Autonomous operation system and control method therefor

Abstract

An autonomous operation system and a control method therefor. The autonomous operation system comprises an autonomous operation device (10) and a working boundary (30), wherein the autonomous operation device (10) can travel within a working area defined by the working boundary (30), so as to execute an operation task. At least one label (51, 52, 53, 54, 55, 56) is provided on the working boundary (30), and each label (51, 52, 53, 54, 55, 56) does not include any apparatus used for positioning. The autonomous operation device (10) is provided with a positioning apparatus and a label reader used for identifying a label. The control method comprises: when a label detected by a label reader is an unrecorded label (51, 52, 53, 54, 55, 56), an autonomous operation device traveling to the position above the label, and updating current coordinate information determined by a positioning apparatus to coordinate information of the label.

Description

Autonomous operation system and control method thereof Technical Field

[0001] The present application relates to the field of automatic working equipment, and in particular to an autonomous operation system and a control method thereof. Background Art

[0002] As we all know, autonomous operating equipment such as lawn mowers and sweeping robots can perform work tasks according to pre-set programs automatically without human operation and intervention. Therefore, they are increasingly being used in people's daily production and life.

[0003] Autonomous operating equipment is typically equipped with a positioning device to provide accurate positioning for the equipment as it navigates its work area. Those skilled in the art are aware that after a period of operation or travel, autonomous operating equipment will experience positioning errors. Furthermore, these positioning errors accumulate over time or distance. Therefore, calibrating the positioning of autonomous operating equipment to improve its accuracy is a common need in this field.

[0004] To address the above technical issues, existing technologies offer a solution. Specifically, markers capable of emitting signals are placed within the work area, and corresponding reading devices are installed on the autonomous operating equipment to identify these markers. These markers typically have pre-set coordinate positions, typically achieved using a positioning device. As the autonomous operating equipment navigates the work area, the coordinates determined by the positioning device interact with the pre-set coordinates of the markers, achieving positioning calibration for the autonomous operating equipment.

[0005] However, this type of positioning calibration, which requires markers with pre-set coordinates, presents challenges. For example, these challenges often manifest themselves in the form of increased costs and increased difficulty in arranging the work area due to the complex structure of the markers.

[0006] Summary of the Invention

[0007] In view of this, the present invention provides an autonomous operation system and a control method thereof, which can at least partially solve the above-mentioned problems.

[0008] In order to achieve the above objectives, the present invention provides the following technical solutions.

[0009] A control method for an autonomous operating system includes an autonomous operating device and a work boundary. The autonomous operating device can move within a work area defined by the work boundary to perform an operating task. The work boundary is provided with at least one tag, which does not include any positioning device. The autonomous operating device is provided with a positioning device and a tag reader for identifying the tag.

[0010] The control method includes: while the autonomous working device is moving within a work area to perform a work task, a tag reader detects tags in real time. If the tag detected by the tag reader is an unregistered tag, the autonomous working device moves over the unregistered tag and updates the current coordinate information determined by the autonomous working device's positioning device to the coordinate information of the unregistered tag.

[0011] Preferably, the tag includes identification information for uniquely identifying the tag. Updating the current coordinate information determined by the positioning device of the autonomous operating device to the coordinate information of the unrecorded tag includes associating the current coordinate information determined by the positioning device with the identification information of the unrecorded tag.

[0012] Preferably, when the tag detected by the tag reader is an unrecorded tag, the following positioning correction operation is performed:

[0013] The autonomous operating device is controlled to first move above any other recorded tag, and the recorded tag calibrates the positioning device; the positioning calibration is to update the coordinate information of the recorded tag to the coordinate information of the positioning device;

[0014] The autonomous operation device is controlled to return to the top of the unrecorded tag and updates the current coordinate information determined by the positioning device that has completed the positioning calibration to the coordinate information of the unrecorded tag.

[0015] Preferably, when the tag detected by the tag reader is an unrecorded tag, it is determined whether the current positioning error of the autonomous operation device reaches a set threshold, and only when the determination result is yes does the positioning correction operation take place.

[0016] Preferably, when the tag detected by the tag reader is an unrecorded tag, a positioning correction operation is performed.

[0017] Preferably, when the tag detected by the tag reader is an unrecorded tag and it is determined that the current positioning error of the autonomous operation equipment does not reach the set threshold, the current coordinate information determined by the positioning device is updated to the coordinate information of the unrecorded tag.

[0018] Preferably, when the tag detected by the tag reader is a recorded tag, the autonomous operation device travels above the recorded tag and updates the coordinate information of the recorded tag to the coordinate information of the positioning device.

[0019] Preferably, at least one sub-area is formed within the working area. When the autonomous operating device moves within any sub-area to perform a work task, when the tag reader detects a tag signal, it determines whether the detected tag is a recorded tag. When the judgment result is yes, the autonomous operating device is controlled to move above the recorded tag and update the coordinate information of the recorded tag to the coordinate information of the positioning device. When the judgment result is no, the autonomous operating device is controlled to move above the nearest recorded tag and update the coordinate information of the recorded tag to the coordinate information of the positioning device. Then, the autonomous operating device is controlled to return to the top of the unrecorded tag and update the current coordinate information determined by the positioning device to the coordinate information of the unrecorded tag.

[0020] Preferably, when the autonomous operating equipment is walking in any sub-area to perform a work task, it is determined in real time or periodically whether the current positioning error of the autonomous operating equipment reaches a set threshold, and the tag reader is always in a working state of detecting the tag.

[0021] When it is determined that the current positioning error of the autonomous operation device has not reached the set threshold and the tag reader has not detected the tag signal, the autonomous operation device is controlled to continue working in the current sub-area until the work task is completed.

[0022] When the current positioning error of the autonomous operating device reaches a set threshold, the autonomous operating device is controlled to move above any recorded tag and update the coordinate information of the recorded tag to the coordinate information of the positioning device.

[0023] After the coordinate information of the positioning device is updated, the autonomous operation device returns to the original sub-area and continues to perform the work task until it is completed. In the process of moving towards the recorded tag and returning to the original sub-area, the working components of the autonomous operation device are not in operation.

[0024] Preferably, the autonomous operation system further includes a prompting unit. When the autonomous operation device moves in a straight line for more than a certain distance and the tag reader still fails to detect a tag signal, the prompting unit is controlled to operate to issue a first prompting signal for prompting the user to add a tag.

[0025] Preferably, when the autonomous working equipment is walking in the working area to perform work tasks, if the tag reader receives signals from two or more tags at the same time, the prompt unit is controlled to issue a second reminder signal for reminding the user to adjust the tag position.

[0026] Preferably, the straight-line distance L between any two adjacent tags is calculated based on the coordinate information of the two adjacent tags. Adjacent tags are defined as: a circular area with one of the two tags as the center and the straight-line distance L as the radius, which does not contain any other tags. When it is determined that the straight-line distance L is greater than a predetermined multiple N of the effective distance R that the tag reader can recognize the tag, the prompt unit is controlled to operate to issue a third reminder signal to remind the user to add a tag, where N is greater than or equal to 4. The effective distance R is defined as the maximum distance at which the tag reader can receive a valid signal from the tag.

[0027] An autonomous operation system comprising:

[0028] work boundaries;

[0029] At least one tag, located on the working boundary, not including any means for locating the workpiece;

[0030] Autonomous operating equipment equipped with a positioning device and a tag reader for identifying tags;

[0031] A processor is configured to execute any of the control methods described above.

[0032] Preferably, the linear distance between two adjacent tags is L, and the effective distance at which a tag reader can identify tags is R, where R < L. Two adjacent tags are defined as: a circular area with one of the two tags as the center and a radius of L containing no other tags. The effective distance R is defined as the maximum distance at which a tag reader can receive a valid signal from a tag.

[0033] Preferably, the straight-line distance L and the effective distance R further satisfy the following relationship: 2R <L。

[0034] Preferably, the straight-line distance L and the effective distance R further satisfy the following relationship: 2R <L<4R。

[0035] Preferably, a plurality of the labels are also provided in the working area.

[0036] Preferably, the working boundary has boundary inflection points, and labels are provided on or near at least some of the boundary inflection points.

[0037] With the help of the above solution, this embodiment can achieve the coordinate assignment and update of the tag, as well as the positioning and calibration of the autonomous working equipment, even if the tag omits the positioning device, that is, the coordinate position is not pre-set, thereby reducing the cost and difficulty of arranging the work area. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic diagram of an autonomous operation system provided by an embodiment of the present invention;

[0039] FIG2 is a schematic diagram of a working boundary provided by an embodiment of the present invention;

[0040] FIG3 is a schematic diagram showing a working area defined by a working boundary including at least one sub-area according to an embodiment of the present invention;

[0041] FIG4 is a flow chart of a control method provided by an embodiment of the present invention;

[0042] FIG5 is a flow chart of a control method provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0044] 1 , this embodiment provides an autonomous operation system, including an autonomous operation device 10 , a docking station 20 , and a boundary 30 .

[0045] The autonomous operating equipment 10 is, in particular, a robot that can autonomously move within a preset area and perform specific operations, such as a typical intelligent sweeper / vacuum cleaner that performs cleaning operations, or an intelligent lawn mower that performs mowing operations. Among them, the specific operation refers in particular to an operation that processes the working surface and changes the state of the working surface. The present invention is described in detail using an intelligent lawn mower as an example. The autonomous operating equipment 10 can autonomously walk on the surface of the working area, and in particular, as an intelligent lawn mower, it can autonomously perform mowing operations on the ground. The autonomous operating equipment 10 includes at least 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.

[0046] 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 10. In this embodiment, the housing is configured to translate and / or rotate relative to the chassis 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 sense events such as collisions and lifts.

[0047] 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.

[0048] 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 / 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.

[0049] The energy module is configured to provide energy for various operations of the autonomous working device 10. 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 working device.

[0050] The detection module is constructed as at least one sensor that senses the environmental parameters of the autonomous operating equipment 10 or its own working parameters. Typically, the detection module may include sensors related to the definition 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 GNSS 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, lifting 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.

[0051] 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 10, 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, indicator lights and / or buzzers provided on the autonomous operating equipment 10, which enable 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 10 and a terminal device independent of the autonomous operating equipment 10, 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 10 via a wired or wireless communication module.

[0052] The control module generally includes at least one processor and at least one non-volatile memory, wherein a pre-written computer program or instruction set is stored in the memory. The processor controls the execution of the movement, work and other actions of the autonomous operating device 10 according to the computer program or instruction set, including the execution of the control method described below. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating device 10, modify the parameters in the memory, etc. according to the signal of the detection module and / or the user control instruction. In addition, the control module can be connected to a prompt unit for controlling its operation and sending prompt information including sound, light, text, etc. to the outside or the user so that the user knows the system status and facilitates the system to perform corresponding operations.

[0053] The boundary 30 may generally include an outer boundary and a working boundary. As shown in FIG2 , in an embodiment in which the autonomous working device 10 is a lawn mower, the outer boundary 32 is a lawn boundary, which may be a physical entity, typically a wall, a fence, a railing, etc. The working boundary 31 defines a working area for the autonomous working device to move within to perform a working task. The working boundary 31 is generally virtual, typically such as a virtual boundary signal emitted by a signal generating device, the virtual boundary signal being generally an electromagnetic signal or an optical signal, or for an autonomous working device 10 provided with a positioning device (such as a GPS, etc.), a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the working boundary 31 is constructed as a closed energized boundary line electrically connected to the signal generating device, and the signal generating device is generally arranged in the docking station 20.

[0054] The docking station 20 is usually constructed on or within the working boundary 31 for the autonomous working device 10 to dock, and in particular can supply energy to the autonomous working device 10 docked at the docking station.

[0055] It should be noted that the solution of this embodiment is applicable to any of the above-mentioned types of autonomous working equipment 10, and this embodiment is not intended to be the sole limitation. The following description uses a lawn mower as the primary scenario, but based on the above description, it can be seen that the scope of protection of the embodiments of the present invention is not limited thereby.

[0056] Continuing with Figure 2 , at least one tag ( 51 , 52 , 53 , 54 , 55 , 56 ) is provided on the work boundary 32 . The tag does not include any positioning device. The autonomous working device 10 is equipped with a positioning device and a tag reader (not shown). The tag reader is used to identify the tag and, in response to the tag's signal, control the autonomous working device 10 to perform a corresponding action.

[0057] In one embodiment, the tag may be an RFID tag. RFID tags generally consist of a chip and coupling components. The chip contains an EEPROM for storing identification codes or other data. The tag also contains a built-in antenna whose primary function is to communicate with a tag reader. Compared to contemporary or earlier identification technologies such as barcodes, magnetic cards, and IC cards, RFID tags offer advantages such as being contactless, having a long operating range, being adaptable to harsh environments, and being able to identify moving objects.

[0058] Correspondingly, the tag reader is an RFID card reader, whose task is to control the radio frequency module to transmit a read signal to the RFID tag, receive the response from the RFID tag, decode the identification information (ID) of the RFID tag, and transmit the identification information along with other relevant information on the tag to the host for processing.

[0059] In some other embodiments, other forms of tags can also be selected. For example, a permanent magnet is used as a tag, and the autonomous operation device 10 distinguishes different tags through magnetic field characteristics. Another example is to use an active signal transmitter as a tag, and the autonomous operation device 10 distinguishes different tags by analyzing the received tag signals.

[0060] Taking the RFID tag as an example, the tags set on the outer boundary 31 (such as the lawn boundary) should not affect its appearance, so concrete RFID tags can be selected and fixed under the turf.

[0061] In this embodiment, a plurality of tags are set on the working boundary 32 to be established. In the scheme shown in FIG. 2 (for clarity, the dimensions in the figure are not drawn to actual scale), the working boundary 32 is located within the outer boundary 31 to ensure that when the autonomous operation device 10 travels above the tag, the whole machine still remains within the outer boundary 31. In other schemes, the working boundary 32 can also coincide with the outer boundary 31.

[0062] Since the tags are used for positioning correction, theoretically, the more tags, the better. However, the inventors of this application found that as the number of tags increases, on the one hand, the workload of site layout and product cost increase. On the other hand, overly dense tags will cause signal overlap, making it more difficult for the autonomous operation device 10 to identify a specific tag (usually, specific algorithms need to be combined to identify a specific tag from the overlapping signals). Therefore, the layout of the tags is optimized in this embodiment.

[0063] Specifically, the effective distance that the tag reader on the autonomous operation device 10 can identify a tag is R, and the linear distance between two adjacent tags is L, then R < L. Here, the effective distance R refers to the maximum distance of the effective signal of the tag that the tag reader can receive, that is, the radius of the dotted circle surrounding each tag in FIG. 2, and the dotted circle defines the sensing range of the tag. For RFID tags, when the distance between the autonomous operation device 10 and the tag is less than or equal to the effective distance R, the tag reader on the autonomous operation device can receive an effective tag signal. When the distance between the autonomous operation device and the tag is greater than the effective distance R, the tag reader cannot receive an effective tag signal.

[0064] Further, 2R < L, that is, the linear distance between two adjacent tags is greater than twice the maximum reading distance of a single tag. In this way, it can be ensured that when the autonomous operation device 10 is at any position in the working area, at most only one tag can be detected, and thus, on the premise of ensuring the positioning effect, the number of tags arranged can be effectively reduced. Still further, 2R < L < 4R is ensured to prevent the number of tags from being too small and to ensure the positioning effect.

[0065] Generally, tags should be placed preferentially on the work area boundary 32. In practice, users should install tags at the desired work area boundary 32 according to the aforementioned distance requirements. Furthermore, tags should be appropriately dispersed within the work area to facilitate positioning and calibration of the autonomous device 10 while navigating within the work area.

[0066] Furthermore, labels are also provided at or near at least some of the inflection points of the working boundary 32. For example, in FIG2 , the working boundary 32 has 10 inflection points. Labels 51, 52, 53, 55, and 56 are provided at inflection points numbered 1, 3, 4, 5, and 9, while no labels are provided at inflection points 2, 6, 7, 8, and 10. The number of labeled inflection points varies depending on the shape of the working boundary 32, primarily based on the distance requirements for label placement described above.

[0067] Continuing from the above description, to prevent the autonomous working device 10 from wandering outside the working boundary 32 during operation, the working boundary 32 is typically a closed area consisting of multiple lines connected end to end. In this embodiment, a boundary inflection point can be defined as the intersection of adjacent boundary lines.

[0068] It is worth noting that the above definition of boundary inflection points is applicable to scenarios where the working boundary is formed by multiple lines connected in sequence, that is, the lines that make up the working boundary have clear line intersections (including straight line and straight line intersections, straight line and curve intersections, and curve and curve intersections). In this scenario, the lines on both sides of the intersection are not smoothly transitioned. In contrast, when the working boundary is a smoothly transitioned shape such as a circle or an ellipse, the above-mentioned intersection does not exist. At this time, the boundary inflection point can be defined in reverse by the label. That is, the position point of the label on the working boundary is defined as the boundary inflection point.

[0069] Typically, when the autonomous working device 10 walks along the working boundary 32, it will generally change its direction of movement significantly (e.g., a 90° turn) near the boundary inflection point, and the walking speed near the boundary inflection point will also change significantly (typically, it will slow down when approaching the inflection point and accelerate when leaving the inflection point). Therefore, compared with walking in a roughly straight line, walking near the boundary inflection point requires the use of a more complex control algorithm, and the sudden change in posture will cause more significant disturbances to the positioning system. Therefore, setting a tag for positioning correction near the boundary inflection point will bring more significant improvements to the accuracy and timeliness of positioning correction.

[0070] The tag reader is located at the bottom of the autonomous operating equipment 10. The distance between the autonomous operating equipment 10 and the tag refers to the horizontal distance between the tag reader and the tag (the vertical distance between the tag reader and the ground is usually negligible compared to the horizontal distance between the tag reader and the tag).

[0071] In this embodiment, two adjacent tags are defined as: a circular area with either tag as the center and a straight-line distance L as the radius that contains no other tags. It should be noted that if two tags meet this definition, i.e., they are adjacent, then the distance between them must meet the above distance requirement. Conversely, if the two tags do not meet this definition, the straight-line distance L between them does not need to meet the upper limit of the distance requirement, but must still meet the lower limit of the distance requirement.

[0072] Specifically, as shown in Figure 2, five labels are schematically shown. Among them, O2 is a circle with label 53 as the center and the straight-line distance L2 between label 53 and label 56 as the radius (for the sake of clarity, only part of circle O2 is intercepted). Within circle O2, all remaining labels 51, 52, 54, and 55 are included. Therefore, based on the above definition, label 53 and label 56 cannot be identified as adjacent labels. Then the straight-line distance L2 between labels 53 and 56 should still follow the lower limit of the above distance requirements, that is, L2>R, and further L2>2R, but it is not required to follow the upper limit of the above distance requirements, that is, L2 may not be less than 4R. In fact, labels 53 and 56 can basically be regarded as two diagonal points located at the working boundary 32. The straight-line distance L2 between the two depends on the size of the working boundary 32, so there is no need to be subject to the above upper limit. Therefore, L2 can even be greater than 4R. It follows that, when setting a tag located at a diagonal point of the working boundary 32 , it is only necessary that the straight-line distance between the tags adjacent to it (which should first satisfy the above definition of adjacent tags) meets the above distance requirement.

[0073] In the above example, two tags located at diagonal corners of the working boundary 32 do not meet the definition of adjacent tags. Furthermore, in some embodiments, two tags on the same side of the working boundary 32 (i.e., the boundary line described above) may not meet the definition of adjacent tags and, in this embodiment, cannot be considered adjacent tags. This is different from conventional wisdom.

[0074] For example, as shown in Figure 2, O3 is a circle with label 51 as the center and the straight-line distance L3 between label 51 and label 52 as the radius (similarly, for the sake of clarity, only part of circle O3 is intercepted). Within circle O3, all remaining labels 54, 55, and 56 except label 53 are included. Therefore, based on the above definition, even if label 51 and label 52 are located on the same side of the working boundary 32, they cannot be identified as adjacent labels. Similarly, the straight-line distance L3 between labels 51 and 52 should still follow the lower limit value of the above distance requirement, that is, L3>R, and further L3>2R, but it is not required to follow the upper limit value of the above distance requirement, that is, L3 does not have to be less than 4R, and can even be greater than 4R.

[0075] Conversely, let O1 be a circle with tag 54 as its center and the straight-line distance L1 between tag 54 and tag 52 as its radius. Circle O1 therefore excludes all other tags. In other words, all tags 51, 53, 55, and 56, excluding tags 52 and 54, are outside circle O1. Therefore, tags 54 and 52 meet the above definition and are considered adjacent tags. Therefore, the straight-line distance L1 between tags 54 and 52 should meet both the upper and lower limits of the aforementioned distance requirements.

[0076] After the work boundary 32 and the work area are arranged, the autonomous working device 10 can start working.

[0077] When the autonomous working device 10 is operating for the first time, for the first time after being reset, or when map information is being modified (for example, when the working area is changed or adjusted), the autonomous working device 10 does not have map information of the working area. In this case, before the autonomous working device 10 officially begins operating, a map of the working area must be created (referred to as mapping).

[0078] Specifically, the autonomous operating device 10 departs from the docking station 20, travels along the work boundary 32, and ensures that every tag on the work boundary 32 is passed by the autonomous operating device 10. When the autonomous operating device 10 circles the work area boundary 32 and returns to the docking station 20, the preliminary mapping process is completed. After the preliminary mapping is completed, the autonomous operating device 10 displays a map image including the tag ID (identification information) and coordinate location to the user through an onboard display device or a handheld terminal (such as a mobile phone), and prompts the user to confirm whether it is correct. If the user confirms that it is correct, the autonomous operating device 10 will re-traverse the path just mapped and ask the user to confirm whether the walking path is consistent with the previously confirmed map. After re-confirmation, the mapping process of the autonomous operating device 10 is completed, and subsequent operations can be automatically performed according to the preset or user-specified time. When the autonomous operating device 10 is traveling in the work area, if it detects a tag that has not been recorded, it will record the ID of the tag and record the coordinates of the tag when certain conditions are met, which will be described in detail later.

[0079] For autonomous working devices 10 using GNSS positioning, it is typically necessary to control the autonomous working device 10 via a mobile phone to move along the desired work area boundary 32, recording the coordinates of the tags on the work area boundary 32 as it moves. For autonomous working devices 10 using visual positioning, it is typically possible to independently locate the boundary between the work area boundary 32 and the non-work area boundary, move along the boundary, and record the coordinates of the work area boundary 32 as it moves. The following description of the solution is based on an autonomous working device 10 using visual positioning.

[0080] The autonomous working device 10 is positioned through a camera, IMU and V-SLAM algorithm. There is a cumulative error for the IMU, and the error of the IMU data will become larger and larger as the walking distance increases. For the camera and V-SLAM algorithm, scenes that are too similar in the working environment will lead to incorrect loops and repositioning. In addition, due to the complexity of the outdoor working environment and the relatively harsh working conditions, the sensor is prone to generate erroneous data, resulting in mismatching of feature points. If the above problems are not corrected in a timely manner, the autonomous working device 10 will not be able to know the current accurate position and will make wrong behaviors. Typical wrong behaviors include missing grass cutting, walking outside the work area, etc.

[0081] The docking station 20 is a fixed device, and the position of the autonomous device 10 at the docking station 20 is also fixed. Therefore, the autonomous device 10 typically uses its position at the docking station 20 as the origin of map coordinates. In other words, when the autonomous device 10 is docked at the docking station 20, it can determine its initial coordinates or calibrate its current coordinates to the origin coordinates.

[0082] During mapping, the autonomous device 10 departs from stop 20. Since the cumulative distance traveled since the last positioning correction (i.e., at stop 20) is short, the cumulative positioning error is small, and the coordinates determined by the autonomous device 10's positioning device can be considered the actual coordinates. In this case, when the autonomous device 10 passes over a tag, the current coordinates of the autonomous device 10 are used as the tag's coordinates, and the tag's ID is associated with the coordinates.

[0083] During operation, when the autonomous operation device 10 detects an unrecorded tag, it first determines whether the current positioning error exceeds the limit. Exemplarily, the cumulative driving distance or cumulative driving time since the last positioning correction is used as a standard or basis. For example, the autonomous operation device 10 is provided with an odometer for counting driving mileage and / or a timer for counting driving time. The odometer and timer reset the statistical data after each positioning correction, and start counting the mileage and / or time of the next cycle after each positioning correction. When the cumulative driving distance of the autonomous operation device 10 since the last positioning correction reaches the set value, or the cumulative driving time reaches the set value, that is, since the last positioning correction, as long as at least one of the cumulative driving distance and the cumulative driving time of the autonomous operation device 10 reaches the corresponding set value, it is considered that the current positioning error of the autonomous operation device 10 has exceeded the limit, that is, the positioning error has reached the set threshold. On the contrary, if neither the cumulative driving distance nor the cumulative driving time reaches the corresponding set value, the current positioning error of the autonomous operation device 10 does not exceed the limit.

[0084] In this embodiment, the distance setting value and time setting value used to determine whether the current positioning error of the autonomous operation equipment 10 exceeds the limit can be determined based on the allowable error range and the characteristics of the electronic components (such as IMU devices) of the autonomous operation equipment 10. This embodiment does not limit this.

[0085] In this article, the term "reach" can be understood as greater than or equal to. For example, when the cumulative driving distance reaches the set value, it can be understood that the cumulative driving distance is greater than or equal to the set value. In addition, when the autonomous operating device 10 drives above the tag, it can be understood that the projection of the autonomous operating device 10 on the ground covers the tag. Furthermore, when the autonomous operating device 10 drives to align the tag reader with the tag, it can be considered that the autonomous operating device 10 drives directly above the tag. Generally speaking, in order to achieve alignment between the tag reader and the tag, this can be achieved by controlling the autonomous operating device 10 to stop when the tag reader detects that the tag signal strength is maximum.

[0086] Continuing from the above description, if the positioning error is within the specified limits, the coordinates determined by the autonomous device 10's positioning device are considered to be the actual coordinates. The autonomous device 10 then moves over the tag, uses the current coordinates determined by the positioning device as the tag's coordinates, and associates the tag's ID with the coordinates. If the positioning error is within the specified limits, the autonomous device 10 first moves to a recorded tag for positioning correction, then returns to the unrecorded tag for identification and recording. In some embodiments, positioning correction is performed whenever an unrecorded tag is discovered.

[0087] During the process of the autonomous operation equipment 10 building a map or walking in the work area to perform work tasks, if the tag reader receives signals from two or more tags at the same time, it means that there is signal overlap between the two tags. Then, the distance between the two tags does not meet the above distance requirements, that is, the straight-line distance L between the two tags is less than the lower limit of the above distance requirements. The prompt unit operates to issue a reminder signal to remind the user to adjust the position of the label, for example, "XX tag and XX tag are too close, please adjust in time" (XX can be the ID of the label). As described above, the prompt unit can be set on the autonomous operation equipment 10, or it can be set on a handheld terminal such as a mobile phone that is connected to the autonomous operation equipment 10 for communication. The above reminder information can be presented through voice broadcast, text push, etc. In this way, after receiving the above reminder signal, the user can find the corresponding label to facilitate the adjustment of the label position.

[0088] Furthermore, since the autonomous operating device 10 can obtain the coordinates of the tags, it can further obtain the straight-line distance L between any two adjacent tags based on the coordinate information of any two adjacent tags. When, based on the obtained straight-line distance L between the two adjacent tags, it is determined that the straight-line distance L is less than a set multiple N (N ≥ 4) of the effective distance R, essentially indicating that there are no tags within a larger area within the working area, or that there is a large blank area between two adjacent tags, the prompt unit will also operate to issue a reminder signal to the user to add a tag, thereby suggesting that the user add a tag within the area.

[0089] Based on the above-mentioned inventive concept, the detailed scheme of the control method of this embodiment will be further described below.

[0090] As shown in FIG4 , the control method includes:

[0091] Step S10: While the autonomous working device 10 is moving within the work area to perform its work tasks, the tag reader detects the tag in real time. As described above and shown in FIG2 , once the tag reader enters the sensing range of the tag in FIG2 while the autonomous working device 10 is moving, the tag reader receives a valid tag signal.

[0092] Step S20: Determine whether the tag detected by the tag reader is an unrecorded tag.

[0093] Unlike the prior art, in this embodiment, the tag does not include a positioning device, but still includes identification information (ID). The identification information can be any character that can uniquely identify the tag, such as any random number between 00000000 and 99999999, or a mixture of characters such as letters and dates.

[0094] The autonomous device 10 includes a memory for storing read tag IDs. This memory is cleared if no tag IDs are stored before the autonomous device 10's first operation, after a reset, or when a map needs to be rebuilt due to a site update. This way, when mapping for the first time or after a reset, the ID of each tag passed by the autonomous device 10 is recorded in the memory, forming a data set that can be used to subsequently identify whether a tag has been recorded.

[0095] Therefore, the method for determining whether a tag has been recorded is to match the read tag ID with the data set in the memory. If the match fails, that is, the same ID cannot be found or matched in the data set, it means that the tag has not been recorded. The ID of the previously unrecorded tag is then stored in the data set. Conversely, if the match is successful, that is, the same ID is found or matched in the data set, it means that the tag has been recorded before.

[0096] Step S40: If the above judgment is yes, that is, the tag is an unrecorded tag, the autonomous operation equipment 10 is controlled to move toward the unrecorded tag until it moves above it, and the current coordinate information determined by the positioning device of the autonomous operation equipment 10 is updated to the coordinate information of the unrecorded tag.

[0097] Since the tag ID has already been identified and recorded, the coordinates of unrecorded tags are assigned or updated by associating the current coordinate information determined by the positioning device of the autonomous operating device 10 with the unrecorded tag ID. This creates a one-to-one correspondence between the tag ID and the coordinate information, which can be stored in memory in the form of a data table as shown in Table 1. The data table stores the tag ID in one column and the coordinate information in another, with corresponding tag IDs and coordinate information placed in the same row.

[0098] Table 1 Correspondence between tag ID and coordinate information

[0099] Unrecorded tags acquire coordinate information through assignment by the autonomous operating device 10, forming an association with an ID as described above, thereby becoming registered tags. This demonstrates that registered tags contain coordinate information. Thus, when the autonomous operating device 10 detects a registered tag during its movement, it can use its coordinate information to locate it.

[0100] It can be seen that with the help of the above scheme, this embodiment can still realize the coordinate assignment and update of the label, as well as the positioning and calibration of the autonomous working equipment 10, even if the coordinate position is not pre-set in the label, thereby reducing the cost and difficulty of arranging the work area.

[0101] As mentioned above, when the tag is an unrecorded tag, the tag does not contain coordinate information, and its coordinate information can only be assigned by the autonomous operation device 10. Although the autonomous operation device 10 can obtain coordinate information on its own (due to its setting by the positioning device), there may still be errors in the coordinate information. Therefore, after meeting certain conditions (i.e., the positioning error reaches the set threshold as described above), the autonomous operation device 10 also needs to perform coordinate calibration. In this way, the calibrated coordinates are assigned to the unrecorded tag to ensure that the coordinate information assigned to the tag is relatively accurate.

[0102] Based on this, when the judgment result of step S20 is yes, that is, the detected tag is an unrecorded tag, the positioning correction operation of step S50 is performed. The specific steps of the positioning correction operation are further as follows:

[0103] Step S51: The autonomous device 10 is controlled to first move above any other registered tag. This registered tag then calibrates the positioning device. Specifically, the registered tag's coordinate information is updated with the positioning device's coordinate information. In this step, the registered tag is used to calibrate the coordinates of the autonomous device 10.

[0104] Step S52: the autonomous operating device 10 is controlled to return to the unrecorded tag and updates the current coordinate information determined by the positioning device that has completed the positioning calibration to the coordinate information of the unrecorded tag.

[0105] In this way, the coordinate assignment of the unrecorded tag is completed. Moreover, since the autonomous operation device 10 has been previously calibrated with coordinates of other recorded tags, the coordinate information assigned to the unrecorded tag is more accurate.

[0106] In one embodiment, if the result of step S20 is yes, that is, the detected tag is an unregistered tag, step S30 is first executed to determine whether the current positioning error of the autonomous operating device 10 has reached a set threshold. Only if the result of step S30 is yes, that is, the positioning error of the autonomous operating device 10 has reached the set threshold, is the positioning correction operation of step S50 executed.

[0107] Otherwise, if the result of step S30 is negative, that is, if the positioning error of the autonomous operating device 10 does not reach the set threshold, the positioning correction operation of step S50 is not performed, and the coordinate assignment operation of step S40 is directly performed. In other words, only when the detected tag is an unregistered tag and the positioning error of the autonomous operating device does not reach the set threshold is the current coordinate information determined by the positioning device updated to the coordinate information of the unregistered tag.

[0108] In short, when an unregistered tag is detected, if the autonomous device 10's positioning error is within the specified range, it will directly move over the unregistered tag and use its current coordinates as the coordinates of the unregistered tag. If the positioning error exceeds the specified range, the autonomous device 10 will first move over another registered tag to perform a positioning correction before returning to the unregistered tag and assigning its coordinates.

[0109] Therefore, even if the tag does not have pre-set coordinate information, the above-mentioned solution of this embodiment can determine whether the positioning error of the autonomous operation device 10 exceeds the limit to determine whether the autonomous operation device 10 directly assigns coordinates to the tag or whether a positioning calibration operation is required. This ensures both the effectiveness and accuracy of the positioning calibration.

[0110] Of course, as described above, as long as no recorded tag is detected, the positioning correction operation of step S50 is performed. In this way, the number of judgment steps can be reduced, the control process can be simplified, and the accuracy of positioning calibration can be improved.

[0111] Furthermore, if the result of step S20 is negative, meaning the detected tag is a registered tag, step S60 is executed, where the autonomous device 10 moves over the registered tag and updates the coordinate information of the registered tag with the coordinate information of the autonomous device 10's positioning device. In this way, the coordinate information of the registered tag is updated in real time during operation, thus not only providing positioning and navigation for the autonomous device 10 but also improving its positioning performance. Furthermore, this real-time updating of coordinate information ensures more accurate coordinate assignment when the autonomous device 10 performs positioning calibration on unregistered tags.

[0112] The above scheme can be applied to the positioning calibration of the autonomous working device 10 when it walks randomly in the working area. In other embodiments, the autonomous working device 10 can also adopt a zone-based working mode when working. As shown in Figure 3, at least one sub-area (1, 2, 3, 4) is formed in the working area. In some possible scenarios, at least some sub-areas are not labeled, but labels are provided outside the sub-areas. The autonomous working device 10 is driven by the walking path program and performs work tasks in each sub-area in turn.

[0113] As described above, similarly, when the autonomous operating device 10 operates in each sub-area, as the mileage increases or the driving time prolongs, V-SLAM positioning will produce mismatching and cumulative errors or loop errors and relocation errors. Therefore, it is also necessary to perform positioning calibration for the system in this scenario. The details are as follows:

[0114] As shown in Figure 5, the autonomous operation equipment 10 performs the operation of step S70 and walks in any sub-area to perform the work task. During this process, the tag reader is always in the working state of detecting the tag shown in step S80. When the result of step S80 is yes, that is, when the tag reader detects the tag signal, the autonomous operation equipment 10 then performs the operation of step S90, that is, determines whether the detected tag is a recorded tag. When the judgment result of step S90 is yes, that is, when the detected tag is a recorded tag, the autonomous operation equipment 10 is controlled to perform the operation of step S100, that is, walk to the top of the recorded tag and update the coordinate information of the recorded tag to the coordinate information of the positioning device. In this way, the positioning calibration of the autonomous operation equipment 10 is completed. Subsequently, the autonomous operation equipment 10 is controlled to perform the operation of step S130, return to the current sub-area to continue working until the work task is completed.

[0115] If the result of step S90 is negative, meaning the detected tag is an unregistered tag, the autonomous device 100 is directed to execute step S110, moving to the top of the nearest registered tag and then performing the positioning calibration operation in step S50. Specifically, the coordinates of the registered tag are first updated to the coordinates of the positioning device. The autonomous device then returns to the top of the unregistered tag and updates the current coordinates determined by the positioning device to the coordinates of the unregistered tag. This completes the registration and positioning calibration of the unregistered tag. Subsequently, the autonomous device 100 is directed to execute step S130 in a similar manner.

[0116] If the result of step S80 is not negative, meaning the tag reader never detects a tag signal while the autonomous device 10 is moving within the sub-area to perform its work, the autonomous device 10 continues to execute step S30, which determines whether the current positioning error of the autonomous device 10 has reached a set threshold. If the result of step S30 is negative, meaning the positioning error has not exceeded the threshold and the tag reader never detects a tag signal, the autonomous device 10 is directed to execute step S140. This means the autonomous device 10 no longer needs to perform positioning calibration and can continue operating in the current sub-area until its work is completed.

[0117] If the result of step S30 is yes, meaning the positioning error has exceeded the limit, the autonomous device 10 is controlled to execute step S120 (similar to step S60), namely, it moves to the top of any recorded tag and updates the recorded tag's coordinate information with the positioning device's coordinate information, completing the positioning calibration of the autonomous device 10 using the recorded tag. Subsequently, the autonomous device 10 is similarly controlled to execute step S130.

[0118] Of course, in other embodiments, when the tag reader fails to detect a tag signal while the autonomous operating device 10 travels in a straight line for a certain distance to perform a work task, the prompt unit may be controlled to issue a reminder signal to remind the user to add a tag. The autonomous operating device 10 traveling in a straight line may be understood as the autonomous operating device 10's direction of travel remaining unchanged during the period of travel, or between the starting point and the end point of travel.

[0119] For example, in Figure 2, the autonomous operating equipment 10 is considered to be walking in a straight line when walking between each adjacent boundary inflection point (including: from inflection point 1 to inflection point 2 or opposite, from inflection point 2 to inflection point 3 or opposite, from inflection point 3 to inflection point 4 or opposite... from inflection point 10 to inflection point 1 or opposite).

[0120] Alternatively, in Figure 3, the autonomous operating equipment 10 walking from point A to point C (or vice versa), from point C to point D (or vice versa), from point D to point E (or vice versa), and from point E to point F (or vice versa) within sub-area 2 can also be considered as walking in a straight line.

[0121] Conversely, in Figure 2, the autonomous machine 10 cannot be considered to be traveling in a straight line when it moves between two non-adjacent inflection points (for example, from inflection point 1 to inflection point 3, or from inflection point 5 to inflection point 10). Similarly, in Figure 3, the autonomous machine 10 cannot be considered to be traveling in a straight line when it moves from point A to point D, from point C to point F, and so on, within sub-area 2. This is because the autonomous machine 10 changes direction during the above-mentioned travel paths.

[0122] It should be noted that it is meaningful to limit whether the autonomous working device 10 detects the tag signal while traveling in a straight line. Specifically, for example, when the autonomous working device 10 travels back and forth in an S-shaped, circuitous manner within sub-area 2 as shown in Figure 3, after completing its work in sub-area 2, the total distance traveled may be very long, but the displacement is actually only the length of the line connecting the starting point A and the end point B of sub-area 2.

[0123] Therefore, if the distance traveled by the autonomous operating device 10 is used as the basis for determining whether to add the above-mentioned labels, the following problem may arise: the autonomous operating device 10 frequently issues alarms or reminders while walking in the sub-area. However, according to the solution of the present invention, in order to ensure the continuity of the autonomous operating device 10 working in different areas, it is not necessary to set labels in the sub-areas. Of course, the problem of the autonomous operating device 10 frequently issuing alarms or reminders while walking due to the travel distance as the basis for determination does not only exist in the scenario where the autonomous operating device 10 works in different areas as shown in Figure 3, but also exists in other scenarios, such as random working scenarios.

[0124] In contrast, this embodiment uses whether the distance traveled by the autonomous operating equipment 10 along a straight line exceeds the limit as a basis for determining whether to remind the user to add a label, which can avoid the above problem and make the label setting more reasonable.

[0125] For example, assume that, in sub-area 2 shown in FIG3 , the distances from point A to point C, point C to point D, point D to point E, and point E to point F are all less than a set distance threshold, while the distance from point A to point B is greater than the set distance threshold. In this case, the prompt unit will not issue a reminder signal while the autonomous operating device 10 is moving from point A to point C (or vice versa), point C to point D (or vice versa), point D to point E (or vice versa), point E to point F (or vice versa), and so on until it reaches point B in sub-area 2 as shown in FIG3 . This means that there is no need to set a label in sub-area 2, which is consistent with the original intention of not setting labels in sub-areas.

[0126] However, if the autonomous operating equipment 10 adopts a random working mode and moves from point A to point B, the prompt unit will operate to send out a reminder signal to remind the user to add a label between point A and point B. This is also consistent with the purpose of appropriately spreading some labels in the working area.

[0127] In one embodiment, during the execution of steps S120 and S130, i.e., while the autonomous working device 10 is moving toward the recorded tag and while the autonomous working device 10 is returning to the original sub-area after completing calibration, its working component is inoperative (in the case of a lawn mower, the working component is the cutterhead. More preferably, the cutterhead is raised). Thus, by disabling the working component of the autonomous working device 10 during the positioning calibration process, damage to the tag by the working component is avoided, while also protecting the working component from damage by other hard materials, such as hard rocks, that may be present in the working area.

[0128] As shown in Figure 3, the implementation scenario of the control method of this embodiment is as follows: When the autonomous operating equipment 10 is working in each sub-area, if the walking path is very close to any tag, the autonomous operating equipment 10 will walk to the vicinity of the tag to search for the tag. If the ID of the tag is recognized (that is, the tag has been recorded), the positioning of the autonomous operating equipment 10 can be corrected based on this tag, as shown by the short arrows in areas 1 to 4. If the tag ID cannot be recognized (that is, the tag is not recorded), the tag needs to be assigned coordinates and calibrated for positioning. Therefore, the autonomous operating equipment needs to find the recorded tag, and after being positioned and calibrated by the recorded tag, the autonomous operating equipment will assign coordinates and calibrate the positioning of the unrecorded tag.

[0129] In sub-areas like Area 5, there are no tags near the path of the autonomous device 10. Therefore, the autonomous device 10 will continuously check whether the positioning error exceeds the limit. If the positioning error remains within the limit, the autonomous device 10 will continue to operate in the current sub-area until completion. If the positioning error exceeds the limit, the autonomous device 10 will need to perform a positioning calibration using the recorded tags. After the calibration is completed, the autonomous device 10 returns to the original sub-area and continues to operate until completion.

[0130] The above descriptions are only several embodiments of the present invention. Those skilled in the art may make various changes or modifications to the embodiments of the present invention based on the contents disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A control method for an autonomous operation system, the autonomous operation system comprising: An autonomous working device and a working boundary, wherein the autonomous working device can walk within a working area defined by the working boundary to perform a working task; At least one label is provided on the working boundary, and the label does not include any device for positioning; The autonomous operation equipment is provided with a positioning device and a tag reader for identifying the tag; The control method comprises: When the autonomous working equipment moves in the working area to perform the working task, the tag reader detects the tag in real time; When the tag detected by the tag reader is an unrecorded tag, the autonomous operation equipment drives above the unrecorded tag and updates the current coordinate information determined by the positioning device of the autonomous operation equipment to the coordinate information of the unrecorded tag.

2. The control method according to claim 1, wherein: The tag contains identification information for uniquely identifying the tag; Updating the current coordinate information determined by the positioning device of the autonomous operation equipment to the coordinate information of the unrecorded tag includes: associating the current coordinate information determined by the positioning device with the identification information of the unrecorded tag.

3. The control method according to claim 1, wherein: When the tag detected by the tag reader is an unrecorded tag, the following positioning correction operation is performed: The autonomous operation equipment is controlled to first move above any other recorded tag, and the recorded tag performs positioning calibration on the positioning device; the positioning calibration is to update the coordinate information of the recorded tag to the coordinate information of the positioning device; The autonomous operation equipment is controlled to return to the top of the unrecorded tag, and updates the current coordinate information determined by the positioning device that has completed the positioning calibration to the coordinate information of the unrecorded tag.

4. The control method according to claim 3, wherein: When the tag detected by the tag reader is an unrecorded tag, determining whether the current positioning error of the autonomous operation device reaches a set threshold; When the judgment result is yes, the positioning correction operation is performed.

5. The control method according to claim 3, wherein: When the tag detected by the tag reader is an unrecorded tag, the positioning correction operation is performed.

6. The control method according to claim 1, wherein: When the tag detected by the tag reader is an unrecorded tag and it is determined that the current positioning error of the autonomous operation equipment does not reach the set threshold, the current coordinate information determined by the positioning device is updated to the coordinate information of the unrecorded tag.

7. The control method according to claim 1, wherein: When the tag detected by the tag reader is a recorded tag, the autonomous operation equipment drives above the recorded tag and updates the coordinate information of the recorded tag to the coordinate information of the positioning device of the autonomous operation equipment.

8. The control method according to claim 1, wherein: At least one sub-area is formed in the working area; When the autonomous working equipment walks in any of the sub-areas to perform a work task, when the tag reader detects a signal of the tag, it is determined whether the detected tag is a recorded tag; When the judgment result is yes, the autonomous operation equipment is controlled to move above the recorded tag, and updates the coordinate information of the recorded tag to the coordinate information of the positioning device.

9. The control method according to claim 8, wherein: When the judgment result is no, the autonomous operating equipment is controlled to move to the top of the nearest recorded tag, and the coordinate information of the recorded tag is updated to the coordinate information of the positioning device; then, the autonomous operating equipment is controlled to return to the top of the unrecorded tag, and the current coordinate information determined by the positioning device is updated to the coordinate information of the unrecorded tag.

10. The control method according to claim 8, wherein: When the autonomous operation equipment walks in any of the sub-areas to perform work tasks, it is determined in real time or periodically whether the current positioning error of the autonomous operation equipment reaches a set threshold, and the tag reader is always in a working state of detecting tags; When it is determined that the current positioning error of the autonomous operation device does not reach the set threshold and the tag reader still does not detect the tag signal, the autonomous operation device is controlled to continue working in the current sub-area. Until the task is completed.

11. The control method according to claim 10, wherein: When the current positioning error of the autonomous operation device reaches a set threshold, the autonomous operation device is controlled to move above any recorded tag, and the coordinate information of the recorded tag is updated to the coordinate information of the positioning device; When the coordinate information of the positioning device is updated, the autonomous operation equipment returns to the original sub-area to continue to perform the work task until it is completed; Among them, the working components of the autonomous operation equipment do not work when it is moving towards the recorded tag and returning to the original sub-area.

12. The control method according to claim 1, wherein: The autonomous operation system further includes a prompting unit; The autonomous operating device walks in a straight line for more than a certain distance, and the tag reader still fails to detect a signal from the tag. The prompt unit is controlled to issue a first prompt signal for prompting a user to add a tag.

13. The control method according to claim 12, wherein: When the autonomous working equipment is walking in the working area to perform the working task, if the tag reader receives signals from two or more tags at the same time, the prompting unit is controlled to send a second prompting signal for prompting the user to adjust the tag position.

14. The control method according to claim 12, wherein: According to the coordinate information of any two adjacent tags, the straight-line distance L between the two adjacent tags is calculated; the two adjacent tags are defined as: a circular area with any one of the two tags as the center and the straight-line distance L as the radius does not contain any other tags; When it is determined that the straight-line distance L is greater than a predetermined multiple N of the effective distance R at which the tag reader can identify the tag, the prompt unit is controlled to issue a third reminder signal for reminding the user to add a tag, where N is greater than or equal to 4; wherein the effective distance R is defined as the maximum distance at which the tag reader can receive a valid signal from the tag.

15. An autonomous operation system, comprising: work boundaries; At least one label, provided on the working boundary, the label does not contain any Devices; An autonomous operating device provided with a positioning device and a tag reader for identifying said tag; A processor, configured to execute the control method as described in any one of claims 1-14.

16. The autonomous operation system according to claim 15, wherein: The straight-line distance between two adjacent tags is L, and the effective distance at which the tag reader can identify the tags is R, where R<L; The two adjacent tags are defined as follows: a circular area with any one of the two tags as the center and the straight-line distance L as the radius does not contain any other tags; the effective distance R is defined as the maximum distance at which the tag reader can receive the effective signal of the tag.

17. The autonomous operation system according to claim 16, wherein: The straight-line distance L and the effective distance R further satisfy the following relationship: 2R <L。 18. The autonomous operation system according to claim 16, wherein: The straight-line distance L and the effective distance R further satisfy the following relationship: 2R <L<4R。

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