Stop station, autonomous operation equipment, boundary of autonomous operation equipment and autonomous operation system

Abstract

The utility model provides a stop station, autonomous operation equipment, a boundary of the autonomous operation equipment and an autonomous operation system, and is applied to the field of automatic control, the stop station comprises a charging column and a control panel assembly, the charging column extends in the vertical direction perpendicular to the horizontal plane, the charging column comprises a containing cavity, and the control panel assembly is arranged in the containing cavity; the control panel assembly is accommodated in the accommodating cavity; the control panel assembly comprises a first auxiliary coil, the included angle between the plane where the first auxiliary coil is located and the horizontal plane is alpha, and alpha is larger than or equal to 30 degrees and smaller than or equal to 150 degrees; and the auxiliary signal generation module is electrically connected with the first auxiliary coil. The utility model also relates to an autonomous operation system comprising the stop station, and autonomous operation equipment which is parked or charged by using the stop station. According to the utility model, the problem that the autonomous operation equipment cannot accurately identify the stop can be solved, and the sensitivity of the autonomous operation equipment to identify the stop can be improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control, and in particular to a docking station, autonomous operating equipment, a boundary of autonomous operating equipment, and an autonomous operating system. Background Art

[0002] With the development of technology, autonomous equipment is often used to replace human labor in tasks such as material handling, inspection, and cleaning. Currently, there are many types of autonomous equipment on the market that assist people in completing tasks, such as sweepers, lawn mowers, and vacuum cleaners. Autonomous equipment provides convenience for people's production and daily life.

[0003] Autonomous working systems, in particular robotic lawn mowing systems, are known, and generally comprise an autonomous working device capable of autonomously moving on the surface of a working area and a docking station, wherein the autonomous working device is typically configured on or within the boundary of the working area for parking and / or supplying energy to the autonomous working device.

[0004] In some use cases, when the length of a work area's boundary needs to be determined, the autonomous device departs from a docking station and travels along the boundary. If a collision occurs, it is considered a collision between the autonomous device and the docking station. Upon confirmation that the autonomous device has returned to the docking station, this means the autonomous device has completed a full circuit along the boundary. The distance traveled by the autonomous device is then the boundary length. However, during this process, the autonomous device is more likely to collide with an obstacle, causing it to prematurely determine it has returned to the charging station, thus terminating the boundary length determination. This can result in an erroneous boundary length, impacting the control of other operating parameters within the autonomous system.

[0005] To avoid this misidentification, auxiliary coils are usually laid at the bottom of the docking station. However, since the signal of the auxiliary coil is affected by other magnetic fields in the environment, it is difficult for the device to accurately identify when approaching from behind the docking station, affecting the recognition sensitivity. Utility Model Content

[0006] In view of this, the present application provides a docking station, autonomous operating equipment, and autonomous operating system, which can solve the problem of inaccurate docking station recognition by autonomous operating equipment and improve the sensitivity of autonomous operating equipment in identifying docking stations. The technical solution is as follows:

[0007] A docking station includes a charging column and a control panel assembly, wherein the charging column extends in a direction perpendicular to a horizontal plane, the charging column includes a receiving cavity, and the control panel assembly is received in the receiving cavity; the control panel assembly includes:

[0008] a first auxiliary coil, wherein the angle between the plane where the first auxiliary coil is located and the horizontal plane is α, where α satisfies 30°≤α≤150°;

[0009] The auxiliary signal generating module is electrically connected to the first auxiliary coil.

[0010] Furthermore, the control panel assembly further includes:

[0011] The second auxiliary coil is arranged at the bottom of the docking station, the plane where the second auxiliary coil is located is parallel to the horizontal plane, and the second auxiliary coil is electrically connected to the auxiliary signal generating module.

[0012] Furthermore, the auxiliary signal generating module includes:

[0013] Auxiliary coil connection terminals, including a positive terminal and a negative terminal;

[0014] The auxiliary signal generating module is electrically connected to the first auxiliary coil through the positive terminal and the negative terminal, and feeds an electrical signal to the first auxiliary coil.

[0015] Furthermore, the auxiliary signal generating module is electrically connected to the second auxiliary coil via the positive terminal and the negative terminal, and feeds an electrical signal to the second auxiliary coil.

[0016] Furthermore, the control board assembly further comprises: a control board box; wherein, after the first auxiliary coil is led out from the positive terminal, it goes around the inner surface of the side wall of the control board box and then is connected to the negative terminal; or,

[0017] The first auxiliary coil is led out from the positive terminal, goes around the outer surface of the side wall of the control board box, and is connected to the negative terminal.

[0018] Furthermore, the stop includes:

[0019] The first auxiliary coil is led out from the positive terminal, goes around the inner surface of the side wall of the accommodating cavity, and is then connected to the negative terminal.

[0020] Furthermore, the stop includes:

[0021] After the first auxiliary coil is led out from the positive terminal, the first auxiliary coil is bent into a ring shape and connected to the negative terminal. The first auxiliary coil is placed in the receiving cavity.

[0022] Furthermore, the charging column includes a front shell and a rear shell, the front shell and the rear shell are detachably connected; at least a portion of the front shell cooperates with at least a portion of the rear shell to form the receiving cavity, the control panel assembly further includes: a boundary line connection terminal assembly, and the docking station includes:

[0023] After the first auxiliary coil is led out from the positive terminal, the first auxiliary coil is bent into a ring shape and connected to the negative terminal. The first auxiliary coil is placed in the accommodating cavity, and the first auxiliary coil portion is fixed between the boundary line connection terminal assembly and the front shell.

[0024] Further, the first auxiliary coil and the second auxiliary coil are connected in series; or

[0025] The first auxiliary coil and the second auxiliary coil are connected in parallel; or

[0026] The first auxiliary coil and the second auxiliary coil are independently connected to each other.

[0027] Furthermore, an angle α between the plane where the first auxiliary coil is located and the horizontal plane satisfies 60°≤α≤120°.

[0028] Furthermore, an angle α between the plane where the first auxiliary coil is located and the horizontal plane satisfies 80°≤α≤100°.

[0029] Furthermore, the angle α between the plane where the first auxiliary coil is located and the horizontal plane satisfies α=90°±3°.

[0030] An autonomous operating device, which is moored and / or charged using the docking station of the above technical solution;

[0031] The autonomous operation equipment at least includes a main body mechanism and a detection module;

[0032] The detection module is used to detect the signal emitted by the first auxiliary coil and / or the second auxiliary coil of the docking station, so that the autonomous operating equipment body can enter the docking station for parking and / or charging.

[0033] A boundary, the boundary being used to define the working area of ​​the autonomous operating device described in the above technical solution;

[0034] The boundary includes an outer boundary and an inner boundary;

[0035] The autonomous operating equipment is confined within the outer boundary, outside the inner boundary, or moves and operates between the outer boundary and the inner boundary.

[0036] Furthermore, the boundary may be a virtual signal generated by a boundary signal generating device;

[0037] The boundary signal generating device is arranged in the docking station described in the above technical solution.

[0038] An autonomous operation system includes the docking station, autonomous operation equipment and boundary described in the above technical solution.

[0039] In addition to the technical problems solved by at least one embodiment of the present invention, the technical features that constitute the technical solution, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by at least one embodiment of the present invention, other technical features included in the technical solution, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 It is a side view of a docking station in a specific embodiment of the present invention;

[0042] Figure 2 This is a partial exploded view of a rear view of a docking station in a specific embodiment of the present invention;

[0043] Figures 3 to 6 、 Figure 9 yes Figure 2 A partial enlarged view showing the installation method of the first auxiliary coil in different embodiments;

[0044] Figure 7 This is a partial exploded view of a docking station in a specific embodiment of the present invention;

[0045] Figure 8 This is a partial exploded view of a rear view of a docking station in a specific embodiment of the present invention;

[0046] Figure 10 This is a schematic diagram of the connection between the first auxiliary coil and the second auxiliary coil of the docking station in a specific embodiment of the present invention;

[0047] Figure 11 yes Figure 10 A partial enlarged view of . DETAILED DESCRIPTION

[0048] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0049] It should be understood that in the description of the specific embodiments of the present invention, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features.

[0050] In the specific embodiments of the present invention, unless otherwise specified or limited, terms such as "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, movable connection, detachable connection, or integration; they can refer to direct connection or indirect connection through an intermediate medium; they can refer to internal communication between two components or interaction between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the specific embodiments of the present invention, unless otherwise clearly stipulated and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them.

[0052] In the specific implementation manner of the present invention, unless otherwise clearly specified and limited, the term "multiple" refers to two or more.

[0053] The utility model provides an autonomous operation system, comprising autonomous operation equipment, a docking station and a boundary.

[0054] The autonomous operating equipment is especially a robot that can autonomously move within a preset area and perform specific operations, such as a smart sweeper or 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 explained in detail using a smart lawn mower as an example. The autonomous operating equipment can autonomously walk on the surface of the working area, and in particular, as a smart lawn mower, it can autonomously perform mowing operations on the ground. The autonomous operating equipment at least includes a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, and the like.

[0055] The main body typically includes a chassis and a housing. The chassis is used to mount and accommodate functional mechanisms and modules such as the mobile mechanism, working mechanism, energy module, detection module, interaction module, and control module. The housing is typically configured to at least partially cover the chassis, primarily serving to enhance the aesthetics and recognizability of the autonomous operating device. In this embodiment, the housing is configured to be repositionable relative to the chassis in translation and / or rotation under the action of an external force. In conjunction with an appropriate detection module, such as, for example, a Hall effect sensor, it can further serve to sense events such as collisions and lifts.

[0056] The mobile mechanism is configured to support the main body mechanism on the ground and drive the main body 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, comprising at least one drive wheel and at least one travel prime mover. The travel prime mover is preferably an electric motor, and in other embodiments, it may also be an internal combustion engine or a machine that uses other types of energy to generate power. In the present embodiment, a left drive wheel, a left travel prime mover that drives the left drive wheel, a right drive wheel, and a right travel prime mover that drives the right drive wheel are preferably provided. In the present embodiment, the straight-line travel of the autonomous operating equipment is achieved by the left and right drive wheels rotating in the same direction and at the same speed, and the steering travel is achieved by the left and right drive wheels rotating in the same direction and at a different speed or in opposite directions. In other embodiments, the mobile mechanism may further include a steering mechanism independent of the drive wheels and a steering prime mover independent of the travel prime mover. In this embodiment, the moving mechanism further includes at least one driven wheel, which is typically configured as a universal wheel. The driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous operating equipment.

[0057] The working mechanism is constructed to perform specific work tasks, including a working part and a working prime mover that drives the working part. For example, for an intelligent sweeper or vacuum cleaner, the working part includes a roller brush, a suction pipe, a dust collection chamber, etc.; for an intelligent lawn mower, the working part includes a cutting blade or a cutting disc, and further includes other components for optimizing or adjusting the mowing effect, such as a height adjustment mechanism for adjusting the mowing height. 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.

[0058] The energy module is configured to provide energy for various operations of the autonomous operating 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 operating device.

[0059] The detection module is configured as at least one sensor for sensing the environmental parameters of the autonomous working device or its own working parameters. Typically, the detection module can include sensors related to the definition of the working area, such as magnetic induction type, collision type, ultrasonic type, infrared type, radio type, etc., and the sensor type is adapted to the position and number of the corresponding signal generating devices. The detection module can also include sensors related to positioning and navigation, such as GPS positioning device, laser positioning device, electronic compass, acceleration sensor, odometer, angle sensor, geomagnetic sensor, etc. The detection module can also include sensors related to the safety of its own work, such as obstacle sensor, lifting sensor, battery pack temperature sensor, etc. The detection module can also include sensors related to the external environment, such as environmental temperature sensor, environmental humidity sensor, light sensor, rain sensor, etc.

[0060] The interaction module is configured to at least receive user input control instruction information, send information that needs to be perceived by the user, communicate with other systems or devices to transmit and receive information, etc. In the embodiment, the interaction module includes input devices arranged on the autonomous working device for receiving user input control instruction information, typically such as control panel, emergency stop button, etc. The interaction module also includes display screen, indicator light and / or buzzer arranged on the autonomous working device, which make the user perceive the information through light or sound. In other embodiments, the interaction module includes communication module arranged on the autonomous working device and terminal device independent of the autonomous working device, such as mobile phone, computer, network server, etc., and the user's control instruction information or other information can be input on the terminal device and reach the autonomous working device via wired or wireless communication module.

[0061] The control module generally includes at least one processor and at least one non-volatile memory, and the memory stores a computer program or instruction set written in advance, and the processor controls the execution of the movement, work, etc. of the autonomous working device according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behavior of the autonomous working device according to the signal of the detection module and / or user control instruction, modify the parameters in the memory, etc.

[0062] The boundary is used to define the working area of ​​the robot system, and generally includes an outer boundary and an inner boundary. The autonomous operating equipment is confined 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, the virtual boundary signal is generally an electromagnetic signal or an optical signal, or for autonomous operating equipment provided 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. In this embodiment, the boundary is constructed as a closed energized wire electrically connected to the boundary signal generating device, and the boundary signal generating device is generally arranged in a docking station.

[0063] The docking station is usually constructed on or within the boundary for the autonomous working equipment to dock, and in particular, it is capable of supplying energy to the autonomous working equipment docked at the docking station. Usually, the docking station is required to be installed on a basically horizontal ground, so in the description of the docking station-related structure in this application, unless otherwise specified, the ground refers to the horizontal ground or horizontal plane. In this embodiment, the docking station includes a base plate and a charging pile, wherein the base plate is constructed in a plate shape and can be laid flat and fixed to the ground. The charging pile is constructed to extend roughly in the vertical direction and is fixedly connected to the base plate. The charging pile includes a power supply circuit and a power supply connection structure, and the power supply connection structure is used to form an electrical connection with the charging connection structure on the autonomous working equipment.

[0064] The technical solution for obtaining the length of the border line while the autonomous operating equipment is walking along the border is known, for example, the technical solution disclosed in paragraphs 0042 to 0045 of the CN111123905A specification. In some technical solutions, when it is necessary to obtain the length of the border line, the autonomous operating equipment is controlled to enter the edge mode, and the strategy for dealing with collision events is adjusted to "confirm return to the charging station". The autonomous operating equipment starts from the docking station and walks along the border line. If a collision occurs, it is confirmed that the autonomous operating equipment has returned to the charging station, which means that the autonomous operating equipment has completed a full circle of walking along the border line. The walking distance obtained by the autonomous operating equipment is the length of the border line. Usually, the user of the autonomous operating equipment will be required to clear all obstacles on and near the border line. Therefore, in general, when the autonomous operating equipment collides in the edge mode, it means that it collides with the docking station (charging station). However, due to the complexity of the outdoor environment and the fact that autonomous operation systems generally operate without human intervention, obstacles are inevitable at or near the boundary line. At this time, when the autonomous operation equipment collides in the edge mode, there is still a certain distance between it and the docking station, resulting in an early judgment of returning to the docking station, and the resulting incorrect boundary line length, which affects the control of other operating parameters of other autonomous operation systems.

[0065] To address the above-mentioned issues, some technical solutions include providing auxiliary coils on or near the floor of the docking station. For example, in the technical solution disclosed in CN108345297A, paragraphs 0053 to 0056 of the specification provide a solution for providing an auxiliary coil (i.e., an identification conductor) on the floor of the docking station, wherein the auxiliary coil is formed by bending the boundary line; paragraphs 0057 to 0059 of the specification provide another solution for providing an auxiliary coil (i.e., an identification conductor) on the floor of the docking station, wherein the auxiliary coil and the boundary line are independent of each other. For example, in the technical solution disclosed in CN115693279A, an auxiliary coil (i.e., a guide line) is provided on the floor of the docking station. On the one hand, it can guide the autonomous operating device to align with the charging port on the docking station. On the other hand, as described in paragraph 0099 of the specification, the auxiliary coil forms a first functional part below the charging pile. The magnetic field generated by the auxiliary coil can prompt the autonomous operating robot. When the autonomous operating device approaches the charging pile, it can detect the signal of the first functional part, thereby preventing the autonomous operating device from colliding with the charging pile during operation. For example, in the technical solution disclosed in CN110162055A, an auxiliary coil (i.e., signal line) is set at the charging station. The auxiliary coil is formed into a ring and is set under the base of the charging pile. No matter from which angle the autonomous operating equipment (i.e., self-moving device) approaches the docking station, it can detect the signal emitted by the auxiliary coil and avoid collision with the docking station.

[0066] The auxiliary coils in the above-mentioned prior art are all arranged on the bottom plate or the bottom surface of the charging pile. Since the bottom plate is usually laid flat on the ground and the bottom surface of the charging pile is fixedly connected to the bottom plate, the plane of the loop formed by these auxiliary coils is roughly parallel to the bottom surface. However, for the auxiliary coils laid flat on the ground, the internal magnetic field surrounded by the auxiliary coils is strengthened, while the external magnetic field is weakened. When the autonomous operating equipment approaches the docking station from the rear, it is always outside the auxiliary coil, so the auxiliary coil signal that can be sensed will be very weak, affecting the recognition of the docking station.

[0067] In one embodiment of the present invention, a first auxiliary coil is provided on the charging pile, and the angle between the plane where the first auxiliary coil is located and the bottom plate is 30°≤α≤150°; preferably, 60°≤α≤120°; preferably, 80°≤α≤100°; preferably, α=90°±3°, and the first auxiliary coil is connected to the boundary signal generating device.

[0068] It should be noted that the plane where the auxiliary coil is located does not mean that all parts of the auxiliary coil are strictly set on a perfect plane. Taking into account the errors in production and manufacturing and some foreseeable changes within the conceptual framework of the technical solution disclosed in this application, the plane where the auxiliary coil is located also includes a fitting plane that can reflect the setting direction of the auxiliary coil.

[0069] refer to Figure 1 The docking station of the autonomous operation system includes a base plate 11 laid flat on the ground, a base 12 raised upward is provided at the rear end 14 of the base plate 11, and a charging column 15 extending substantially in the vertical direction is provided on the base 12. In this embodiment, the docking station also includes a charging docking assembly, which is fixedly mounted on the charging pile. The specific structure of the charging docking assembly has been disclosed in the patent document CN111193131A, especially in the appendix of the specification. Figure 4 In some other embodiments, the docking station of the autonomous operation system does not include a base plate, but only includes a charging column.

[0070] Further references Figure 2 The charging column 15 includes a control board assembly 25 and a front shell 23 and a rear shell 24 that can be buckled together. The front shell 23 and the rear shell 24 are buckled together to form a receiving cavity that can accommodate electronic devices. The control board assembly 25 is accommodated in the receiving cavity, wherein the control board assembly 25 includes a control board, a control board box, an auxiliary coil connection terminal, an auxiliary signal generating module, a line card, etc.

[0071] Example 1

[0072] refer to Figure 3 、 Figure 11 The control board assembly 25 is provided with a first auxiliary coil 31 and an auxiliary coil connection terminal 35, as shown in FIG. Figure 3 As shown, the left side of the auxiliary coil connection terminal 35 is a positive terminal, and the right side is a negative terminal. Both ends of the first auxiliary coil 31 are electrically connected to the auxiliary coil connection terminal 35. The auxiliary signal generating module (not shown) included in the control board assembly 25 is electrically connected to the auxiliary coil connection terminal 35. The auxiliary signal generating module is electrically connected to the first auxiliary coil 31 through the positive terminal and the negative terminal, and feeds an electrical signal to the first auxiliary coil 31.

[0073] In this embodiment, the first auxiliary coil 31 extends from the positive terminal of the auxiliary coil connection terminal 35, then loops counterclockwise around the inner surface of the sidewall of the control board box 33 before connecting to the negative terminal. To better secure the first auxiliary coil 31, multiple wire clips 34 are positioned near the inner surface of the sidewall of the control board box 33. In similar embodiments, the first auxiliary coil 31 can also be configured to loop around the outer surface of the sidewall of the control board box 33 before connecting to the negative terminal. Accordingly, multiple wire clips 34 are positioned near the outer surface of the sidewall of the control board box 33.

[0074] Example 2

[0075] refer to Figure 4 、 Figure 11The difference from or alternative to Example 1 lies in that the first auxiliary coil 41, after being led out from the positive terminal of the auxiliary coil connection terminal, winds counterclockwise around the inner surface of the sidewall 114 of the receiving chamber before being connected to the negative terminal. After the two ends of the first auxiliary coil 41 are connected to the auxiliary coil connection terminal, the first auxiliary coil 41 is configured to wind around the inner surface of the sidewall 114 of the receiving chamber. Wire clips 43 are provided near the inner surfaces of the left and right sidewalls of the receiving chamber. The auxiliary signal generating module is electrically connected to the first auxiliary coil 41 via the positive and negative terminals, feeding an electrical signal to the first auxiliary coil.

[0076] refer to Figure 11 In this embodiment, since there are no suitable structures above and below the receiving chamber to support the first auxiliary coil, the first auxiliary coil is appropriately tightened to maintain its annular shape. Compared to Example 1, the first auxiliary coil in this embodiment has a larger circumference and / or a larger surrounding area, thereby generating a stronger signal, which facilitates recognition by the autonomous operating device.

[0077] Example 3

[0078] refer to Figure 5 The difference from, or alternative to, embodiments 1 and 2 lies in that a relatively hard wire is used for the first auxiliary coil 51. The first auxiliary coil 51 is led out from the positive terminal of the auxiliary coil connection terminal and then connected to the negative terminal. After connecting both ends of the first auxiliary coil 51 to the auxiliary coil connection terminal, the first auxiliary coil 51 is bent into a roughly ring shape and suspended within the receiving cavity. An auxiliary signal generating module is electrically connected to the first auxiliary coil 51 via the positive and negative terminals, feeding an electrical signal to the first auxiliary coil 51.

[0079] Compared with Examples 1 and 2, the advantage is that this embodiment does not require a wire clip to be provided inside the receiving cavity, and is suitable for modifying equipment that does not have the first auxiliary coil 51, without modifying or remaking the existing mold.

[0080] Example 4

[0081] refer to Figure 6 、 7 and Figure 11 ,and Figure 5The difference of the embodiment 3 shown or the implementation method of alternative embodiments 1-3 is that the first auxiliary coil 61 is connected to the negative terminal after being led out from the positive terminal of the auxiliary coil connection terminal. After the two ends of the first auxiliary coil 61 are connected to the auxiliary coil connection terminal, the upper half of the first auxiliary coil 61 is bent into a roughly ring shape and suspended in the receiving cavity; the lower half of the first auxiliary coil 61 is fixed between the boundary line connection terminal assembly 62 and the shell. In particular, with reference to Figure 11 The lower portion of the front housing of the charging pile is provided with a mounting slot. The boundary line connection terminal assembly 62 includes a substrate portion 111 and a terminal portion 113. The substrate portion 111 is configured to cooperate with the mounting slot 116 to secure the boundary line connection terminal assembly 62. The auxiliary signal generation module is electrically connected to the first auxiliary coil 61 via the positive terminal and the negative terminal, feeding an electrical signal to the first auxiliary coil 61.

[0082] Further references Figure 6 、 11 , the lower half of the first auxiliary coil 61 (such as Figure 6 The dotted line portion (shown in the figure) is trapped within the mounting slot 116 and compressed by the boundary wire connection terminal assembly 62, securing it. Compared to Example 3, this embodiment utilizes existing structures to secure a portion of the wire. This increases the coil size while reducing the required wire hardness. The boundary wire connection terminal assembly is electrically connected to the boundary wire.

[0083] It should be noted that in the above embodiments 1-4, as an optional variation, after the first auxiliary coil is led out from the positive terminal of the auxiliary coil connection terminal, it can also be connected to the negative terminal of the auxiliary coil connection terminal after wrapping around the inner surface of the control board box or the side wall of the receiving cavity in a clockwise direction.

[0084] Example 5

[0085] refer to Figures 7 to 11 Alternatively, or in addition to the implementation of Examples 1-4, the docking station may include: a first auxiliary coil 101 disposed substantially vertically and a second auxiliary coil 102 disposed substantially horizontally, wherein the second auxiliary coil 102 is disposed on a floor or charging pile base, and the plane in which the second auxiliary coil 102 lies is substantially parallel to the plane in which the floor lies. In this embodiment, the first auxiliary coil 101 and the second auxiliary coil 102 are connected in series, and the configuration of the first auxiliary coil 101 may be similar to the configuration of the first auxiliary coil in Examples 1-4, and thus will not be further described.

[0086] The relative positions of the first auxiliary coil 101 and the second auxiliary coil 102 preferably satisfy: Figure 10 As shown, the part of the first auxiliary coil 101 adjacent to the second auxiliary coil 102 is in the same vertical plane, and the current directions are opposite. On the left side of the connecting part, the current of the lower part of the first auxiliary coil 101 flows to the right, and the current of the second auxiliary coil 102 flows to the left. According to the right-hand rule, the magnetic field directions in the area between the first auxiliary coil 101 and the second auxiliary coil 102 are the same, so the magnetic field strength is enhanced, as shown by the shaded part in FIG. 1B; further, on the one hand, the installation height of the magnetic field sensor or the inductance coil on the autonomous working device falls within the range of the enhanced magnetic field strength, so that a stronger signal can be obtained without increasing the current, which is beneficial to the recognition of the first auxiliary coil 101 by the autonomous working device; on the other hand, the two wires of the connecting part are arranged in close contact and further formed into a twisted wire, so that the magnetic fields generated by the two wires of the connecting part cancel each other out, eliminating the interference with the first and / or second auxiliary coils. Figure 10

[0087] In other embodiments, the first auxiliary coil and the second auxiliary coil can be connected in parallel, that is, the positive terminal is connected to one end of both auxiliary coils, and the negative terminal is connected to the other end of both auxiliary coils; the first auxiliary coil and the second auxiliary coil can also be independently connected to each other, that is, the connecting part of the first auxiliary coil to the control panel is independent of the connecting part of the second auxiliary coil to the control panel, and the first auxiliary coil and the second auxiliary coil are respectively connected to the boundary signal generating device.

[0088] It should be noted that the patent documents CN111123905A, CN108345297A, CN115693279A, CN110162055A, and CN111193131A mentioned in the foregoing are incorporated herein by reference in their entirety.

[0089] It should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

[0090] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and are not intended to limit the protection scope of the present application, and any equivalent embodiments or modifications made without departing from the spirit of the present application should be included in the protection scope of the present application.​

Claims

1. A docking station, comprising a charging column and a control panel assembly, characterized in that: The charging column extends in a direction perpendicular to the horizontal plane, and includes a receiving cavity, in which the control board assembly is received; the control board assembly includes: a first auxiliary coil, wherein the angle between the plane where the first auxiliary coil is located and the horizontal plane is α, where α satisfies 30°≤α≤150°; The auxiliary signal generating module is electrically connected to the first auxiliary coil.

2. The stop according to claim 1, wherein: The control panel assembly further comprises: The second auxiliary coil is arranged at the bottom of the docking station, the plane where the second auxiliary coil is located is parallel to the horizontal plane, and the second auxiliary coil is electrically connected to the auxiliary signal generating module.

3. The stop according to claim 2, wherein: The auxiliary signal generating module includes: Auxiliary coil connection terminals, including a positive terminal and a negative terminal; The auxiliary signal generating module is electrically connected to the first auxiliary coil through the positive terminal and the negative terminal, and feeds an electrical signal to the first auxiliary coil.

4. The stop according to claim 3, wherein: The auxiliary signal generating module is electrically connected to the second auxiliary coil through the positive terminal and the negative terminal, and feeds an electrical signal to the second auxiliary coil.

5. The stop according to claim 3, wherein: The control board assembly further includes: a control board box; wherein the first auxiliary coil is led out from the positive terminal, goes around the inner surface of the side wall of the control board box, and then is connected to the negative terminal; or, The first auxiliary coil is led out from the positive terminal, goes around the outer surface of the side wall of the control board box, and is connected to the negative terminal.

6. The docking station according to claim 3, characterized in that The stops include: The first auxiliary coil is led out from the positive terminal, goes around the inner surface of the side wall of the accommodating cavity, and is then connected to the negative terminal.

7. The docking station according to claim 3, characterized in that The stops include: After the first auxiliary coil is led out from the positive terminal, the first auxiliary coil is bent into a ring shape and connected to the negative terminal. The first auxiliary coil is placed in the receiving cavity.

8. The docking station according to claim 3, characterized in that The charging column includes a front shell and a rear shell, the front shell and the rear shell are detachably connected; at least a portion of the front shell cooperates with at least a portion of the rear shell to form the receiving cavity, the control panel assembly further includes: a boundary line connection terminal assembly, and the docking station includes: After the first auxiliary coil is led out from the positive terminal, the first auxiliary coil is bent into a ring shape and connected to the negative terminal. The first auxiliary coil is placed in the accommodating cavity, and the first auxiliary coil portion is fixed between the boundary line connection terminal assembly and the front shell.

9. The docking station according to claim 2, characterized in that The first auxiliary coil and the second auxiliary coil are connected in series; or The first auxiliary coil and the second auxiliary coil are connected in parallel; or The first auxiliary coil and the second auxiliary coil are independently connected to each other.

10. The docking station according to claim 1, wherein: An included angle α between the plane where the first auxiliary coil is located and the horizontal plane satisfies 60°≤α≤120°.

11. The docking station according to claim 1, wherein: An included angle α between the plane where the first auxiliary coil is located and the horizontal plane satisfies 80°≤α≤100°.

12. The docking station according to claim 1, wherein: An included angle α between the plane where the first auxiliary coil is located and the horizontal plane satisfies α=90°±3°.

13. An autonomous operating device, characterized in that: The autonomous operating equipment is moored and / or charged using the docking station according to any one of claims 1 to 12 above; The autonomous operation equipment at least includes a main body mechanism and a detection module; The detection module is used to detect the signal emitted by the first auxiliary coil and / or the second auxiliary coil of the docking station, so that the autonomous operating equipment body can enter the docking station for parking and / or charging.

14. A boundary of an autonomous operating device, characterized in that The boundary is used to define the working area of ​​the autonomous working device according to claim 13; The boundary includes an outer boundary and an inner boundary; The autonomous operating equipment is confined within the outer boundary, outside the inner boundary, or moves and operates between the outer boundary and the inner boundary.

15. The border according to claim 14, characterized in that The boundary may be a virtual signal generated by a boundary signal generating device; The boundary signal generating device is arranged in the stop described in any one of claims 1 to 12.

16. An autonomous operation system, characterized in that: The autonomous operation system includes the docking station described in any one of claims 1 to 12, the autonomous operation equipment described in claim 13, and the boundary described in any one of claims 14 to 15.

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