Marking device for autonomous work system

Abstract

The utility model discloses a marking device of an autonomous operation system. In the utility model, the marking device comprises: a housing; the first permanent magnets are arranged in the shell, the first permanent magnets extend in the first direction, and the first permanent magnets are oppositely separated in the second direction and are parallel to each other; the first direction is perpendicular to the second direction. Therefore, the autonomous operation equipment can flexibly reverse and directionally move, the cost is low, and the working efficiency is improved.

Description

[0001] This patent application claims the priority of the following Chinese patent applications:

[0002] Filing date: March 7, 2024; Application number: 2024102623265; Invention name: Autonomous operation system;

[0003] The above-referenced application is incorporated herein by reference in its entirety. Technical Field

[0004] The utility model relates to an autonomous operation system, in particular to a marking device of the autonomous operation system. Background Art

[0005] There are various autonomous operation equipments on the market, such as robots for mowing, robots for sweeping and robots for mopping, etc. Take the mowing robot as an example, the mowing robot is used to trim the lawn, but the existing mowing robot cannot be positioned and changed direction when it needs to change direction or walk across areas according to work requirements, and the work efficiency is low. Utility Model Content

[0006] The utility model aims to provide a marking device for an autonomous operation system, so that the autonomous operation device can flexibly switch directions and move in a directional manner, with low cost and improved work efficiency.

[0007] In order to solve the above technical problems, the embodiment of the utility model provides a marking device of an autonomous operation system, and the marking device comprises:

[0008] case;

[0009] A pair of first permanent magnets, wherein the first permanent magnets are arranged in the shell, the first permanent magnets extend along a first direction, and the pair of first permanent magnets are relatively spaced apart and parallel to each other along a second direction; the first direction and the second direction are perpendicular.

[0010] Compared with the prior art, the implementation mode of the utility model sets a marking device in the working area through the setting of a pair of first permanent magnets, and indicates the direction to guide the autonomous operating equipment. The autonomous operating equipment works in the working area and changes direction after detecting the magnetic field of the first permanent magnet, thereby realizing the reversal of the autonomous operating equipment, and then allowing the autonomous operating equipment to move from the current working area to the adjacent working area. The reversal is flexible, the cost is low, and the working effect is improved.

[0011] In one embodiment, the shell includes: a bottom plate, and a cover plate covering the bottom plate; the first permanent magnet is disposed in the cover plate.

[0012] In one embodiment, a mounting groove for accommodating the first permanent magnet is provided on the cover plate, and limiting ribs are provided on the inner wall of the mounting groove.

[0013] In one embodiment, the marking device is provided with a hollow hole running through it.

[0014] In one embodiment, the projection of the hollow hole on the ground accounts for no less than 1 / 5 of the total area enclosed by the projection of the outer contour of the marking device on the ground.

[0015] In one embodiment, the projection of the hollow hole on the ground accounts for no less than 1 / 2 of the total area enclosed by the projection of the outer contour of the marking device on the ground.

[0016] In one embodiment, nail holes for ground nails to pass through are formed on both the bottom plate and the cover plate.

[0017] In one embodiment, the marking device further comprises: a second permanent magnet disposed in the housing, and the second permanent magnet is located between a pair of the first permanent magnets;

[0018] The second permanent magnet extends along the second direction and is perpendicular to the first permanent magnet.

[0019] In one embodiment, the autonomous operation system includes: an autonomous operation device having a pair of first magnetic field sensors for detecting the marking device;

[0020] The height of the first magnetic field sensor from the ground is H0, and the distance between a pair of the first magnetic field sensors is W0; the length of the first permanent magnet of the marking device set on the ground is L1, the height of the first permanent magnet from the ground is H1, the distance between the pair of the first permanent magnets is G, and the length of the second permanent magnet is L2;

[0021] G≥100mm, W0 / G<1;

[0022] 0.75≤L2 / G≤1;

[0023] H0≥40mm, ΔH=H0–H1, ΔH≤100mm.

[0024] In one embodiment, 0.5≤W0 / G≤0.6.

[0025] In one embodiment, G ≥ 150 mm.

[0026] In one embodiment, 0.9≤L2 / G≤1.

[0027] In one embodiment, H0≥50 mm.

[0028] In one embodiment, ΔH≤85.

[0029] In one embodiment, the first permanent magnet is a strong magnet and the second permanent magnet is a weak magnet.

[0030] In one embodiment, when the first magnetic field sensor is at a height H0 from the ground, the strength of the earth's magnetic field in the vertical direction can be measured as Be, and the strength of the composite magnetic field of the first permanent magnet and the earth's magnetic field in the vertical direction can be measured as Bs;

[0031] The autonomous operation equipment has a second magnetic field sensor for detecting the marking equipment, which can measure that the strength of the composite magnetic field of the second permanent magnet and the earth's magnetic field in the vertical direction is Bw, then 12<Bs / Be<27, 2<Bw / Be<10, 2<Bs / Bw<8.

[0032] In one embodiment, when H0 is 81-90 mm, W0 is 85-94 mm, L1 is 38-42 mm, H1 is 5.5-6.1 mm, L2 is 142-158 mm, and G is 152-168 mm, Be is 30-50 Gauss, Bw is 100-300 Gauss, and Bs is 600-800 Gauss.

[0033] In one embodiment, the autonomous operation system comprises: an autonomous operation device, the autonomous operation device having at least one first magnetic field sensor for detecting the marking device; the autonomous operation device operates in at least two mutually separated working areas, each of which has a boundary;

[0034] The marking device is arranged in each of the working areas, and the autonomous operation device changes direction according to the first permanent magnet signal detected by each of the first magnetic field sensors.

[0035] In one embodiment, the marking device is adjacent to the boundary; the autonomous operating device changes direction according to the first permanent magnet signal detected by each of the first magnetic field sensors, and moves from a current working area to an adjacent working area.

[0036] In one embodiment, the extension lines of the boundaries of two adjacent working areas are adjacent, and the boundary is an adjacent side boundary; and the marking device is adjacent to the adjacent side boundary.

[0037] In one embodiment, a direction indication mark is provided on the outer surface of the shell.

[0038] In one embodiment, the magnetic field direction of the first permanent magnet is consistent with the direction of the earth's magnetic field. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0040] Figure 1 It is a structural schematic diagram of a marking device in one embodiment of the utility model.

[0041] Figure 2 is an exploded view of a marking device in one embodiment of the utility model, with its bottom surface facing upward;

[0042] Figure 3 is a cross-sectional view of a marking device along X2-X2 in one embodiment of the utility model;

[0043] Figure 4 is a cross-sectional view of a marking device along X1-X1 in one embodiment of the utility model;

[0044] Figure 5 It is a structural schematic diagram of an autonomous operation device in one embodiment of the utility model;

[0045] Figure 6 yes Figure 5 A partial enlarged view of middle A;

[0046] Figure 7 It is a schematic diagram of the cooperation between the marking device, the autonomous operation device and the working area in one embodiment of the utility model;

[0047] Figure 8 is a schematic diagram of the cooperation between the marking device, the autonomous operation device and the working area in another embodiment of the present invention;

[0048] Fig. 9 It is a flow chart of a control method of an autonomous operation device in one embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, each embodiment of the utility model will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in each embodiment of the utility model, many technical details are proposed in order to enable readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented.

[0050] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0051] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0052] The following will be combined with the accompanying drawings to describe the various embodiments of the present invention in detail, so as to more clearly understand the purpose, characteristics and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0053] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0054] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and / or" unless the context clearly dictates otherwise.

[0055] In the following description, in order to clearly demonstrate the structure and working mode of the utility model, many directional words will be used for description, but the words "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as restrictive terms.

[0056] Embodiments of the present invention are described below with reference to the accompanying drawings.

[0057] The autonomous operation system includes: a marking device and an autonomous operation device. The autonomous operation device is especially an autonomous operation device that can autonomously move in a preset area and perform specific operations, such as a smart sweeper / vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations. Among them, the specific operation especially refers to the operation of processing the working surface and changing the state of the working surface. The utility model is described in detail using a smart lawn mower as an example. The autonomous operation device can autonomously walk on the surface of the working area, especially as a smart lawn mower that can autonomously perform mowing operations on the ground. The autonomous operation device includes at least a main mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, etc. The autonomous operation system also includes: a docking station set at the boundary of a working area.

[0058] The main mechanism usually includes a chassis and a shell. The chassis is used to install and accommodate functional mechanisms and functional modules such as mobile mechanisms, working mechanisms, energy modules, detection modules, interaction modules, and control modules. The shell is usually constructed to at least partially cover the chassis, mainly to enhance the aesthetics and recognition of the autonomous operating equipment. In this embodiment, the shell is constructed to be able to translate and / or rotate relative to the chassis in a resettable manner under the action of an external force, and in conjunction with an appropriate detection module, such as a Hall sensor, it can further play a role in sensing events such as collisions and lifts.

[0059] The mobile mechanism is configured to support the main mechanism on the ground and drive the main mechanism to move on the ground, and generally includes a wheeled mobile mechanism, a crawler or semi-crawler mobile mechanism, and a walking mobile mechanism. In the present embodiment, the mobile mechanism is a wheeled mobile mechanism, including at least one driving wheel and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In the present embodiment, a left driving wheel, a left walking prime mover that drives the left driving wheel, a right driving wheel, and a right walking prime mover that drives the right driving wheel are preferably provided. In the present embodiment, the straight-line travel of the autonomous working equipment is realized by the same-direction and uniform-speed rotation of the left and right driving wheels, and the steering travel is realized by the same-direction differential or opposite rotation of the left and right driving wheels. In other embodiments, the mobile mechanism may also include a steering mechanism independent of the driving wheel and a steering prime mover independent of the walking prime mover. In the present embodiment, the mobile mechanism also includes at least one driven wheel, and the driven wheel is typically configured as a universal wheel, and the driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working equipment.

[0060] The working mechanism is constructed to perform specific work tasks, including a working part and a working prime mover that drives the working part to run. For example, for an intelligent sweeper / vacuum cleaner, the working part includes a roller brush, a dust suction tube, and a dust collection chamber, etc.; for an intelligent lawn mower, the working part includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The working prime mover is preferably an electric motor, and in other embodiments it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In some other embodiments, the working prime mover and the travel prime mover are constructed as the same prime mover.

[0061] The energy module is configured to provide energy for various operations of the autonomous operation device. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous operation device.

[0062] The detection module is constructed as at least one sensor that senses the environmental parameters of the autonomous operating equipment or its own working parameters. Typically, the detection module may include sensors related to the limitation of the working area, such as magnetic induction, collision, ultrasonic, infrared, radio and other types, and the sensor type is adapted to the position and quantity of the corresponding signal generating device. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, etc. The detection module may also include sensors related to its own working safety, such as obstacle sensors, lift sensors, battery pack temperature sensors, etc. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, rain sensors, etc.

[0063] The interaction module is constructed to at least receive control command information input by the user, send information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc. In this embodiment, the interaction module includes an input device provided on the autonomous operating equipment, which is used to receive control command information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, an indicator light and / or a buzzer provided on the autonomous operating equipment, which allows the user to perceive information by emitting light or sound. In other embodiments, the interaction module includes a communication module provided on the autonomous operating equipment and a terminal device independent of the autonomous operating equipment, such as a mobile phone, a computer, a network server, etc. The user's control command information or other information can be input on the terminal device and reach the autonomous operating equipment via a wired or wireless communication module.

[0064] The control module usually includes at least one processor and at least one non-volatile memory. The memory stores a pre-written computer program or instruction set. The processor controls the execution of the autonomous operation equipment's movement, work, and other actions according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operation equipment, modify the parameters in the memory, etc. according to the signal of the detection module and / or the user control instruction.

[0065] The boundary is used to define the working area of ​​the autonomous working equipment system, and usually includes an outer boundary and an inner boundary. The autonomous working equipment is limited to move and work within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary can be physical, typically such as a wall, fence, railing, etc.; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device, which is usually an electromagnetic signal or an optical signal, or for autonomous working equipment equipped with a positioning device (such as GPS, etc.), a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates.

[0066] In this embodiment, the autonomous operation device includes a camera (i.e., a visual module), which is used to collect images in front of the autonomous operation device, and determine the boundary between the working area and the non-working area by analyzing the image, thereby determining the boundary of the working area. In some other embodiments, the boundary is formed by a closed energized wire.

[0067] The docking station is usually constructed on or within a boundary for the autonomous working equipment to dock, and in particular can supply energy to the autonomous working equipment docked at the docking station.

[0068] The autonomous operation equipment is provided with a sensor control board, and a pair of marking equipment magnetic field sensors are provided on the sensor control board.

[0069] The autonomous operation system also includes at least one marking device, the marking device includes a signal element, and the signal element can be sensed by the marking device sensor. The signal element is preferably a passive signal element, that is, the signal element generates a signal independent of a power supply. In this embodiment, the signal element is preferably a permanent magnet, and accordingly, the marking device sensor is preferably a magnetic field sensor, further preferably a magnetometer, and further preferably a 3D magnetometer. In some other embodiments, the signal element can also be a radio frequency tag (RFID tag), and accordingly, the marking device sensor is a radio frequency tag reader (RFID reader).

[0070] The first embodiment of the present invention relates to a marking device 200 of an autonomous operation system. Figure 1 , Figure 2 , Figure 3As shown, the marking device 200 includes: a cover plate 2, a pair of first permanent magnets 1 and a bottom plate 3, wherein the first permanent magnet 1 is disposed in the cover plate 2, the first permanent magnet 1 extends along a first direction A, and the pair of first permanent magnets 1 are relatively spaced apart and parallel to each other along a second direction B. The first direction A is perpendicular to the second direction B. The bottom plate 3 covers the cover plate 2.

[0071] Furthermore, if Figure 5 , Figure 6 As shown, the autonomous working device 100 has at least one first magnetic field sensor 110 for detecting the marking device 200. Figure 7 As shown, the autonomous operation device 100 operates in at least two mutually separated working areas 300, each of which has a boundary, and the boundary between two adjacent working areas 300 is an adjacent boundary 310. A marking device 200 is provided in each working area 300, and the marking device 200 is adjacent to the adjacent boundary 310. The adjacent boundary 310 extends along a first direction. The autonomous operation device 100 changes direction according to the first permanent magnet 1 signal detected by each first magnetic field sensor 110, and moves from the current working area 300 to the adjacent working area 300.

[0072] In other embodiments, the two adjacent working areas 300 may be different from the present embodiment, and may be as follows: Figure 8 In the middle form setting, the marking device 100 is set at the corner end of the working area 300, and the adjacent boundary 310 does not extend along the first direction. After the autonomous operation device detects the marking device 200, it changes direction and moves in the direction indicated by the arrow. Subsequently, it moves in the direction indicated by the marking device 200 to achieve cross-area. The direction of the marking device 200 is as follows: Figure 8 As shown by arrows C and D. That is to say, when the autonomous operation equipment 100 needs to work across zones, the walking direction after the change of direction is not perpendicular to the adjacent boundary 310, but it can achieve the cross-zone. In actual use, the autonomous operation equipment 100 needs to work across zones. After setting up multiple working areas, the user can determine the direction of setting the marking device by himself. The autonomous operation equipment only needs to detect the marking device and change the walking direction to achieve the cross-zone.

[0073] In addition, the marking device may not be adjacent to the adjacent boundary, but adjacent to other boundaries. When the autonomous operation device 100 detects the marking device 200, it can walk toward another working area after changing direction according to the marking device 200 to achieve the cross-area. Alternatively, the setting of the marking device 200 is not based on the boundary, but in the working area, when the autonomous operation device 100 needs to change direction, it can detect the marking device 200 as a standard, that is, the autonomous operation device 100 walks in the current direction, detects the marking device 200, and changes direction.

[0074] In addition, if Figure 1and Figure 7 As shown, the outer surface of the cover plate 2 is provided with a direction indicator 7, and the direction indicator is used to point to its adjacent adjacent edge boundary 310. In actual use, the user can adjust the marking device to change the pointing direction of the direction indicator 7 according to needs.

[0075] Furthermore, two first magnetic field sensors 110 are correspondingly provided on the autonomous operation device 100, and the two first magnetic field sensors 110 are spaced apart on a horizontal plane along an indication direction substantially perpendicular to the marking device 200, that is, relatively spaced apart along the second direction B. In some other embodiments, one, three or more first magnetic field sensors 110 may also be provided. After the autonomous operation device 100 detects the marking device, it crosses the zone along a specific direction, and the specific direction is referred to as the "indication direction". When the autonomous operation device 100 approaches the marking device 200 along the edge in a direction substantially perpendicular to the indication direction, it is necessary for both the left and right first magnetic sensors to detect the peak values ​​of the magnetic induction intensity of the two first permanent magnets 1 in a specific direction to determine whether it is the marking device 200, and then adjust the fuselage to a posture substantially perpendicular to the indication direction according to the posture when the two left and right first magnetic field sensors detect the two peak values. The magnetic field direction of the first permanent magnet 1 should be roughly consistent with the direction of the earth's magnetic field near the local surface. For example, in the northern hemisphere, the S pole of the first permanent magnet 1 faces upward, and the specific direction at this time is roughly vertically downward, so that the earth's magnetic field can be used to enhance the magnetic field of the marking device 200.

[0076] like Figure 7 As shown, there are at least two mutually isolated working areas 300, and the docking station 400 is set in the working area 300I. When the autonomous working device 100 works in the working area 300I and reaches the cross-area condition, it leaves the working area 300I and enters the working area 300II in the direction indicated by the marking device 200. Similarly, when the autonomous working device 100 works in the working area 300II and reaches the cross-area condition, it leaves and enters the working area 300I in the direction indicated by the marking device 200. The cross-area condition includes that the continuous or cumulative working time in the current area reaches a threshold, and the coverage rate (cut area / total area) of the current working area 300 reaches a threshold.

[0077] like Figure 7As shown, using the marking device 200 to cross the area specifically means that when the autonomous operation device 100 determines to execute the cross-area execution, it first walks in a straight line to find the boundary, and walks counterclockwise along the boundary (because the autonomous operation device 100 walks counterclockwise along the boundary to enter the stop 400). If the signal of the marking device 200 is detected when it is possible during the walking along the edge, it is determined whether it is the marking device 200 according to the signal characteristics. If not, continue to walk along the edge; if so, turn in the direction indicated by the signal characteristics, and walk in a straight line to leave the current area. Furthermore, if there are three or more working areas 300, or considering other possible situations, it is necessary to encode different marking devices 200. In this embodiment, when the autonomous operation device 100 first determines to detect the marking device 200 and completes the turn, an image acquisition is performed to extract the features in the image as the encoding information of the current marking device 200. If there are two or more marking devices 200 in the current working area 300, when performing cross-area operation, it is determined that the marking device 200 is detected and after the turn is completed, the currently captured image is compared with the first captured image to determine whether to cross the area from the current marking device 200. If yes, leave the current area from the current marking device 200; if not, continue walking along the edge.

[0078] like Figure 7 As shown, when the autonomous working device 100 reaches the return condition (such as low power, time to end work, etc.), it uses the marking device 200 to return to the working area 300I, and then returns to the parking station 400. In some embodiments, for the case where there are only two working areas 300, since the autonomous working device 100 should always start from the parking station 400, it can be determined whether the autonomous working device 100 is in the working area 300I or the working area 300II according to the number of crossing areas. Specifically, when the number of crossing areas is an odd number, the autonomous working device 100 is in the working area 300II, and when the number of crossing areas is an even number, the autonomous working device 100 is in the working area 300I. When the autonomous working device 100 is in the working area 300I and meets the return condition, the marking device 200 is ignored during the walking along the edge. In some embodiments, the detection function of the marking device 200 is turned off or the detected marking device 200 signal is not processed; in other embodiments, it is determined that after the marking device 200 is detected, it continues to walk along the edge without performing a turning action. When the autonomous working device 100 is in the working area 300II and meets the return condition, it crosses the area according to the direction indicated by the marking device 200 while walking along the edge. In other embodiments, especially when there are three or more working areas 300, the above method of encoding the marking device using the visual module can be used to realize the recognition of different areas.

[0079] Furthermore, if Figure 2 , Figure 3 as well as Figure 4 As shown, the cover plate 2 is provided with a mounting groove 21 for accommodating the first permanent magnet 1, and a limiting rib 22 is provided on the inner wall of the mounting groove 21 to strengthen the restriction on the position of the first permanent magnet 1, so as to prevent the marking device 200 from being hit, crushed, or impacted by the autonomous operating device 100 or other objects during use, causing the first permanent magnet 1 to be displaced, thereby causing the signal detection of the marking device 200 to fail. In addition, a notch 23 is provided on the groove wall of the mounting groove 21.

[0080] Regarding the scheme of using the marking device 200 to cross the zone, some details are recorded in the applicant's prior Chinese patent applications CN202311369666X, CN2023113739627 and PCT application PCT / CN2023 / 131144, and the technical solutions recorded in these three patent applications are incorporated into the specification of this application by reference in full. Regarding the specific structure of the autonomous operation equipment 100, some details are recorded in the applicant's prior Chinese patent application CN2024102327628, and the technical solutions recorded in this patent application are incorporated into the specification of this application by reference in full.

[0081] During the above-mentioned process of identifying the boundary of the working area, if the autonomous operating equipment exceeds the expected working area during the process of following the edge, the user actively sets boundary objects, such as setting up fences, etc.; if no errors occur during the process of following the edge (such as cross-zone errors, boundary recognition errors), the passing information input by the user can be received through the human-computer interaction interface.

[0082] The control method of the autonomous operation equipment is applied to the central processing unit in the autonomous operation equipment. The autonomous operation equipment is equipped with a camera device, such as a camera. The central processing unit can communicate with the camera through a camera interface such as a MIPI interface or a CAMERA-USB interface. During the operation of the autonomous operation equipment, the camera device continuously acquires images, and the central processing unit acquires the acquired images from the camera device in real time. Specifically, when the autonomous operation equipment walks along the edge, an image in front of the autonomous operation equipment is acquired, and the working area and non-working area contained in the image are determined. That is, when the autonomous operating equipment is low on power, completing the current operating task, performing the first operation, operating along the boundary, or needs to cross-regional operations, it needs to walk along the edge. It can first move in one direction, and obtain the current image in front of it in real time, and continuously identify the image to determine whether it is close to the boundary of the working area. When the area of ​​the working area in the image is 0, it is determined that the autonomous operating equipment is close to the boundary of the working area, and then it brakes to stop and turns (for example, left or right) to walk along the edge. The direction of walking along the edge is related to the turning direction of the autonomous operating equipment, which can be clockwise or counterclockwise.

[0083] When walking along the edge, the autonomous operating equipment will also acquire the image in front of it in real time through the camera device, and perform the image processing in this embodiment for each captured image. Taking the current image as an example, the working area and non-working area contained therein are first identified; for example, when recognizing the lawn image, a lawn segmentation model based on a deep neural network (such as MaskRCNN) is run in the central processing unit computing unit, which inputs the acquired current image into the lawn segmentation model for processing, and outputs the lawn mask in the current image. The mask is where the lawn is located, and the part covered by the mask is the working area, and the part not covered by the mask is the non-lawn area, that is, the non-working area; however, it is not limited to this, the central processing unit computing unit can also distinguish between grass and non-grass, that is, the working area and the non-working area, by recognizing the color and texture in the current image; or the central processing unit computing unit can also perform semantic segmentation on the current image to distinguish between grass and non-grass, that is, the working area and the non-working area.

[0084] The image is divided into at least two detection areas using at least one longitudinal dividing line, and the region of interest in the at least two detection areas is obtained, wherein the longitudinal dividing line is parallel to the length direction of the body of the autonomous operating equipment. Specifically, the current image is divided into multiple detection areas using at least one longitudinal dividing line, wherein the longitudinal dividing line is parallel to the length direction of the body of the autonomous operating equipment, that is, the longitudinal dividing line is parallel to the forward direction of the autonomous operating equipment. For example, after the current image is divided by two longitudinal dividing lines, three detection areas are obtained, which are respectively recorded as the left detection area, the front detection area, and the right detection area.

[0085] like Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, the marking device 200 is provided with a hollow hole 4 that passes through it. When the marking device 200 is fixed on the grass, the grass can grow out of the hollow hole 4 and then cover the marking device 200. In this embodiment, the projection of the hollow hole 4 on the ground accounts for a proportion of not less than 1 / 5 of the total area enclosed by the projection of the outer contour of the marking device 200 on the ground, and further not less than 1 / 2. The hollow hole 4 is opened on the cover plate 2, the bottom plate 3 avoids the hollow hole 4, and the top plate and the cover plate 2 are fixed by bolts. The first permanent magnet 1 is located between the bottom plate 3 and the cover plate 2.

[0086] like Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, in order to fix the marking device 200 in the working area 300, nail holes 5 for ground nails to pass through are provided on the bottom plate 3 and the cover plate 2, and the ground nails can pass through the nail holes 5 to fix the marking device 200 to the ground. Nail holes 5 for ground nails to pass through are also provided on the bottom plate 3 of the docking station 400. In this embodiment, the nail holes 5 on the marking device 200 and the nail holes 5 on the docking station 400 have the same size, and ground nails of the same specifications are applicable, which is conducive to improving the commonality of parts and reducing costs. The nail holes 5 can be provided on the cover plate 2, the bottom plate 3 avoids the nail holes 5, and the top plate and the cover plate 2 are fixed by bolts.

[0087] In addition, if Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, the marking device 200 further includes: a second permanent magnet 6 disposed in the cover plate 2, and the second permanent magnet 6 is located between a pair of first permanent magnets 1. The second permanent magnet 6 extends along the second direction B and is perpendicular to the first permanent magnet 1. The structure of the second permanent magnet 6 installed in the cover plate 2 is similar to that of the first permanent magnet 1. The cover plate 2 is provided with a mounting groove 21 for mounting the second permanent magnet 6, and the mounting groove 21 has a limiting rib 22, which will not be described in detail here.

[0088] Preferably, the first permanent magnet 1 is strong and the second permanent magnet 6 is weak. The magnetic field strength of the first permanent magnet 1 and the second permanent magnet 6 is selected so that strong magnetism, weak magnetism and the earth's magnetic field can be significantly distinguished at a lower cost.

[0089] For the autonomous operating equipment 100 that walks counterclockwise along the edge, to drive out of the current area and enter the next area, it only needs to turn right 90°. In some special scenarios, such as when there are obstacles near the marking device 200, the autonomous operating equipment 100 may approach the marking device 200 when walking clockwise due to the obstacle avoidance action, resulting in a failure to cross the area. At this time, a second permanent magnet 6 is arranged between the two first permanent magnets 1 and along the indicated direction. The magnetization direction is parallel to the ground and perpendicular to the indicated direction. The autonomous operating equipment 100 can determine the direction to drive out of the current area according to the magnetic field direction of the second permanent magnet 6. For cost considerations, the second permanent magnet 6 adopts weak magnetism. Although only a direction range can be determined based on this, it can already meet the cross-area requirements. Specifically, when the autonomous operating device 100 moves counterclockwise and detects the magnetic field of a first permanent magnet 1, and the obstacle is located at the marking device 200, the autonomous operating device 100 swings around the obstacle and moves in the clockwise direction, and detects the magnetic field of the first permanent magnet 1 again. The autonomous operating device 100 changes direction, but because the autonomous operating device 100 is disturbed by the obstacle, the walking direction is clockwise at this time. Direct reversal will cause the autonomous operating device 100 to be misaligned in the later walking direction. Therefore, a second permanent magnet 6 is set, and the magnetic field direction of the second permanent magnet 6 can allow the autonomous operating device 100 to change direction in the correct direction.

[0090] Specifically, when the autonomous operation device 100 is walking along the edge, if it detects that there may be a marking device 200, it stops walking and swings left and right on the spot, so that the first magnetic field sensor 110 finds a strong magnetic peak and determines it as the marking device 200. If it is necessary to cross the area, it will drive out of the current working area 300 according to the direction indicated by the marking device 200, and use the camera to detect whether there is grass in front after walking a predetermined distance (such as 50cm). If it is, it will enter the working state, and if not, it will continue to walk forward. If the grass is still not detected after walking a predetermined distance (such as 10m) after leaving the current working area 300, an error is reported. If an obstacle is encountered during the cross-area process, it will turn around and return to the current working area 300. Among them, the left and right swing is to use the center of a pair of driving wheels of the autonomous operation device as the rotation center, control the autonomous operation device to rotate to one side in the left and right directions, until the two first magnetic field sensors detect the strong magnetic peaks in turn, and then control the autonomous operation device to rotate to the other side in the left and right directions until the two first magnetic field sensors detect the strong magnetic peaks in turn in the opposite order. At least one set of left and right swings is performed. Further, at least two groups of left and right swings are performed, and the difference in strong magnetic peak values ​​between different groups is compared to see whether it exceeds a threshold value, so as to eliminate interference.

[0091] When returning to charge, walk along the edge. If it is determined that there is a marking device 200, continue walking in the current area. If a docking station 400 is detected, enter the docking state; if the docking station 400 is not detected before the marking device 200 is detected next time, cross the area to enter the adjacent area to search for the docking station 400.

[0092] When the autonomous operating equipment 100 determines the marking device 200 and turns to complete the cross-zone preparation, the camera is used to capture images and encode the current marking device 200. In this way, it can be determined which marking device 200 and the stop station 400 are in the same area, which is conducive to rapid return to charging.

[0093] Furthermore, if Figure 3 , Figure 4 , Figure 6 As shown, the height of the first magnetic field sensor 110 from the ground is H0, and the distance between a pair of first magnetic field sensors 110 is W0 (measured from the center of the first magnetic field sensor 110); the length of the first permanent magnet 1 of the marking device 200 set on the ground is L1, the height of the first permanent magnet 1 from the ground is H1 (measured from the center of the first permanent magnet 1), the distance between a pair of first permanent magnets 1 is G (measured from the center of the first permanent magnet 1), and the length of the second permanent magnet 6 is L2. In this embodiment, W0 / G<1, preferably W0 / G≤0.7, and further preferably 0.5≤W0 / G≤0.6. If W0 is too large or too small relative to G, it will cause abnormal body swing of the autonomous operating device 100 during left and right swing detection.

[0094] In this embodiment, if Figure 3 and Figure 4 As shown, G≥100 mm, preferably G≥150 mm. If G is too small, the two first permanent magnets 1 are likely to interfere with each other, affecting the recognition of the marking device 200.

[0095] In this embodiment, if Figure 3 and Figure 4 As shown, 0.75≤L2 / G≤1, preferably 0.9≤L2 / G≤1. If L2 / G is too small, it is easy to cause the autonomous working device 100 to fail to detect the directional magnetic field of the second permanent magnet 6.

[0096] In this embodiment, if Figure 3 , Figure 4 , Figure 6 As shown, H0≥40mm, preferably H0≥50mm. If H0 is too small, the passability of the autonomous working device 100 will be affected.

[0097] In this embodiment, if Figure 3 , Figure 4 , Figure 6 As shown, ΔH=H0-H1, ΔH≤100mm, preferably ΔH≤85mm. If ΔH is too large, a permanent magnet with stronger magnetism needs to be selected, which increases the cost.

[0098] Furthermore, if Figure 3 , Figure 4 , Figure 6 As shown, when the first magnetic field sensor 110 is at a height H0 from the ground, the vertical strength of the earth's magnetic field can be measured as Be, and the vertical strength of the composite magnetic field of the first permanent magnet 1 (the first magnetic field sensor 110 is located above the center of the first permanent magnet 1) and the earth's magnetic field can be measured as Bs. The autonomous operation equipment 100 has a second magnetic field sensor for detecting the marking device 200, and the vertical strength of the composite magnetic field of the second permanent magnet 6 (the second magnetic field sensor is located above the center of the second permanent magnet 6) and the earth's magnetic field can be measured as Bw, then 12<Bs / Be<27, 2<Bw / Be<10, 2<Bs / Bw<8.

[0099] Furthermore, if Figure 3 , Figure 4 , Figure 6 As shown, when H0 is 81-90m, W0 is 85-94mm, L1 is 38-42mm, H1 is 5.5-6.1mm, L2 is 142-158mm, and G is 152-168mm, Be is 30-50 Gauss, Bw is 100-300 Gauss, and Bs is 600-800 Gauss.

[0100] In this embodiment, there are at least two working areas 300. In other embodiments, there may be one working area 300. The marking device 200 is located in the working area 300 and is used to give commutation instructions to the autonomous operating equipment 100 and control the deflection of the fuselage according to the detected magnetic field of the first permanent magnet 1.

[0101] Preferred embodiments of the present invention have been described in detail above, but it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide further embodiments.

[0102] These and other changes can be made to the embodiments in light of the above detailed description.In general, in the claims, the terms used should not be considered limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which these claims are entitled.

[0103] The second embodiment of the present invention relates to a control method of an autonomous operation device 100. Figure 2 , Figure 6 , Figure 7 , Fig. 9 As shown, the control method acts on the marking device 200 in the first embodiment in cooperation with the autonomous operation device 100. The autonomous operation device 100 works in a working area 300, and the working area 300 has a boundary; the marking device 200 is arranged in the working area 300, and the autonomous operation device 100 has at least one first magnetic field sensor 110 for detecting the marking device 200. The marking device 200 includes: a pair of first permanent magnets 1, the first permanent magnets 1 extend along a first direction A, and the pair of first permanent magnets 1 are relatively spaced and parallel to each other along a second direction B; the first direction A and the second direction B are perpendicular to each other. The control method includes the following steps:

[0104] Step 100, controlling the autonomous operation device 100 to walk along the current path and obtain a detection signal;

[0105] Step 200, determining whether the detected signal is the magnetic field of the marking device 100;

[0106] If it is the magnetic field of the marking device 100, execute step 300, and control the autonomous operation device 100 to change direction according to the detected magnetic field of the marking device 100. That is to say, the autonomous operation device 100 can be used as a direction indication tool according to the marking device 200. If it is not the magnetic field of the marking device 200, execute step 100, and control the autonomous operation device 100 to continue walking along the current path. Among them, the current path can be a boundary or any area in the working area. The details are as described in the first embodiment and will not be repeated here.

[0107] Furthermore, if Figure 2, Figure 6 , Figure 7 , Fig. 9 As shown, there are at least two working areas 300. The adjacent boundary between two adjacent working areas 300 is an adjacent boundary 310, and the marking device 200 is adjacent to the adjacent boundary 310. The adjacent boundary 310 extends along a first direction, and the autonomous working device 100 is controlled to change direction according to the detected magnetic field of the marking device 100, so that the walking direction of the autonomous working device 100 is toward the adjacent working area 300 to be entered. Step 300 includes the following steps after the autonomous working device 100 is controlled to change direction according to the detected magnetic field of the marking device 100:

[0108] Step 400 , controlling the autonomous operating device 100 to move from the current working area 300 to an adjacent working area 300 to be entered.

[0109] In addition, the extension lines of the boundaries of the two adjacent working areas are adjacent, and the boundary is the adjacent boundary 310, and the marking device is adjacent to the adjacent boundary. Figure 7 and Figure 8 In the diagram, two types of work areas are arranged.

[0110] Further, the marking device 200 is adjacent to the border, such as Figure 3 and Figure 7 In the illustrated embodiment, the boundary extends along the first direction A. Step 100 of controlling the autonomous operating device to walk along the current path and acquiring a detection signal includes: controlling the autonomous operating device to walk along the boundary and acquiring a detection signal.

[0111] In other embodiments, the two adjacent working areas 300 may be different from the present embodiment, and may be as follows: Figure 8 In the middle form setting, the marking device 100 is set at the corner end of the working area 300, and the adjacent boundary 310 does not extend along the first direction. After the autonomous operation device detects the marking device 200, it changes direction and moves in the direction indicated by the arrow. Subsequently, it moves in the direction indicated by the marking device 200 to achieve cross-area. The direction of the marking device 200 is as follows: Figure 8 As shown by arrows C and D. That is to say, when the autonomous operation equipment 100 needs to work across zones, the walking direction after the change of direction is not perpendicular to the adjacent boundary 310, but it can achieve the cross-zone. In actual use, the autonomous operation equipment 100 needs to work across zones. After setting up multiple working areas, the user can determine the direction of setting the marking device by himself. The autonomous operation equipment only needs to detect the marking device and change the walking direction to achieve the cross-zone.

[0112] In addition, the marking device may not be adjacent to the adjacent boundary, but adjacent to other boundaries. When the autonomous operation device 100 detects the marking device 200, it can walk toward another working area after changing direction according to the marking device 200 to achieve the cross-area. Alternatively, the setting of the marking device 200 is not based on the boundary, but in the working area, when the autonomous operation device 100 needs to change direction, it can detect the marking device 200 as a standard, that is, the autonomous operation device 100 walks in the current direction, detects the marking device 200, and changes direction.

[0113] In addition, step 200 determines whether the detected signal is the magnetic field of the marking device 100 and specifically includes:

[0114] Step 210, controlling the autonomous operating device 100 to swing left and right in place, and obtaining the magnetic field peaks of the two first permanent magnets 1 through the first magnetic field sensor 110, and determining whether the positional relationship between the two detected magnetic field peaks is a preset positional relationship;

[0115] If it is a preset position relationship, in step 220, the detected magnetic field is the magnetic field of the marking device 100. If it is not a preset position relationship, the detected magnetic field is not the magnetic field of the marking device 100.

[0116] Furthermore, step 300 of controlling the commutation of the autonomous operating device 100 according to the detected magnetic field of the first permanent magnet 1 specifically includes:

[0117] According to the postures of the two marking devices 100 when the two first magnetic field sensors 110 detect the peak values, the walking direction of the autonomous working device 100 is controlled to be toward the adjacent working area 300 to be entered.

[0118] Furthermore, before step 100 controls the autonomous operation device 100 to walk along the boundary and obtains the detection signal, the following steps are included:

[0119] Step 500, determining whether the autonomous operation device 100 needs to cross from the current working area 300 to enter an adjacent working area 300 to be entered;

[0120] If necessary, execute step 100 to control the autonomous working device 100 to walk along the boundary and detect signals.

[0121] In addition, step 500 of determining whether the autonomous operating device 100 needs to cross from the current working area 300 to an adjacent working area 300 to be entered specifically includes:

[0122] Step 501, determine whether the continuous or accumulated working time in the current working area 300 reaches a threshold value, if so, cross-region is required. In other embodiments, it can also be determined whether the area coverage of the current working area 300 reaches a threshold value, if so, cross-region is required.

[0123] Further, after step 300 controls the autonomous working device 100 to change direction according to the detected magnetic field of the marking device 100, step 400 controls the autonomous working device 100 to move from the current working area 300 to the adjacent working area 300 to be entered, including the following steps:

[0124] Step 600, perform image acquisition, extract features in the image as the coding information of the current marking device 200. That is, the autonomous operation device 100 takes an image when detecting each marking device 200, and uses the captured image as the coding information of the marking device 200. When the autonomous operation device 100 detects the marking device 200 again in the later stage, it takes another image, and by comparing the image captured again with the image captured previously, it can be determined which marking device 200 is detected at this moment.

[0125] In addition, after performing image acquisition in step 600 and extracting features in the image as the coding information of the current marking device 200, step 400 of controlling the autonomous working device 100 to walk from the current working area 300 to the adjacent working area 300 to be entered includes the following steps:

[0126] Step 700, judging whether to cross the zone based on the coding information of the marking device 200 with the currently detected marking device 200 as the standard.

[0127] In step 700, judging whether the marking device 200 is a cross-zone standard according to the coding information of the marking device 200 specifically includes the following steps:

[0128] Step 710, determining whether it is the first time to collect images;

[0129] If it is the first time to collect images, then execute step 400 to control the autonomous operation device 100 to move from the current working area 300 to the adjacent working area 300 to be entered;

[0130] If it is not the first time to collect images, the currently collected image is compared with the image collected last time. If the comparison result shows that the collected images are different, it is a different marking device 200, and it can be determined whether to change the direction of the marking device 200 according to the needs.

[0131] Furthermore, if Figure 2As shown, the marking device 200 further includes: a second permanent magnet 6, and the second permanent magnet 6 is located between a pair of first permanent magnets 1; the second permanent magnet 6 extends along a second direction B and is perpendicular to the first permanent magnet 1. The direction of exiting the current working area 300 is determined according to the magnetic field direction of the second permanent magnet 6. The details are as in the first embodiment, and will not be described in detail here.

[0132] Before controlling the autonomous working device 100 to change direction according to the detected magnetic field of the marking device 100 , the following steps are included: controlling the autonomous working device 100 to swing left and right in place, so that the first sensor obtains the peak value of the marking device 100 .

[0133] In addition, step 600 of controlling the autonomous working device 100 to move from the current working area 300 to the adjacent working area 300 to be entered specifically includes the following steps:

[0134] Step 410, controlling the autonomous operation equipment 100 to travel a preset distance;

[0135] Step 420, after walking a predetermined distance, obtain the current front image, and determine whether it is the waiting working area 300 according to the current image;

[0136] If yes, then enter the working state;

[0137] If not, report an error.

[0138] Specifically, after walking a predetermined distance (such as 50cm), the camera is used to detect whether there is grass in front. If it is, it will enter the working state. If not, it will continue to walk forward. If grass is still not detected after walking a predetermined distance (such as 10m) after leaving the current area, an error will be reported. If an obstacle is encountered during the cross-area process, it will turn around and return to the current area.

[0139] In other implementations, when there are two working areas 300, the working area 300 where the autonomous working device 100 is currently located is determined according to the number of cross-area crossings of the autonomous working device 100; when the number of cross-area crossings is an odd number, the autonomous working device 100 is located in the starting working area 300; when the number of cross-area crossings is an even number or zero, the autonomous working device 100 is located in another working area 300. In this embodiment, encoding the marking device 200 with the acquired image can be used in embodiments with more working areas 300.

[0140] In this embodiment, two working areas 300 are taken as an example. In other embodiments, there may be only one working area 300. The marking device 200 is a direction-changing indicating tool for a walking robot and is not necessarily limited to being used for cross-area work.

[0141] It is not difficult to find that this embodiment is a system embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0142] The third embodiment of the present utility model relates to a computer-readable storage medium, on which a computer program executable by a processor is stored. When the processor executes the computer program, the control method described above is implemented.

[0143] The fourth embodiment of the utility model relates to an autonomous operation device, including a processor and a memory, the memory stores a computer program, and the processor implements the control method in the above embodiment when executing the program. The above method embodiment is implemented when the computer program is executed by the processor. That is, those skilled in the art can understand that all or part of the steps in the above embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0144] Preferably, the autonomous working equipment is a lawn mower.

[0145] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0146] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of the utility model, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the utility model, but this does not mean that there are no other units in this embodiment.

[0147] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A marking device for an autonomous operation system, characterized in that: The marking device comprises: case; A pair of first permanent magnets, wherein the first permanent magnets are arranged in the shell, the first permanent magnets extend along a first direction, and the pair of first permanent magnets are relatively spaced apart and parallel to each other along a second direction; the first direction and the second direction are perpendicular.

2. The marking device of the autonomous operation system according to claim 1, characterized in that: The shell includes: a bottom plate and a cover plate covering the bottom plate; the first permanent magnet is arranged in the cover plate.

3. The marking device of the autonomous operation system according to claim 2, characterized in that: The cover plate is provided with a mounting groove for accommodating the first permanent magnet, and the inner wall of the mounting groove is provided with a limiting rib.

4. The marking device of the autonomous operation system according to claim 1, characterized in that: The marking device is provided with a hollow hole penetrating the marking device.

5. The marking device of the autonomous operation system according to claim 4, characterized in that: The projection of the hollow hole on the ground accounts for no less than 1 / 5 of the total area enclosed by the projection of the outer contour of the marking device on the ground.

6. The marking device of the autonomous operation system according to claim 5, characterized in that: The projection of the hollow hole on the ground accounts for no less than 1 / 2 of the total area enclosed by the projection of the outer contour of the marking device on the ground.

7. The marking device of the autonomous operation system according to claim 2, characterized in that: The bottom plate and the cover plate are both provided with nail holes for ground nails to pass through.

8. The marking device of the autonomous operation system according to claim 1, characterized in that: The marking device further includes: a second permanent magnet disposed in the housing, and the second permanent magnet is located between a pair of the first permanent magnets; The second permanent magnet extends along the second direction and is perpendicular to the first permanent magnet.

9. The marking device of the autonomous operation system according to claim 8, characterized in that: The autonomous operation system includes: an autonomous operation device having a pair of first magnetic field sensors for detecting the marking device; The height of the first magnetic field sensor from the ground is H0, and the distance between a pair of the first magnetic field sensors is W0; the length of the first permanent magnet of the marking device set on the ground is L1, the height of the first permanent magnet from the ground is H1, the distance between the pair of the first permanent magnets is G, and the length of the second permanent magnet is L2; G≥100mm, W0 / G<1; 0.75≤L2 / G≤1; H0≥40mm, ΔH=H0–H1, ΔH≤100mm.

10. The marking device of the autonomous operation system according to claim 9, characterized in that: 0.5≤W0 / G≤0.

6.

11. The marking device of the autonomous operation system according to claim 9, characterized in that: G≥150mm.

12. The marking device of the autonomous operation system according to claim 9, characterized in that: 0.9≤L2 / G≤1.

13. The marking device of the autonomous operation system according to claim 9, characterized in that: H0≥50mm.

14. The marking device of the autonomous operation system according to claim 9, characterized in that: ΔH≤85.

15. The marking device of the autonomous operation system according to claim 9, characterized in that: The first permanent magnet is a strong magnet, and the second permanent magnet is a weak magnet.

16. The marking device of the autonomous operation system according to claim 15, characterized in that: When the first magnetic field sensor is at a height H0 from the ground, the strength of the earth's magnetic field in the vertical direction can be measured as Be, and the strength of the composite magnetic field of the first permanent magnet and the earth's magnetic field in the vertical direction can be measured as Bs; The autonomous operation equipment has a second magnetic field sensor for detecting the marking equipment, which can measure that the strength of the composite magnetic field of the second permanent magnet and the earth's magnetic field in the vertical direction is Bw, then 12<Bs / Be<27, 2<Bw / Be<10, 2<Bs / Bw<8.

17. The marking device of the autonomous operation system according to claim 16, characterized in that: When H0 is 81~90m, W0 is 85~94mm, L1 is 38~42mm, H1 is 5.5~6.1mm, L2 is 142~158mm, and G is 152~168mm, Be is 30~50 Gauss, Bw is 100~300 Gauss, and Bs is 600~800 Gauss.

18. The marking device of the autonomous operation system according to claim 1, characterized in that: The autonomous operation system comprises: an autonomous operation device, the autonomous operation device having at least one first magnetic field sensor for detecting the marking device; the autonomous operation device operates in at least two mutually separated working areas, each of which has a boundary; The marking device is arranged in each of the working areas, and the autonomous operation device changes direction according to the first permanent magnet signal detected by each of the first magnetic field sensors.

19. The marking device of the autonomous operation system according to claim 18, characterized in that: The marking device is adjacent to the boundary; the autonomous operating device changes direction according to the first permanent magnet signal detected by each of the first magnetic field sensors, and moves from a current working area to an adjacent working area.

20. The marking device of the autonomous operation system according to claim 19, characterized in that: The extension lines of the boundaries of two adjacent working areas are adjacent, and the boundary is an adjacent boundary; the marking device is adjacent to the adjacent boundary.

21. The marking device of the autonomous operation system according to claim 18, characterized in that: The outer surface of the shell is provided with a direction indication mark.

22. The marking device of the autonomous operation system according to claim 1, characterized in that: The magnetic field direction of the first permanent magnet is consistent with the direction of the earth's magnetic field.

Images