequency obtained by the detection circuit in real time are denoted as V1 and V2; ③-2 If one of V1 and V2 falls within the range of Vmin～Vmax first, the controller drives the mobile robot to adjust the moving direction until both V1 and V2 fall within the range of Vmin～Vmax and are equal in size; When entering the range of Vmin～Vmax, if V1 and V2 are equal, the moving direction of the mobile robot does not need to be adjusted. If V1 and V2 are not equal, the controller drives the mobile robot to adjust the moving direction until V1 and V2 are equal in size and fall into Vmin～ Within the range of Vmax, at this time, the moving direction of the mobile robot in the working area is perpendicular to the boundary of the entry point; ④ Control the mobile robot to traverse in the right area of the working area, the specific process is: ④-1 The mobile robot moves forward along the direction perpendicular to the boundary of the entrance, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to a controller, the controller compares the real-time digital signal with the reference value range Vmin-Vmax, and if the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary opposite to the entry boundary; ④-2 When the mobile robot reaches the boundary opposite to the entry boundary, the controller controls the mobile robot to turn 90 degrees clockwise and then move forward for a distance d parallel to the direction of the boundary opposite to the entry boundary, where d is equal to the mobile robot working width, and then turn 90 degrees clockwise to move forward; ④-3 Repeat step ④-2 every time it encounters the boundary opposite to the boundary of the entry point, and count the number of times the mobile robot moves forward along the direction parallel to the boundary opposite to the boundary of the entry point, and record the number of times as n; when the mobile robot reaches the right boundary while moving along the boundary parallel to the boundary opposite to the entry boundary, stop moving, control the mobile robot to rotate clockwise 90 degrees and then move forward to the boundary to complete the traversal of the right area; ⑤Control the mobile robot to rotate 90 degrees clockwise at the right boundary, and then move a distance of n*d perpendicular to the right boundary, and then rotate 90 degrees clockwise. At this time, the moving direction of the mobile robot is perpendicular to the boundary of the entry place; ⑥Control the mobile robot to traverse in the left area of the working area, the specific process is: ⑥-1 The mobile robot moves forward along the direction perpendicular to the boundary of the entrance, and the two detection circuits obtain the loss resistance or resonance frequency of the induction coil in real time, and convert the loss resistance or resonance frequency into a real-time digital signal and send it to The controller, the controller compares the value of the real-time digital signal with the reference value range Vmin～Vmax, if the value of the real-time digital signal falls within the reference value range, the mobile robot reaches the boundary opposite to the boundary of the entry point; ⑥-2 When the mobile robot reaches the boundary opposite to the entry boundary, the controller controls the mobile robot to turn 90 degrees counterclockwise and then move forward for a distance d in a direction parallel to the boundary opposite to the entry boundary, where d is equal to the movement The working width of the robot, and then turn 90 degrees counterclockwise to move forward; ⑥-3 Repeat step ⑥-2 every time when encountering the boundary opposite to the boundary of the entry point. When the mobile robot reaches the left boundary while moving along the boundary parallel to the boundary opposite to the entry point, stop moving and control the mobile robot Turn 90 degrees counterclockwise and move forward to the boundary to complete the traversal of the left area; The detection circuit includes an inductance-to-digital converter, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, and a seventh capacitor, and the model of the inductance-to-digital converter is LDC1000 , LDC1041 or LDC1051, the 4th pin of the inductance-to-digital converter, one end of the first capacitor and one end of the second capacitor are connected and the connection end is connected to 3.3V voltage, the first The other end of the capacitor and the other end of the second capacitor are grounded, the 13th pin of the inductance-to-digital converter is connected to one end of the third capacitor, and the other end of the third capacitor is grounded, The 7th pin of the inductance-to-digital converter is connected to one end of the fourth capacitor, the other end of the fourth capacitor is connected to the 8th pin of the inductance-to-digital converter, and the inductance digital Both the 11th pin and the 17th pin of the converter are connected to the analog ground, the 9th pin of the inductance-to-digital converter, one end of the seventh capacitor and one end of the induction coil are connected, and the inductance digital The 10th pin of the converter, the other end of the seventh capacitor and the other end of the induction coil are connected, the 12th pin of the inductance-to-digital converter, one end of the fifth capacitor and the One end of the sixth capacitor is connected and its connection end is connected to 5V voltage, the other end of the fifth capacitor and the other end of the sixth capacitor are both connected to analog ground, and the first inductance-to-digital converter of the The pin, the 2nd pin, the 3rd pin, the 5th pin, the 14th pin and the 16th pin are respectively connected with the controller. 4. The method for defining the device for defining the working area of a mobile robot according to claim 3, wherein the controller includes a control chip whose model is STM32F103, a voltage regulator chip whose model is SPX1117, a first resistor , the second resistor, the third resistor, the fourth resistor, the eighth capacitor, the ninth capacitor, the tenth capacitor, the eleventh capacitor, the twelfth capacitor, the thirteenth capacitor, the fourteenth capacitor, the fifteenth capacitor, The sixteenth capacitor, the seventeenth capacitor, the eighteenth capacitor, the nineteenth capacitor, the twentieth capacitor, the twenty-first capacitor, the twenty-second capacitor, the twenty-third capacitor, the first crystal oscillator, the second crystal oscillator , buttons and connecting terminals; One end of the first resistor is grounded, the other end of the first resistor is connected to the analog ground, the second pin of the voltage regulator chip, one end of the eighth capacitor and the ninth capacitor One end is connected and its connection end is connected to 5V voltage, the third pin of the voltage regulator chip, one end of the tenth capacitor and one end of the eleventh capacitor are connected and the connection end outputs 3.3V voltage, The other end of the eighth capacitor, the other end of the ninth capacitor, the other end of the tenth capacitor and the other end of the eleventh capacitor are all grounded; One end of the twelfth capacitor, the second pin of the first crystal oscillator and the twelfth pin of the control chip are connected, the other end of the twelfth capacitor is connected to the thirteenth capacitor One end of both is grounded, the other end of the thirteenth capacitor, the first pin of the first crystal oscillator is connected to one end of the second resistor, the other end of the second resistor is connected to the The 13th pin connection of the control chip; One end of the fourteenth capacitor, the second pin of the second crystal oscillator is connected to the eighth pin of the control chip, the other end of the fourteenth capacitor is connected to the fifteenth capacitor One end of both is grounded, the other end of the fifteenth capacitor, the first pin of the second crystal oscillator and the ninth pin of the control chip are connected; One end of the sixteenth capacitor, one end of the seventeenth capacitor, one end of the eighteenth capacitor, one end of the nineteenth capacitor, one end of the twentieth capacitor, One end of the twenty-first capacitor is connected to one end of the twenty-second capacitor and its connection end is connected to a 3.3V voltage, the other end of the sixteenth capacitor, the seventeenth capacitor the other end of the eighteenth capacitor, the other end of the nineteenth capacitor, the other end of the twentieth capacitor, the other end of the twenty-first capacitor and the The other end of the twenty-second capacitor mentioned above is all grounded; One end of the third resistor is connected to a 3.3V voltage, the other end of the third resistor, the second pin of the connecting terminal is connected to the 94th pin of the control chip, and the connecting terminal The first pin of the ground is grounded; one end of the fourth resistor is connected to a 3.3V voltage, the other end of the fourth resistor, one end of the twenty-third capacitor, one end of the button and the The 14th pin of the control chip is connected, and the other end of the button and the other end of the twenty-third capacitor are grounded; The 47th pin of the control chip is connected to the 16th pin of the inductance-to-digital converter, the 48th pin of the control chip is connected to the 14th pin of the inductance-to-digital converter, and the control The 51st pin of the chip is connected to the 2nd pin of the inductance-to-digital converter, the 52nd pin of the control chip is connected to the 1st pin of the inductance-to-digital converter, and the 53rd pin of the control chip The pin is connected to the 5th pin of the inductance-to-digital converter, the 54th pin of the control chip is connected to the 3rd pin of the inductance-to-digital converter, the 6th pin, the 11th pin of the control chip pins, 28th pins, 50th pins, 75th pins and 100th pins are all connected to 3.3V voltage, and the 10th pins, 27th pins, 49th pins, 74th pins and 99th pins of the control chip are all grounded.