Marking device for autonomous operating system, autonomous operating device, and control method therefor

Abstract

An autonomous operating device, comprising: a main body mechanism (1), a moving mechanism, and a working mechanism. The moving mechanism is connected to the main body mechanism and comprises two driving wheels (2), the driving wheels being able to operate to drive the main body mechanism to move. The working mechanism is connected to the main body mechanism, and is used for executing an operation task. Further disclosed are a marking device (200) for an autonomous operating system, and a control method for the autonomous operating device. The autonomous operating device can reduce costs and improve working efficiency.

Description

Marking device of autonomous operation system, autonomous operation device and control method thereof Technical Field

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

[0002] Currently, there are various autonomous working equipment on the market, such as robots for mowing lawns, robots for sweeping floors, and robots for mopping floors. Taking a lawn mowing robot as an example, a lawn mowing robot is used to trim lawns, but the existing lawn mowing robots have low working efficiency.

[0003] Application Contents

[0004] The purpose of this application is to provide a marking device, an autonomous operation device and a control method thereof for an autonomous operation system, so that the autonomous operation device has a lower cost and improves work efficiency.

[0005] To solve the above technical problems, the embodiments of the present application provide an autonomous operation device, comprising:

[0006] Main body,

[0007] a moving mechanism connected to the main body mechanism and comprising two driving wheels, wherein the driving wheels are operable to drive the main body mechanism to move; and

[0008] A working mechanism is connected to the main mechanism and is used to perform working tasks.

[0009] An embodiment of the present application provides a marking device for an autonomous operation system, the autonomous operation system comprising: the autonomous operation device as described in any one of the above, and the marking device;

[0010] The marking device comprises:

[0011] case;

[0012] A pair of first permanent magnets are provided in the shell, the first permanent magnets extend along a first direction, and the pair of first permanent magnets are relatively spaced apart and parallel to each other along a second direction; the first direction and the second direction are perpendicular.

[0013] The embodiments of the present application further provide a control method for an autonomous operating device as described in any one of the preceding claims, characterized in that the autonomous operating device operates within a working area, the working area having a boundary; a marking device is provided within the working area, and the autonomous operating device has at least one first magnetic field sensor for detecting the marking device;

[0014] The marking device includes: a pair of first permanent magnets, the first permanent magnets extending along a first direction, and the pair of first permanent magnets are relatively spaced apart and parallel to each other along a second direction; the first direction and the second direction are perpendicular;

[0015] The control method comprises the following steps:

[0016] Controlling the autonomous operating device to move along the current path and obtain detection signals;

[0017] determining whether the detected signal is the magnetic field of the marking device;

[0018] If it is the magnetic field of the marking device, controlling the autonomous operation device to reverse according to the detected magnetic field of the marking device;

[0019] If it were not for the magnetic field of the marking device, the autonomous operation device would be controlled to continue walking along the boundary of the current path.

[0020] An embodiment of the present application further provides a computer-readable storage medium storing a computer program executable by a processor, wherein the processor implements the control method described above when executing the computer program.

[0021] An embodiment of the present application further provides a method including a processor and a memory, wherein the memory stores a computer program, and is characterized in that when the processor executes the program, the control method as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a perspective view of an autonomous operating device according to a first embodiment of the present application;

[0023] FIG2 is a bottom view of the autonomous operation device according to the first embodiment of the present application;

[0024] FIG3 is a side view of the autonomous working device according to the first embodiment of the present application;

[0025] FIG4 is a perspective view of the chassis upper cover according to the first embodiment of the present application;

[0026] FIG5 is a perspective view of a baffle member according to the first embodiment of the present application;

[0027] FIG6 is a partial enlarged view of area C in FIG4 ;

[0028] FIG7 is a partial enlarged view of area D in FIG5 ;

[0029] FIG8 is a partial enlarged view of area B in FIG3;

[0030] FIG9 is a partial enlarged view of area A in FIG2 ;

[0031] FIG10 is a partial exploded view of the autonomous operating device according to the first embodiment of the present application, wherein the magnetic field sensor is separated from the main body;

[0032] FIG11 is a partial enlarged view of the chassis lower cover mounting portion according to the first embodiment of the present application;

[0033] FIG12 is a perspective view of a sensor control board and a mounting cover according to the first embodiment of the present application;

[0034] FIG13 is a cross-sectional view of the autonomous working device along the first direction according to the first embodiment of the present application;

[0035] FIG14 is a cross-sectional view of the autonomous working device along the second direction according to the first embodiment of the present application;

[0036] FIG15 is a partial enlarged view of area E in FIG13;

[0037] FIG16 is a partial enlarged view of area F in FIG14;

[0038] FIG17 is an exploded view of the main body mechanism according to the first embodiment of the present application;

[0039] FIG18 is a schematic diagram of a charging assembly according to the first embodiment of the present application;

[0040] FIG19 is a partially enlarged cross-sectional view of the lower cover of the chassis along line A3-A3 according to the first embodiment of the present application;

[0041] FIG20 is a top view of the lower cover of the chassis according to the first embodiment of the present application;

[0042] FIG21 is an exploded view of the chassis lower cover, the visual control panel and the restricting member according to the first embodiment of the present application;

[0043] FIG22 is a cross-sectional view taken along line A4-A4 in FIG20 ;

[0044] 23 and 24 are schematic diagrams of the control member according to the first embodiment of the present application;

[0045] FIG25 is an exploded view of the chassis lower cover, battery box, battery and cover according to the first embodiment of the present application;

[0046] FIG26 is a partial enlarged view of the lower cover of the chassis according to the first embodiment of the present application;

[0047] FIG27 is a partial enlarged view of the battery cavity of the lower cover of the chassis according to the first embodiment of the present application;

[0048] FIG28 is a cross-sectional view of the chassis lower cover along line A1-A1 in FIG14;

[0049] FIG29 is an assembly diagram of the battery box and the battery according to the first embodiment of the present application;

[0050] FIG30 is an exploded view of the battery box and the battery according to the first embodiment of the present application;

[0051] FIG31 is a bottom view of the lower cover of the chassis according to the first embodiment of the present application;

[0052] FIG32 is a cross-sectional view of the rear edge A2-A2 of the auxiliary function module in FIG31;

[0053] FIG33 is a cross-sectional view of FIG31 without the rear edge A2-A2 of the auxiliary function module;

[0054] Figure 34 is a schematic structural diagram of the marking device according to the second embodiment of the present application.

[0055] FIG35 is an exploded view of a marking device according to a second embodiment of the present application, with its bottom surface facing upward;

[0056] FIG36 is a cross-sectional view of the marking device along X2-X2 according to the second embodiment of the present application;

[0057] 37 is a cross-sectional view of the marking device along X1-X1 according to the second embodiment of the present application;

[0058] FIG38 is a schematic structural diagram of an autonomous operation device according to a second embodiment of the present application;

[0059] FIG39 is a partial enlarged view of A in FIG38;

[0060] FIG40 is a schematic diagram of the cooperation between the marking device, the autonomous operation device and the work area according to the second embodiment of the present application;

[0061] FIG41 is a schematic diagram of the cooperation between the marking device, the autonomous operation device and the work area according to the second embodiment of the present application;

[0062] Figure 42 is a flowchart of the control method of the autonomous working equipment according to the third embodiment of the present application. DETAILED DESCRIPTION

[0063] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that many technical details are provided in each embodiment of the present application to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0064] In the following description, for the purpose of illustrating the various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0065] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, that is, should be interpreted to mean "including, but not limited to."

[0066] The following will describe in detail the various embodiments of the present application in conjunction with the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present application. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present application, but are only intended to illustrate the essential spirit of the technical solution of the present application.

[0067] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0068] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and / or" unless the context clearly dictates otherwise.

[0069] In the following description, in order to clearly demonstrate the structure and working method of this application, many directional words will be used for description, but words such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as restrictive terms.

[0070] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings.

[0071] The first embodiment of the present application relates to an autonomous operating device 100, which is especially a robot that can move autonomously within a boundary and perform specific operations, such as a smart sweeper / vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations. The specific operation refers in particular to an operation that processes the working surface and changes the state of the working surface. This application is explained in detail using a smart lawn mower as an example. The autonomous operating device 100 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 device 100 includes at least a main body mechanism 1, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, and the like.

[0072] The autonomous operating device 100 has a first end 101 and a second end 102 opposite to the first end 101 along a first direction. The first end 101 is the front end in the walking direction, and the second end 102 is the rear end.

[0073] The main body mechanism 1 generally includes a chassis lower cover 11 and a chassis upper cover assembly connected to the chassis lower cover 11, wherein the chassis lower cover 11 is used to install and accommodate functional mechanisms and functional modules such as a mobile mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The chassis upper cover assembly includes a chassis upper cover 12, a baffle component 13 connected to the chassis upper cover 12, and a shell 14. The chassis upper cover 12 is generally constructed to at least partially cover the chassis lower cover 11, and the shell 14 mainly serves to enhance the aesthetics and recognition of the autonomous operating equipment 100. In some embodiments, the chassis upper cover 12 is constructed to be able to be resetably translated and / or rotated relative to the chassis lower cover 11 under the action of an external force, and in conjunction with an appropriate detection module, such as a Hall sensor, it can further serve to sense events such as collisions and lifting. In this embodiment, the chassis upper cover 12 is fixedly connected to the chassis lower cover 11.

[0074] The mobile mechanism is configured to support the main body 1 on the ground and drive it for movement. It typically includes wheeled, tracked or semi-tracked, and walking mechanisms. In this embodiment, the mobile mechanism is a wheeled mechanism comprising two drive wheels 2 and at least one travel motor. The travel motor is preferably an electric motor; in other embodiments, it may be an internal combustion engine or a machine that uses other energy sources to generate power. In this embodiment, the two drive wheels 2 are a left drive wheel and a right drive wheel, respectively. The travel motors include a left travel motor that drives the left drive wheel 2 and a right travel motor that drives the right drive wheel. In this embodiment, straight-line motion of the autonomous working device 100 is achieved by the left and right drive wheels 2 rotating in the same direction and at the same speed. Turning motion is achieved by the left and right drive wheels 2 rotating in the same direction and at the same speed, while steering motion is achieved by the left and right drive wheels 2 rotating in the same direction and at different speeds or in opposite directions. In other embodiments, the mobile mechanism may further include a steering mechanism independent of the drive wheels 2 and a steering motor independent of the travel motor. In this embodiment, the moving mechanism further includes at least one driven wheel, which is typically configured as a universal wheel. The driving wheel 2 and the driven wheel are respectively located at the front and rear ends of the autonomous operating device 100 .

[0075] 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.

[0076] The energy module is configured to provide energy for various operations of the autonomous working device 100. In this embodiment, the energy module includes a battery 200 and a charging connection structure, wherein the battery 200 is preferably a rechargeable battery 200 and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous working device 100.

[0077] The detection module is constructed to sense at least one sensor of the environmental parameters of the autonomous operating equipment 100 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 GPS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, etc. The detection module may also include sensors related to its own working safety, such as obstacle sensors, 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.

[0078] 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 100, 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 100, 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 100 and a terminal device independent of the autonomous operating equipment 100, 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 100 via a wired or wireless communication module.

[0079] The control module typically includes at least one processor and at least one non-volatile memory, which stores a pre-written computer program or instruction set. The processor is connected to the movement mechanism, energy module, interaction module, working mechanism, and detection module, and controls the movement, operation, and other actions of the autonomous working device 100 according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous working device 100 and modify parameters in the memory based on signals from the detection module and / or user control instructions.

[0080] 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 device 100 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, a fence, a 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 the autonomous operating device 100 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 identified by a visual module 62. As shown in FIG1 , the visual module 62 is located at the front end of the autonomous operating device 100 and can identify the boundary of the working area.

[0081] The autonomous working device 100 can be docked at a docking station, which is usually constructed on or within a boundary and can, in particular, supply energy to the autonomous working device 100 docked at the docking station.

[0082] In the embodiment shown in FIG1 , downwardly extending side guards 15 are provided on both sides of the main body 1 along the second direction. The two side guards 15 are partially located on the side of the two drive wheels 2 facing away from the second end 102. That is, the two side guards 15 are closer to the front end relative to the two drive wheels 2. The second direction is the left-right direction of the autonomous operating device 100 and is perpendicular to the first direction.

[0083] In the prior art, foreign objects with high hardness can also cause damage to the drive wheel 2 or the cutter disc. For example, external foreign objects can enter the interior from between the main body 1 and the drive wheel 2. The side guard 15 is usually constructed as a thin-walled structure made of plastic material. The thickness of the thin-walled structure is usually about 3 mm. If a large force is used to force the foreign object into the gap between the side guard 15 and the drive wheel 2, it will cause local deformation of the side guard 15 and lead to protection failure. In this embodiment, a reinforcing rib 151 is provided on the inner side wall of the side guard 15. The reinforcing rib 151 can increase the strength of the side guard 15 and prevent foreign objects from forcibly entering the interior. It should be understood that only one of the two side guards 15 can have the above-mentioned reinforcing rib 151 on its inner side wall, and the strength of the other can be increased by other means.

[0084] Optionally, the chassis upper cover 12 covers and is connected to the top of the chassis lower cover 11, and the two side protection parts 15 are respectively provided on both sides of the chassis upper cover 12 along the second direction. It should be understood that in other embodiments, the side protection parts 15 can also be provided on both sides of the chassis lower cover 11 along the second direction. In this case, the chassis upper cover 12 needs to avoid the two side protection parts 15 when covering the chassis lower cover 11. In this embodiment, the two side protection parts 15 protrude from both sides of the chassis upper cover 12 along the second direction, and one end of the side protection part 15 facing the first end 101 is connected to the chassis upper cover 12, and the other end extends toward the bottom and the bottom side gradually extends beyond the bottom side of the chassis upper cover 12. In practice, the side protection parts 15 are formed as a whole by extending downward from the chassis upper cover 12.

[0085] The baffle assembly 13 is connected to the bottom side of the chassis cover 12 via screws. The baffle assembly 13 includes a front baffle 131, two side baffles 132, and two reinforcing ribs 133. The front baffle 131 is located on the bottom side of the chassis cover 12 facing the first end 101, while the two side baffles 132 are located on either side of the chassis cover 12 along the second direction and connected to both ends of the front baffle 131 along the second direction. Furthermore, the bottom side of the baffle assembly 13 is substantially flush with the bottom side of the side protection portion 15 away from the first end 101. When the chassis cover 12 and baffle assembly 13 are assembled, the bottom side of the side protection portion 15 and the bottom side of the baffle assembly 13 are substantially flush.

[0086] The two reinforcing ribs 133 are respectively connected to one end of the two side guard plates 132 away from the front guard plate 131 and are located on the inner side of the side guard plates 132. In addition, the two reinforcing ribs 133 are respectively bent and extended along the first direction and one end respectively abuts against one end of the two reinforcing ribs 151 along the first direction, which can enhance the strength of the side protection part 15 as a whole, and can also prevent the reinforcing ribs 151 from being deformed or shifted along the first direction, thereby limiting the distance between the side protection part 15 and the driving wheel 2, and preventing foreign matter from entering the interior from between the side protection part 15 and the driving wheel 2.

[0087] It should be understood that in order to enhance the stability of the side protection part 15, a plurality of reinforcing ribs 133 that abut against the reinforcing ribs 151 can also be provided on the inner side of each side baffle 132. The shapes of the plurality of reinforcing ribs 133 can be the same or different. This application does not limit the shape and number of the reinforcing ribs 133.

[0088] As a preferred embodiment, the reinforcing rib 151 includes a first rib 152 and a second rib 153. The first rib 152 extends along the second direction, with one end connected to the inner side of the side guard 15 and the other end connected to the second rib 153. The second rib 153 extends along the first direction, with one end away from the first rib 152 extending toward the first end 101, and its bottom side abutting the inner side of the side guard 132. In other words, the reinforcing rib 151 is L-shaped overall. The reinforcing rib 133 abuts against the end of the second rib 153 of the reinforcing rib 151 away from the first rib 152.

[0089] The bottom sides of the first rib 152 and the second rib 153, the bottom side of the side baffle 132 and the bottom side of the side protection portion 15 near the second end 102 are flush, but since the bottom side of the side protection portion 15 near the second end 102 exceeds the bottom side near the first end 101, the bottom side of the second rib 153 near the first end 101 exceeds the bottom side of one end of the side protection portion 15 near the first end 101 and fits into the inner side of the side baffle 132, and the side baffle 132 can limit the displacement of the side protection portion 15 toward the outside.

[0090] The length dimension of the first rib 152 extending along the second direction is equal to the dimension of the side protection portion 15 protruding from the chassis upper cover 12 along the second direction, and the outer side of one end of the second rib 153 away from the first rib 152 partially abuts against the inner side of the chassis upper cover 12, that is, the bottom side of the second rib 153 close to the first end 101 abuts against the inner side of the chassis upper cover 12, and the top side abuts against the inner side of the side baffle 132.

[0091] In addition, the second rib 153 may also extend along a third direction, which intersects with the first direction and is not perpendicular to it. In other embodiments, the reinforcing rib 151 may also be configured in other optional shapes.

[0092] In order to prevent foreign matter from entering the interior of the main mechanism from between the drive wheel 2 and the side guard 15, it is necessary to control the distance between the side guard 15 and the drive wheel 2 to prevent foreign matter (such as a user's finger, etc.) from entering through the gap between the drive wheel 2 and the main mechanism 1, thereby causing damage to the foreign matter, etc., caused by the running drive wheel 2 or the cutter head. As a preferred embodiment, the distance between the vertical projection of the side guard 15 and the vertical projection of the drive wheel 2 is less than 10 mm, that is, the minimum distance between the side guard 15 and the drive wheel 2 is less than 10 mm, which can effectively prevent foreign matter from entering the interior of the autonomous operation device 100 through the drive block and the side guard 15.

[0093] The upper chassis cover 12 snaps onto the top of the lower chassis cover 11, forming a sealed main cavity 16 with the lower chassis cover 11. This main cavity 16 is primarily used to house the main control board 17. The main cavity 16 is formed by the snapping of the upper chassis cover 12 and the lower chassis cover 11, meaning that the main cavity 16 is higher than the bottom side of the lower chassis cover 11. It should be understood that the bottom side of the lower chassis cover 11 referred to here refers to the horizontal plane below and tangent to the lower chassis cover 11. Even if the lower surface of the lower chassis cover 11 is uneven, it has only one so-called "bottom side," meaning that the height of the bottom side is constant.

[0094] A magnetic field sensor 18 is provided on the bottom surface of the first end 101 of the chassis lower cover 11 . The magnetic field sensor 18 can be used to detect magnetic markers placed on the ground.

[0095] In the prior art, the magnetic field sensor 18 is usually arranged in a main cavity 16 formed by the buckling of the chassis upper cover 12 and the chassis lower cover 11, and the main cavity 16 is a sealed cavity. Since it is necessary to detect a magnetic marker set on the ground, and the magnetic field strength of the magnetic marker is inversely proportional to the square of the distance, that is, the smaller the distance between the magnetic field marker and the magnetic field sensor 18, the greater the magnetic field strength, the magnetic field sensor 18 is required to be positioned closer to the ground. If the existing chassis lower cover 11 is modified so that the main cavity 16 forms a lower part for placing the magnetic field sensor 18, it will have a significant impact on the position and layout of other components in the main body 1, that is, the overall layout will change. On the other hand, since there are a large number of electronic components on the main control of the main cavity 16, these electronic components will generate a constant or changing magnetic field when working, which is easy to interfere with the magnetic field sensor 18. In this embodiment, the magnetic field sensor 18 is arranged on the bottom side of the chassis lower cover 11 and is located away from the second end 102, that is, the front bottom surface of the chassis lower cover 11. Since the front bottom surface of the chassis lower cover 11 is closer to the ground relative to the main cavity 16, the magnetic field strength of the magnetic marker can be enhanced and the interference of other electronic components can be reduced.

[0096] It should be understood that the magnetic field sensor 18 can be connected to any position on the bottom surface of the main body 1. The specific position of the magnetic field sensor 18 can be set according to actual design requirements, but it is necessary to ensure that the magnetic field sensor 18 is closer to the ground. In this embodiment, the main control board 17 is arranged at a position near the second end 102 of the main cavity 16. Therefore, it is necessary to set the magnetic field sensor 18 on the bottom surface of the first end 101 of the chassis lower cover 11, that is, the front bottom surface of the chassis lower cover 11, so that the magnetic field sensor 18 and the main control board 17 are spaced apart and respectively arranged at the front and rear ends of the main body 1, thereby separating the magnetic field sensor 18 and the main control board 17 to the maximum extent possible, thereby preventing the electronic components of the main control board 17 from interfering with the magnetic field sensor 18.

[0097] In the specific embodiment shown in Figures 10-15, a mounting portion 111 is provided on the bottom surface of the front end of the chassis lower cover 11. The mounting portion 111 is used to fix the sensor control board 19 on which the above-mentioned magnetic field sensor 18 for detecting magnetic markers is fixed. After the sensor control board 19 is installed on the mounting portion 111, the sensor control board 19 needs to be sealed and fixed on the mounting portion 111 using the mounting cover 3.

[0098] Specifically, the mounting portion 111 includes a frame 1111, a convex ring 1112 and a screw hole located in the frame 1111, and a positioning member 1113 and a wire hole 1114 located in the convex ring 1112. In order to limit the position of the mounting portion 111, the frame 1111 may not be provided in some embodiments. The screw hole is located on the outside of the convex ring 1112, and the mounting cover 3 and the screw hole can be connected by screws. The convex ring 1112 is a runway-shaped ring for sealing connection with the mounting cover 3. The wire hole 1114 is located in the convex ring 1112 and is formed by the chassis lower cover 11 in the convex ring 1112 being recessed into the main cavity 16, that is, the wire hole 1114 is connected to the main cavity 16, for the line of the sensor control board 19 to pass through and be connected to the main control board 17.

[0099] The positioning members 1113 are used to position and install the sensor control board 19. In the embodiments shown in Figures 11, 14, and 16, the two positioning members 1113 are spaced apart along the second direction, and the two positioning members 1113 have different widths. The sensor control board 19 extends along the second direction and has two spaced apart positioning notches 191 on its top side. The two positioning notches 191 also have different sizes. That is, the two positioning notches 191 are respectively clamped on either side of the two positioning members 113 along their widths, and the sizes of the two positioning notches 191 match the two positioning members 1113 of different sizes. When installing the sensor control board 19, the two positioning notches 191 can be snapped onto the two matching positioning members 1113, preventing the sensor control board 19 from being installed upside down. The positioning portion and the positioning notches 191 also cooperate to limit the movement of the sensor control board 19 in the second direction and the vertical direction.

[0100] It should be understood that in other embodiments, the positioning member 1113 can also be set in a snap-fit ​​manner, or more positioning members 1113 can be set, and only two positioning members 1113 have different shapes, and the other shapes are the same, that is, the positioning members 1113 with the same shape do not affect the installation of the sensor control board 19, and the two positioning members 1113 with different shapes can limit the installation direction of the sensor control board 19. As long as the sensor control board 19 can be fixed in the installation part 111, the specific operation method of the positioning member 1113 is not limited.

[0101] After the sensor control board 19 is mounted on the positioning member 1113, the mounting cover 3 must be secured to the mounting portion 111. In the embodiment shown in Figure 12, the top of the mounting cover 3 is open and includes a mounting groove 31 and an annular sealing groove 32 surrounding the mounting groove 31. The annular sealing groove 32 is used to accommodate a seal 35, which can be a silicone seal ring, for example. After the mounting cover 3 is mounted on the mounting portion 111, the raised ring 1112 of the mounting portion 111 presses against the seal 35, causing it to deform slightly, thereby sealing the mounting cover 3 and the mounting portion 111.

[0102] The mounting groove 31 is formed by the top surface of the mounting cover 3 being recessed in the vertical direction, and the depth of the mounting groove 31 can be set as needed. For example, without affecting the operation of the autonomous operating equipment 100, the bottom wall of the mounting groove 31 can be as close to the ground as possible, that is, the depth of the mounting groove 31 is increased, and the bottom of the sensor control board 19 is located in the mounting groove 31, and the magnetic field sensor 18 is connected to the bottom of the sensor control board 19, that is, the magnetic field sensor 18 is also as close to the ground as possible to enhance the magnetic field strength of the magnetic marker.

[0103] The inner wall of the mounting slot 31 is also provided with at least one stopper 33. This stopper 33 is used to limit the movement of the sensor control board 19 in the first or second direction. Specifically, the stopper 33 presses against two or both ends of the sensor control board 19 to restrict its movement. In the embodiment shown in FIG12 , two stoppers 33 are respectively connected to the inner wall of the mounting slot 31 in the first direction and abut against the two sides of the sensor control board 19 in the first direction. Each of these two stoppers 33 has a stopper slot into which the sensor control board 19 is secured. Another two stoppers 33 are respectively connected to the inner wall of the mounting slot 31 in the second direction and abut against the two ends of the sensor control board 19 in the second direction. These two stoppers 33 are strip-shaped, protruding from the inner wall of the mounting slot 31 and abut against the two ends of the sensor control board 19. In other words, the embodiments of the multiple stoppers 33 can be the same or different, as long as they can secure the sensor control board 19. This application is not limited to the specific embodiment of the stoppers 33.

[0104] As a preferred solution, the bottom wall of the mounting groove 31 is also provided with a positioning rib 34, which extends along the second direction and abuts against the bottom side of the sensor control board 19. That is, after the mounting cover 3 is connected to the mounting portion 111, the bottom side of the sensor control board 19 abuts against the positioning rib 34, the top side is restricted by the positioning member 1113, and the two sides along the first direction and the two ends along the second direction are respectively restricted by the limiting members 33, thereby ensuring the stability of the control board magnetic field sensor 18.

[0105] In the embodiment shown in Figure 17, the main body 1 also includes two mounting blocks 4 for mounting the charging assembly 5, along with a drainage channel 112. The two mounting blocks 4 are located near the first end 101, or the front end, of the main body 1. The two mounting blocks 4 are identical in shape and each has a receiving groove 41. The drainage channel 112 communicates with the receiving grooves 41 of the two mounting blocks 4, effectively draining any water that enters the mounting blocks 4. This prevents corrosion of the charging assembly 5 and reduces sealing requirements near the charging assembly 5, thereby reducing costs.

[0106] Specifically, the mounting base 4 is disposed outside the main cavity 16 and connected to the top surface of the chassis upper cover 12. The mounting base 4 can also be considered to be integrally formed with the chassis upper cover 12 and constructed as a cavity recessed downward from the upper surface of the chassis lower cover 11. The top surface of the mounting base 4 is provided with a receiving groove 41, i.e., the top of the receiving groove 41 is open, and the receiving groove 41 is used to accommodate the charging assembly 5.

[0107] The charging assembly 5 includes a base 51 and a charging piece 52. The base 51 is installed in the receiving groove 41 and is engaged with the inner wall of the receiving groove 41. In the embodiment shown in Figure 18, a hook 54 is provided on the outer side of the base 51, and a slot is provided on the inner wall of the receiving groove 41. Of course, in other embodiments, the slot can also be provided on the base 51, and the hook 54 can be provided on the inner wall of the receiving groove 41. In other embodiments, the base 51 can also be detachably connected to the inner wall of the receiving groove 41 by screws or magnets.

[0108] The charging sheet 52 and the base 51 are connected and integrally injection-molded, which means that the charging sheet 52 and the base 51 are completely sealed, and water cannot pass through the boundary between the charging sheet 52 and the base 51. The charging sheet 52 has a downwardly extending terminal 55, which extends into the lower cavity of the base 51 and is exposed in the receiving groove 41.

[0109] The chassis cover is provided with two avoidance holes 121, which are respectively aligned with the two receiving grooves 41 in the vertical direction. The top ends of the charging plates 52 of the two charging components 5 extend through the avoidance holes 121 and exceed the top surface of the chassis cover 12. That is, when the chassis cover 12, the charging component 5 and the chassis lower cover 11 are assembled, the top ends of the charging plates 52 are exposed outside the chassis cover 12, and are used to form an electrical connection with the charging electrode plates on the docking station. Since there is no sealing structure between the charging component 5 and the avoidance holes 121 of the chassis cover 12, if rainwater falls on the chassis cover 12, the rainwater will flow into the gap between the charging component 5 and the avoidance holes 121 and accumulate in the receiving groove 41 of the mounting seat 4. The receiving groove 41 of the present application is connected to the drainage channel 112, which can drain rainwater in time and prevent rainwater from corroding the charging plate 52.

[0110] In addition, the top edge of the base 51 is recessed downward to form a platform 53. After the chassis upper cover 12 is buckled onto the chassis lower cover 11, the platform 53 rests against the bottom surface of the chassis upper cover 12, further increasing the installation strength of the charging assembly 5.

[0111] The drainage channel 112 is formed by a recessed top surface of the chassis lower cover 11 and has two upstream openings 1123 and a downstream opening 1124. The two upstream openings 1123 are respectively located within the two receiving grooves 41, and the downstream opening 1124 is open toward the front end of the chassis lower cover 11 facing the first end 101. In this embodiment, a mounting portion 111 is also provided on the bottom side of the front end of the chassis lower cover 11. This mounting portion 111 is used to mount the magnetic field sensor 18 and is vertically aligned with the two mounting seats 4. Therefore, the downstream opening 1124 of the drainage channel 112 cannot open toward the bottom side of the chassis lower cover 11, but can only open toward the front end. It should be understood that in other embodiments, the magnetic field sensor 18 and the mounting seat 4 can also be staggered in the vertical direction, and the downstream opening 1124 of the drainage channel 112 can also be directly disposed on the bottom side of the chassis lower cover 11.

[0112] The drainage channel 112 includes two first sections 1121 and two second sections 1122, each connected to the first sections 1121. One end of each first section 1121 is located within the two receiving grooves 41 and is provided with the aforementioned upstream opening 1123. The other end of each second section 1122 is connected to the second sections 1122. The ends of the two second sections 1122, which are located away from the first sections 1121, are connected to each other and form a downstream opening 1124, or can be considered to be connected to the downstream opening 1124. The depth of each first section 1121 gradually increases from the upstream opening 1123 to the other end. The depth of each second section 1122 is greater than that of each first section 1121. The ends of each second section 1122, which are located away from the first section 1121, are connected to the downstream opening 1124. In other words, the depth of the drainage channel 112 gradually increases from upstream to downstream to facilitate the drainage of rainwater.

[0113] As a preferred solution, the depths of the first section 1121 and the second section 1122 gradually increase from upstream to downstream, or the depth of the first section 1121 gradually increases from upstream to downstream, and the depth of the second section 1122 is greater than that of the first section 1121. To facilitate the rapid drainage of rainwater, the depths of the first section 1121 and the second section 1122 gradually increase from back to front, that is, the depths of the first section 1121 and the second section 1122 gradually increase from a position close to the second end 102 to a position close to the first end 101, respectively. In other words, the height of the bottom wall of the first section 1121 or the second section 1122 gradually decreases from back to front along the first direction. Because the downstream opening 1124 is located at the front end, the lower the bottom wall of the first section 1121 and the second section 1122 near the downstream opening 1124 is, the more conducive it is for rainwater to flow from the receiving trough 41 to the downstream opening 1124.

[0114] In addition, in the embodiments shown in Figures 17 and 19, the first section 1121 and the second section 1122 both extend along the second direction, and the bottom walls of the first section 1121 and the second section 1122 are both inclined surfaces that are lower in the front and higher in the back. The depth of the second section 1122 gradually increases from back to front, and the angle between the bottom wall slope of the second section 1122 and the horizontal plane is preferably greater than 5°, which is conducive to the rapid discharge of rainwater.

[0115] Optionally, in some embodiments, a single charging component 5 can also be used to charge the autonomous operating equipment 100. In this case, only an installation slot 31 for accommodating the charging component 5 needs to be set, and the chassis cover is provided with an avoidance hole 121 corresponding to the installation slot 31. The drainage channel 112 includes a single first section 1121 and a second section 1122 connected to the first section 1121. The upstream opening 1123 of the first section 1121 is connected to the installation slot 31, and the other end is connected to the second section 1122. The other end of the second section 1122 is a downstream opening 1124.

[0116] A first line card 121 and a second line card 122 are also provided within the main cavity 16. As shown in FIG20 , the first line card 121 and the second line card 122 are spaced apart on either side of the main cavity 16 along the second direction and connected to the top surface of the chassis lower cover 11. The first line card 121 is used to secure the high-voltage electrical harness electrically connected to the main control board 17, and the second line card 122 is used to secure the low-voltage electrical harness electrically connected to the main control board 17. Furthermore, the main control board 17 is located within the main cavity 16 near the second end 102. One end of the high-voltage electrical harness and the other end of the low-voltage electrical harness are each connected to the main control board 17, and the other ends extend toward the front end of the main cavity 16 and are secured by the first line card 121 and the second line card 122, respectively. It should be understood that in other embodiments, if the main control board 17 is arranged on one side of the main cavity 16 along the second direction, the first line card 121 and the second line card 122 can be arranged on the two opposite edges of the main cavity 16 along the first direction, as long as the first line card 121 and the second line card 122 are spaced as far as possible so that the high-voltage harness and the low-voltage harness are arranged at intervals.

[0117] A high-voltage harness refers to the wiring harness that connects electrical appliances with operating voltages greater than 9V, especially greater than 15V, such as those connecting cutting motors (18V) and travel motors (18V). A low-voltage harness refers to the wiring harness that connects electrical appliances with operating voltages no greater than 9V, especially no greater than 5V, such as those connecting various sensors and various control boards (5V, 3.3V). For example, the magnetic field sensor 18 described above is located at the bottom front end of the main body 1 and is electrically connected to the low-voltage harness.

[0118] In the prior art, the strong and weak wire harnesses are usually arranged according to the principle of the shortest distance. The electronic components of the autonomous operation equipment 100 are all directly or indirectly connected to the main control board 17 through cables. This arrangement mixes the strong wire harness and the weak wire harness, which easily leads to signal interference. In this embodiment, the strong wire harness and the weak wire harness are arranged on one side of the main cavity 16 along the second direction, and the weak wire harness is arranged on the other side of the main cavity 16 along the second direction. That is, the strong wire harness and the weak wire harness are respectively arranged on two opposite sides of the main cavity 16. This can not only reduce the interference between the strong and weak wire harnesses, but also achieve the arrangement of some components that are susceptible to interference at a position away from the strong wire harness and the strong current connector to avoid interference.

[0119] The first line card 121 and the second line card 122 respectively have a wire clamping slot. The width of the wire clamping slot of the first line card 121 is greater than the width of the wire clamping slot of the second line card 122. The first line card 121 is used to constrain thicker high-voltage wire bundles, and the second line card 122 is used to constrain thinner low-voltage wire bundles.

[0120] In addition, a magnetic ring 123 is located within the main cavity 16, on the same side as the first line card 121 and on one side of the main cavity 16 along the second direction, to shield electromagnetic radiation from the power harness. The connectors for connecting the power harness on the main control board 17 are relatively concentrated on the same side as the main control board 17 and the first line card 121, while the connectors for connecting the power harness are relatively concentrated on the same side as the main control board 17 and the second line card 122, preventing the power and power harnesses from crossing.

[0121] The bottom surface of the chassis lower cover 11 is provided with a receiving cavity 115 for accommodating the cutterhead assembly. The top wall of the receiving cavity 115 protrudes from the top surface of the chassis lower cover 11 and is spaced apart from the chassis upper cover 12. The top wall of the receiving cavity 115 is located within the main cavity 16, and the high-voltage and low-voltage wiring harnesses are located on either side of the receiving cavity 115 along the second direction. The receiving cavity 115 is generally located in the middle of the autonomous operating device 100 along the first direction. The main control board 17 is closer to the rear end relative to the receiving cavity 115, while the magnetic field sensor 18 and the charging assembly 5 are closer to the front end relative to the receiving cavity 115.

[0122] The visual control board 6 and the visual module 62 are electrically connected to control the operation of the visual module 62. In addition, the visual control board 6 and the heat sink 113 are located closer to the front end relative to the accommodating cavity 115 and are located in the main cavity 16. The heat sink 113 is used to dissipate heat for the chip of the visual control board 6. Specifically, the chassis lower cover 11 is provided with four placement platforms 61, and the four placement platforms 61 are used to protrude from the top surface of the chassis lower cover 11 to support the visual control board 6. The heat sink 113 is connected to the top surface of the chassis lower cover 11 and is located in the middle of the four placement platforms 61. The top surface of the heat sink 113 is provided with a flexible heat conductor 114, which is against the chip of the visual control board 6 and is used to conduct the heat of the fast chip to the heat conductor, and can also be in full contact with the chip. The material of the flexible heat conductor can optionally be thermal silicone grease.

[0123] The specific operation mode of the placement table 61 and the visual control board 6 is not limited, and the implementation mode of the heat dissipation element 113 is also not limited.

[0124] In order to ensure the stability of the fit between the chip of the visual control board 6 and the flexible thermal conductor 114, the present application uses multiple restraining members to apply a downward force to the visual control board 6 so that it can fully fit the flexible thermal conductor 114 and ensure the stability of heat dissipation. The multiple restraining members are respectively connected to the top or top side of the chassis lower cover 11, and a part of them presses against the top surface of the visual control board 6, so that the visual control board 6 fits the flexible thermal conductor 114. It should be noted that the top of the chassis lower cover 11 refers to the upper surface of the chassis lower cover 11. Since the upper surface of the chassis lower cover 11 is uneven, for example, the top surface of the top wall of the receiving cavity 115 can also be regarded as the upper surface of the chassis lower cover 11, so the top of the chassis lower cover 11 includes the top surface of the chassis lower cover 11 and the top surface of the top wall of the receiving cavity 115. The top surface of the chassis lower cover 11 refers to the horizontal plane above the chassis lower cover 11 that is tangent to the chassis lower cover 11, that is, the height of the top surface of the chassis lower cover 11 is constant. That is, the plurality of restricting members may be connected to either the top surface of the top wall of the receiving cavity 115 or the top surface of the chassis lower cover 11 .

[0125] 21-24 , the two restricting members have the same shape and, for ease of description, are defined as a first restricting member 71 and a second restricting member 72. The first restricting member 71 is connected to the top surface of the top wall of the receiving cavity 115, and the second restricting member 72 is connected to the top surface of the chassis lower cover 11.

[0126] The two restraining members each include a connecting portion 73, a neck portion 74, and a pressing portion 75. The connecting portion 73 is configured to connect to the top of the chassis lower cover 11, for example, to the top surface of the chassis lower cover 11 or the top surface of the top wall of the receiving cavity 115. In the embodiment shown in FIG14 , the top surface of the top wall of the receiving cavity 115 is provided with a first fixing portion 116, while the top surface of the chassis top cover is provided with a second fixing portion 118. The top surfaces of the first fixing portion 116 and the second fixing portion 118 are each provided with a screw hole.

[0127] The connecting portion 73 is a vertical column with a first screw hole 731 and a second screw hole 732 on each of its vertical surfaces. Two screws are used to connect the two restricting members to the first fixing portion 116 or the second fixing portion 118. One screw connects the first screw hole 731 of the first restricting member 71 to the first fixing portion 116, while the other screw connects the second screw hole 732 of the second restricting member 72 to the second fixing portion 118. In other words, the two ends of the connecting portion 73 in the vertical direction have the same shape and can both be used to connect the first fixing portion 116 and the second fixing portion 118.

[0128] As a preferred embodiment, the top surface of the top wall of the receiving cavity 115 is provided with a first positioning post 117, and the top surface of the chassis cover 12 is provided with a second positioning post 119. The connecting portion 73 also has a first recessed engaging groove 733 and a second recessed engaging groove 734 along its vertical sides, respectively. The first and second engaging grooves 733 and 734 are identical in shape. The first engaging groove 733 of the first restraining member 71 is designed to engage with the outside of the first positioning post 117, facilitating the connection between the first restraining member 71 and the first fixing portion 116. The second engaging groove 734 of the second restraining member 72 engages with the second positioning post 119.

[0129] Neck 74 is L-shaped and includes a vertical segment extending in the vertical direction and a horizontal segment extending in the horizontal direction. One end of the vertical segment is connected to connector 73, and the other end is connected to horizontal segment. The end of the horizontal segment, away from the vertical segment, is connected to pressing portion 75. Furthermore, reinforcing ribs 151 are provided within neck 74 to increase its strength.

[0130] The pressing portion 75 is symmetrically arranged relative to the horizontal plane, roughly in the shape of a vertical Σ, and the middle part is connected to the horizontal section. The pressing portion 75 is elastic, ensuring that when the connecting portion 73 is fastened to the first fixing portion or the second fixing portion 118 by screws, appropriate pressure is applied to the visual control board 6. The two sides of the pressing portion 75 arranged opposite each other in the vertical direction are a first pressing surface 751 and a second pressing surface 752, wherein the pressing portion 75 of the first restricting member 71 is located below the connecting portion 73, and the first pressing surface 751 presses against the top surface of the visual control board 6. The pressing portion 75 of the second restricting member 72 is located above the connecting portion 73, and the second pressing surface 752 presses against the top surface of the visual control board 6. Since the top wall of the accommodating cavity 115 is higher than the bottom cover 11 of the chassis, the first restricting member 71 and the second restricting member 72 are placed upside down, but the two restricting members have the same shape and can still press against the visual control board 6 after being reversed.

[0131] In addition, when the chassis upper cover 12 and the chassis lower cover 11 are assembled together, since the receiving cavity 115 is formed by the upward depression of the chassis lower cover 11, the distance between the top of the receiving cavity 115 and the chassis upper cover 12 is small, making it difficult to use it as an effective space to store electrical components or other functional structures. However, the portion of the main cavity 16 other than the receiving cavity 115 is suitable for use as an effective space due to its higher height. Therefore, in this embodiment, one of the restricting members is set on the top wall of the receiving cavity 115, and the space between the top wall of the receiving cavity 115 and the chassis upper cover 12 can be utilized, thereby substantially reducing the space occupied in the main cavity 16. Moreover, the multiple restricting members of the present application have the same shape and can not only be used for the top wall of the receiving cavity 115, but can also be connected to the chassis lower cover 11. In other words, there is no need to set up multiple different restricting members, which can reduce manufacturing costs.

[0132] As a preferred embodiment, a battery cavity 8 is provided on the bottom surface of the chassis lower cover 11, within which a battery box 9 for holding the battery 200 is installed. Furthermore, the battery cavity 8 has multiple side walls, one of which is defined as a first side wall. This first side wall defines an auxiliary function module cavity 81, which is connected to the battery cavity 8 and is used to house an auxiliary function module. In the embodiment shown in FIG28 , the auxiliary function module is an anti-theft module 500, and a locator is provided within the auxiliary function module cavity 81 to prevent the autonomous operating device 100 from being stolen. In some embodiments, the auxiliary function module cavity includes a positioning device and a communication device that can transmit the location information of the autonomous operating device to the user.

[0133] In addition, the auxiliary function module cavity 81 is formed by a recessed portion of the first side wall, that is, the opening size of the auxiliary function module cavity 81 is smaller than the size of the first side wall. In other embodiments, the auxiliary function module cavity 81 can also accommodate other function modules, and the type of auxiliary function module is not limited. In some products, the auxiliary function module can be assembled. During assembly, the auxiliary function module is first placed in the auxiliary function module cavity 81, and then the battery box 9 is placed in the battery cavity 8. The battery box 9 abuts against the auxiliary function module to fix the auxiliary function module. In other products, the auxiliary function module may not be assembled. During assembly, the battery box 9 can be directly placed in the battery cavity 8. Since the opening of the auxiliary function module cavity 81 is smaller than the size of the first side wall, the battery box 9 abuts against the first side wall of the battery cavity 8 to achieve fixation. The autonomous operation equipment 100 of the present application can accommodate auxiliary function modules or not. Even if an auxiliary function module is installed, it only needs to be placed in the auxiliary function module cavity 81 and then fixed with the battery box 9. No additional equipment is required to fix the auxiliary function module, making assembly very convenient.

[0134] The first side wall and the opening direction of the battery cavity 8 are arranged relative to each other, that is, the first side wall can be one of the side wall, top wall or bottom wall of the battery cavity 8, that is, the battery cavity 8 can be opened towards the top, bottom or side. The present application does not limit the specific opening direction of the battery cavity 8. Regardless of the direction in which the battery cavity 8 opens, the first side wall is arranged relative to the opening direction of the battery cavity 8.

[0135] In the embodiment shown in Figures 25-33, the battery cavity 8 is formed by a depression in the bottom surface of the chassis lower cover 11 and is generally rectangular. That is, the battery cavity 8 is open to the bottom, and the first side wall serves as the top wall of the battery cavity 8. That is, the auxiliary function module cavity 81 is formed by the depression in the top wall of the battery cavity 8. To secure the battery compartment 9, the bottom opening of the battery cavity 8 is sealed with a cover 82. After the battery compartment 9 is installed in the battery cavity 8, the cover 82 is fixedly connected to the bottom opening of the battery cavity 8 by screws.

[0136] The inner wall of the battery cavity 8 is provided with a plurality of protruding positioning ribs 83. As shown in FIG27 , each positioning rib 83 is respectively arranged on the side wall of the battery cavity 8 along the first direction and the second direction, and is pressed against the outside of the battery box 9 to limit the movement of the battery box 9 along the first direction or the second direction.

[0137] The battery box 9 has an inner surface, which is divided into a first inner surface and a second inner surface along the opening direction of the battery cavity 9. That is, in the embodiments shown in Figures 28 and 29, the inner surface is divided into two equal parts along the vertical direction. The first inner surface is located inside near the first side wall, and the second inner surface is located outside near the opening of the battery cavity 9. The first inner surface and the second inner surface have the same shape. The battery can be installed in the battery box 9 in the upright or reverse direction along the vertical direction. That is, the battery can be installed upside down in the battery box 9. There is no need to distinguish the installation direction of the battery, which can improve the assembly efficiency of the battery.

[0138] The top and bottom outer surfaces of the battery case 9 are identical in the vertical direction, that is, the top and bottom structures of the battery case 9 are identical. In the embodiment shown in Figure 30, the battery case 9 includes a case body, a first protrusion 93 on the top surface of the case body, an internal first elastic member 95 and an internal second elastic member 97, a second protrusion 94 on the bottom surface of the case body, an external first elastic member 96 and an external second elastic member 98.

[0139] The case is used to house the battery 200 and includes a first bracket 91 and a second bracket 92. Both the first bracket 91 and the second bracket 92 are rectangular frames of identical shape and are removably connected. In the embodiment shown in Figure 30, the first bracket 91 is positioned on top of the second bracket 92 and is engaged with the second bracket 92. Specifically, the bottom end of the first bracket 91 is open, while the top end of the second bracket 92 is open. A latch hole and a latch are provided on the sides of the bottom opening of the first bracket 91 and the top opening of the second bracket 92, respectively. The latch of the first bracket 91 can be engaged with the latch hole of the second bracket 92, and the latch of the second bracket 92 can be engaged with the latch hole of the first bracket 91. Specifically, as shown in Figure 30, a first latch hole 911 is provided on one side of the first bracket 91 along the first direction. This first latch hole 911 is located near the bottom opening of the first bracket 91. A first latch 912 is provided on the other side of the first bracket 91 along the first direction, protruding from the bottom opening of the first bracket 91. The second bracket 92 is provided with a second latch 921 on one side along the first direction, which is locked into the first latch hole 911. The second latch 921 protrudes from the top of the second bracket 92 and is located on the same side as the first latch hole 911. The second bracket 91 is provided with a second latch hole 922 on the other side along the first direction, which matches the first latch 912. The bottom end of the first latch 911 is locked into the second latch hole 922. The first latch hole 911 and the second latch hole 922 have the same shape and overlap in their projections along the first direction. The first latch 912 and the second latch 921 have the same shape and overlap in their projections along the first direction, which means that the top and bottom structures are identical, facilitating mold processing and assembly. Of course, in other embodiments, the first latch hole 911 and the first latch 912 can also be provided on either side of the first bracket 91 along the second direction, and the second latch 921 and the second latch hole 922 can also be provided on either side of the second bracket 92 along the second direction.

[0140] During installation, the first bracket 91 can be located at the top of the battery cavity 8, and the top wall of the first bracket 91 abuts against the top wall of the battery cavity 8. That is, the first bracket 91 is located near the first side wall, and the second bracket 92 is located near the opening of the battery cavity 8.

[0141] Furthermore, the inner surface of the first bracket 91 and the inner surface of the second bracket 92 are also identical; the inner surface of the first bracket is the first inner surface. The inner surface of the second bracket is the second inner surface of the battery case, and the inner surface of the second bracket and the inner surface of the first bracket combine to form the overall inner surface of the battery case. When assembling the battery 200, the top and bottom of the battery 200 can be installed upside down into the battery case 9. The top and bottom of the battery case 9 can adapt to the inner surfaces of both the first bracket 91 and the second bracket 92, thereby improving the assembly efficiency of the battery 200.

[0142] Setting the first bracket 91 and the second bracket 92 to have the same shape can not only reduce the mold cost and improve manufacturing efficiency, but also eliminate the requirement for assembly relationship and do not need to design a fool-proof structure to reduce manufacturing costs.

[0143] It should be understood that in other embodiments, the shapes of the first bracket 91 and the second bracket 92 may be different. For example, the first bracket 91 and the second bracket 92 may both be rectangular frames, and the height of the first bracket 91 and the height of the second bracket 92 may be different. For example, the height of the first bracket 91 is greater than the height of the second bracket 92. In this case, the inner surface of the first bracket 91 is larger than the first inner surface of the battery case 9, while the inner surface of the second bracket 92 is smaller than the second inner surface. In other words, the inner surface of the first bracket 91 and the first inner surface are not necessarily completely identical, and the inner surface of the second bracket 92 and the second inner surface are not completely identical. However, the inner surface of the first bracket 91 and the inner surface of the second bracket 92, after assembly, form an overall inner surface that is consistent with the inner surface of the first inner surface and the second inner surface. In other words, the shapes of the first bracket 91 and the second bracket are different, but for the entire box body, the bottom structure located below the vertical center of the box body and the top structure located above the center are the same. This box body is also convenient for assembling the battery 200 and is also convenient for loading into the battery cavity 8, which can also improve assembly efficiency. The only difference is that during manufacturing, separate modules need to be provided for the first bracket 91 and the second bracket 92.

[0144] The four first protrusions 93 are connected to the top surface of the first bracket 91 and are located at the four corners of the first bracket 91, that is, on the side of the first bracket 91 facing the first side surface. The four first protrusions 93 can directly abut the first side wall of the battery cavity 8, that is, the top wall of the battery cavity 8 in the embodiment shown in Figure 30. In some embodiments, four first limiting grooves are respectively provided at the four corners of the top wall of the battery cavity 8 to respectively accommodate the four first protrusions 93 and prevent the first bracket 91 from moving in the horizontal direction. It should be understood that the number of first protrusions 91 can be two, three, or more, and at least two. Optionally, in some embodiments, the first protrusions 93 may not be provided, and the side of the first bracket 91 facing the first side wall can be directly abutted against the first side wall.

[0145] The four second protrusions 94, connected to the bottom surface of the second bracket 92, are also located at the four corners of the second bracket 92, that is, on the side of the second bracket 91 facing away from the first sidewall. The four second protrusions 94 have the same shape as the four first protrusions 93, and their vertical projections overlap with the projections of the four first protrusions 93 along the vertical direction, which is the direction of the opening of the battery chamber 8. In some embodiments, four second retaining grooves can be provided on the top surface of the cover 82 to accommodate the four second protrusions 94 and further restrict their movement.

[0146] The four second protrusions 94 and the second bracket 92 are integrally formed to form the top structure of the battery case, and the four first protrusions 93 and the first bracket 91 are integrally formed to form the bottom structure of the battery case. The top and bottom structures are configured to have the same shape, which facilitates mold opening and improves processing efficiency. It should be understood that in some embodiments, regardless of processing issues, the first protrusions 93 may be provided only on the side of the first bracket facing the first side wall, or the second protrusions 94 may be provided on the second bracket 92, or the first protrusions 93 and the second protrusions 94 may have different shapes and different projections along the vertical direction.

[0147] Preferably, four internal first elastic members 95 are respectively disposed on the side of the first protrusion 93 facing the first side wall and press against the first side wall, thereby increasing the stability of the battery case 9. Optionally, in some embodiments, the first protrusion 93 is not provided, and the internal first elastic members 95 can be directly connected to the top surface of the first bracket 91. That is, the internal first elastic members 95 are disposed on the side of the first bracket 91 facing the first side wall and press against the first side wall. The number of internal first elastic members 95 is at least two, and the two internal first elastic members 95 can be disposed on opposite sides of the top surface of the first bracket 91 to increase stability.

[0148] Furthermore, the internal second elastic member 97 is connected to the side of the first bracket 91 facing the first side wall, that is, the top surface of the first bracket 91 shown in Figure 30, and the projection of the internal second elastic member 97 along the opening direction of the battery cavity 8 overlaps with the projection of the auxiliary function module cavity 81 along the opening direction of the battery cavity 8, that is, the top surface of the internal second elastic member 91 is located in the auxiliary function module cavity 81. After the auxiliary function module is installed in the auxiliary function module cavity 81, the internal second elastic member 91 can press the auxiliary function module, thereby increasing the stability of the function module. In some autonomous operating equipment, there is no need to install the auxiliary function module. In this case, the internal second elastic member 91 is located in the auxiliary function module cavity 81. That is, the autonomous operating equipment of the present application can install the auxiliary function module or not. If the auxiliary function module needs to be installed, the auxiliary function module can be directly installed in the auxiliary function module cavity 81 without the need to use other equipment to fix it.

[0149] In addition, in the embodiment shown in Figure 30, the two ends of the internal second elastic member 97 are connected to the top surfaces of the first bracket 91 on both sides opposite to each other along the first direction and are located at the center of the first bracket 91 along the second direction, that is, the second top elastic member 97 is located at the center of the two sides extending along the second direction of the first bracket 91, and the auxiliary function module cavity 81 is also formed by the central depression of the top wall of the battery cavity 8. The top surface of the second top elastic member 97 protrudes from the top surface of the box body and is located in the auxiliary function module cavity 81. After the auxiliary function module is installed in the auxiliary function module cavity 81, the top surface of the second top elastic member 97 can abut against the auxiliary function module, thereby fixing the auxiliary function module.

[0150] Furthermore, four external first elastic members 96 are located on the sides of the four second protrusions 94 facing away from the first sidewall, that is, the sides facing the opening of the battery chamber 8. In the embodiment shown in FIG30 , these members are configured to press against the top surface of the cover 82 to enhance battery stability. Preferably, the four external first elastic members 96 have the same shape as the four internal first elastic members 95, and their projections along the opening of the battery chamber 8 overlap. There should be at least two external first elastic members 96 to enhance support stability.

[0151] The external second elastic member 98 is connected to the bottom surface of the second bracket 92. The external second elastic member 98 and the internal second elastic member 97 have the same shape and overlap in their projections along the opening direction of the battery chamber 8. The first bracket 91, the first protrusion 93, the internal first elastic member 95, and the internal second elastic member 97 integrally form the top structure, while the second bracket 92, the second protrusion 94, the external first elastic member 96, and the external second elastic member 98 integrally form the bottom structure. The top structure is preferably identical to the bottom structure to reduce modeling, facilitate processing, and improve assembly efficiency. Of course, in some embodiments, the top structure and the bottom structure can also be different.

[0152] Furthermore, the distance between the internal second elastic member 91 and the first bracket is greater than the distance between the internal first elastic member 95 and the first bracket 91, that is, the internal second elastic member 91 penetrates deep into the auxiliary function module cavity 81. The elasticity of the internal second elastic member 91 can make the auxiliary function module cavity 81 adapt to auxiliary function modules or other function modules of higher heights.

[0153] Preferably, the top surface of the internal second elastic member 97 is provided with a protruding internal arch bridge 971, which protrudes in the direction away from the first bracket 91, that is, protrudes toward the inside of the auxiliary function module cavity 81, and the distance between the internal arch bridge 971 and the first bracket is greater than the distance between the internal first elastic member and the first bracket 91, that is, the internal arch bridge 971 is arched toward the top and has a certain elasticity. The height of the internal arch bridge 971 is greater than the height of the internal first elastic member 95 and abuts against the auxiliary function module. The elasticity of the internal arch bridge 971 can make the auxiliary function module cavity 81 adapt to auxiliary function modules or other function modules of higher heights.

[0154] Furthermore, the shape of the external second elastic member 98 is the same as that of the internal second elastic member 97 and is provided with an external arch bridge 981. The external arch bridge 981 and the internal arch bridge 971 have the same shape and abut against the cover body 82. The projection of the external arch bridge 981 along the vertical direction and the projection of the internal arch bridge 971 along the vertical direction overlap, that is, the battery box 9 can be divided into two identical parts along the vertical direction, which not only facilitates the installation of the battery 200, but also facilitates the assembly of the battery box 9 into the battery cavity 8, and also facilitates the manufacture of the battery box 9.

[0155] In addition, as shown in Figure 26, the inner wall of the battery cavity 8 and the inner wall of the auxiliary function module cavity 81 are respectively provided with a wire outlet hole 99, which communicates with the outside of the battery cavity 8 and the auxiliary function module cavity 81, and is used to facilitate the wiring harness to enter the battery cavity 8 and the auxiliary function module cavity 81 from the outside. In the embodiment shown in the figure, the wire outlet hole 99 of the battery cavity 8 is set at the connection between the top wall and the side wall, while the wire outlet hole 99 of the auxiliary function module cavity 81 is set on the top wall. It should be understood that the wire outlet hole 99 can be set at any position of the battery cavity 8 or the auxiliary function module cavity 81 as needed, and the shape of the wire outlet hole 99 can also be set according to actual needs. This application does not limit the specific shape and position of the wire outlet hole.

[0156] Each outlet hole 99 is also provided with a wire pressing arm 991, which blocks a portion of the outlet hole 99 and is used to clamp the wires to prevent the wires from being scattered. The specific implementation of the wire pressing arm 991 is also not limited.

[0157] The second embodiment of the present application relates to a marking device 200A. The marking device 200A can be matched with the autonomous operation device 100 in the first embodiment, and the marking device 200A is a magnetic marker. The autonomous operation system includes: the marking device 200A and the autonomous operation device 100. The marking device 200A includes a signal element, and the signal element can be sensed by the marking device sensor. The signal element is preferably a passive signal element, that is, the signal element generates a signal that does not rely on a power supply. In this embodiment, the signal element is preferably a permanent magnet, and accordingly, the marking device sensor is preferably a magnetic field sensor, further preferably a magnetometer, and further preferably a 3D magnetometer. In some other embodiments, the signal element can also be an RFID tag, and accordingly, the marking device sensor is an RFID reader. The autonomous operation device 100 is provided with a sensor control board, and a pair of marking device magnetic field sensors are provided on the sensor control board.

[0158] As shown in Figures 34, 35, and 36, the marking device 200A includes a cover plate 2A, a pair of first permanent magnets 1A, and a base plate 3A. The first permanent magnets 1A are disposed within the cover plate 2A and extend along a first direction A. The pair of first permanent magnets 1A are spaced apart and parallel to each other along a second direction B. The first direction A and the second direction B are perpendicular. The base plate 3 covers the cover plate 2.

[0159] Furthermore, as shown in Figures 38 and 29, the autonomous operating device 100 has at least one first magnetic field sensor 181 for detecting a marking device 200A. As shown in Figure 40, the autonomous operating device 100 operates in at least two mutually separated working areas 300, each working area 300 having a boundary, and the boundary between two adjacent working areas 300 is an adjacent boundary 310. A marking device 200A is provided in each working area 300, and the marking device 200A is adjacent to the adjacent boundary 310. The adjacent boundary 310 extends along a first direction. The autonomous operating device 100 reverses direction according to the signal of the first permanent magnet 1A detected by each first magnetic field sensor 181, and moves from the current working area 300 to the adjacent working area 300.

[0160] In other embodiments, the two adjacent work areas 300 may be different from this embodiment and may be arranged as shown in FIG41 . In this case, the marking device 100 is arranged at a corner end of the work area 300, and the adjacent boundary 310 does not extend along the first direction. After the autonomous operation device detects the marking device 200A, it changes direction and moves in the direction indicated by the arrow. Subsequently, it moves in the direction indicated by the marking device 200A to achieve cross-area operation. The direction of the marking device 200A is shown by arrows C and D in FIG41 . In other words, when the autonomous operation device 100 needs to work across areas, the direction of movement after the change is not perpendicular to the adjacent boundary 310, but it can achieve cross-area operation. In actual use, the autonomous operation device 100 needs to work across areas. After setting up multiple work areas, the user can determine the orientation of the marking device by himself. The autonomous operation device only needs to change direction after detecting the marking device to achieve cross-area operation.

[0161] Alternatively, the marking device may be positioned adjacent to another boundary rather than the adjacent boundary. When the autonomous operating device 100 detects the marking device 200A, it can then change direction according to the marking device 200A and move toward another work area to achieve cross-zone integration. Alternatively, the marking device 200A may be positioned not based on the boundary but within the work area, when the autonomous operating device 100 needs to change direction, it can detect the marking device 200A as a standard. In other words, when the autonomous operating device 100 moves in its current direction and detects the marking device 200A, it changes direction.

[0162] 34 and 40 , the outer surface of the cover plate 2A is provided with a direction indicator 7A, which is used to point to the adjacent edge 310. In actual use, the user can adjust the marking device to change the direction of the direction indicator 7A as needed.

[0163] Furthermore, two first magnetic field sensors 181 are correspondingly provided on the autonomous operation device 100, and the two first magnetic field sensors 181 are spaced apart on a horizontal plane along the indication direction roughly perpendicular to the marking device 200A, that is, relatively spaced apart along the second direction B. In some other embodiments, one, three or more first magnetic field sensors 181 may also be provided. After the autonomous operation device 100 detects the marking device, it crosses the area along a specific direction, and the specific direction is referred to as the "indication direction". When the autonomous operation device 100 approaches the marking device 200A along the edge in a direction roughly perpendicular to the indication direction, it is necessary to make the left and right first magnetic field sensors 181 both detect the peak value of the magnetic induction intensity of the two first permanent magnets 1A in a specific direction to determine whether it is the marking device 200A, and then adjust the fuselage to a posture roughly perpendicular to the indication direction according to the posture when the left and right first magnetic field sensors 181 detect the two peaks. The magnetic field direction of the first permanent magnet 1A should be roughly consistent with the direction of the earth's magnetic field near the local surface. For example, in the northern hemisphere, the S pole of the first permanent magnet 1A faces upward, and the specific direction at this time is roughly vertically downward, so that the earth's magnetic field can be used to enhance the magnetic field of the marking device 200A.

[0164] As shown in Figure 40, there are at least two isolated work areas 300, with a docking station 400 located within work area 300I. When the autonomous working device 100 is operating within work area 300I and meets the cross-area condition, it leaves work area 300I and enters work area 300II in the direction indicated by marking device 200A. Similarly, when the autonomous working device 100 is operating within work area 300II and meets the cross-area condition, it leaves and enters work area 300I in the direction indicated by marking device 200A. Cross-area conditions include the continuous or cumulative operating time in the current area reaching a threshold, and the coverage rate (area already cut / total area) of the current work area 300 reaching a threshold.

[0165] As shown in Figure 40, using the marking device 200A to cross the area specifically means that when the autonomous working device 100 determines to execute the cross-area execution, it first walks in a straight line to find the boundary, and then walks counterclockwise along the boundary (because the autonomous working device 100 walks counterclockwise along the boundary to enter the stop 400). If the signal of the marking device 200A is detected during the walking process, it is determined whether it is the marking device 200A based on the signal characteristics. If not, continue to walk along the edge; if so, turn in the direction indicated by the signal characteristics and walk in a straight line to leave the current area. Furthermore, if there are three or more working areas 300, or considering other possible situations, then different marking devices 200A need to be encoded. In this embodiment, when the autonomous working device 100 first determines to detect the marking device 200A and completes the turn, it performs an image acquisition and extracts the features in the image as the encoding information of the current marking device 200A. If there are two or more marking devices 200A in the current working area 300, when crossing the area, the marking device 200A is detected and, after turning, the current image is compared with the first image to determine whether to cross the area from the current marking device 200A. If so, the current marking device 200A is used to leave the current area; if not, the current marking device 200A is used to continue walking along the edge.

[0166] As shown in Figure 40, when the autonomous operating device 100 meets a return condition (such as a low battery or the end of work time), it uses the marker 200A to return to the working area 300I and then to the docking station 400. In some embodiments, when there are only two working areas 300, since the autonomous operating device 100 should always depart from the docking station 400, the number of cross-zone crossings can be used to determine whether the autonomous operating device 100 is in the working area 300I or the working area 300II. Specifically, when the number of cross-zone crossings is odd, the autonomous operating device 100 is in the working area 300II, and when the number of cross-zone crossings is even, the autonomous operating device 100 is in the working area 300I. When the autonomous operating device 100 meets the return condition while in the working area 300I, it ignores the marker 200A while moving along the edge. In some embodiments, the marker 200A detection function is disabled or the detected marker 200A signal is not processed. In other embodiments, after determining that the marker 200A has been detected, the autonomous operating device 100 continues to move along the edge without performing a turning action. When the autonomous working device 100 meets the return condition in the working area 300II, it will cross the area according to the direction indicated by the marking device 200A while walking along the edge. In other embodiments, especially when there are three or more working areas 300, the above-mentioned method of encoding the marking device using a visual module can be used to identify different areas.

[0167] Furthermore, as shown in Figures 35, 36, and 37, the cover plate 2A is provided with a mounting slot 21A for accommodating the first permanent magnet 1A. Limiting ribs 22A are provided on the inner wall of the mounting slot 21A to further restrict the position of the first permanent magnet 1A. This prevents the marking device 200A from being displaced by collision, crushing, or impact from the autonomous operating device 100 or other objects during use, thereby preventing the marking device 200A from being struck, crushed, or impacted, which could cause the first permanent magnet 1A to fail to detect the marking device 200A's signal. Furthermore, a notch 23A is provided on the wall of the mounting slot 21A.

[0168] Regarding the cross-zone solution using marking device 200A, some details are recorded in the applicant's prior Chinese patent applications CN202311369666X, CN2023113739627, and PCT application PCT / CN2023 / 131144, the technical solutions described in these three patent applications are incorporated by reference into the specification of this application in their entirety. Regarding the specific structure of autonomous operation device 100, some details are recorded in the applicant's prior Chinese patent application CN2024102327628, the technical solutions described in this patent application are incorporated by reference into the specification of this application in its entirety.

[0169] During the above-mentioned process of identifying the boundaries of the working area, if the autonomous operating equipment exceeds the expected working area during the process of following the edge, the user actively sets boundary objects, such as setting up fences, etc.; if no errors occur during the process of following the edge (such as cross-zone errors, boundary recognition errors), the passing information input by the user can be received through the human-computer interaction interface.

[0170] The control method for autonomous operating equipment is applied to the central processing unit (CPU) in the autonomous operating equipment. The autonomous operating equipment is equipped with an imaging device, such as a camera. The CPU can communicate with the camera via a camera interface such as a MIPI interface or a CAMERA-USB interface. During operation, the camera continuously captures images, and the CPU obtains these images from the camera in real time. Specifically, as the autonomous operating equipment moves along a sidewalk, images in front of the autonomous operating equipment are captured, and the working and non-working areas contained in the images are determined. That is, the autonomous operation equipment needs to walk along the edge in scenarios such as low battery, completing the current operation task, performing the first operation, extending the boundary operation, or needing to cross areas. It can first move in one direction, and obtain the current image in front of it in real time, and continuously identify the image to determine whether it is close to the boundary of the work area. When the area of ​​the work area in the image is 0, it is determined that the autonomous operation equipment is close to the boundary of the work area, and then brake to stop, turn (for example, turn left or right) and walk along the edge. The direction of walking along the edge is related to the turning direction of the autonomous operation equipment, which can be clockwise or counterclockwise.

[0171] When walking along the edge, the autonomous operating equipment will also use the camera device to obtain real-time images of the front of the vehicle, and perform the image processing in this embodiment for each captured image. Taking the current image as an example, the working area and non-working area contained therein are first identified. For example, when recognizing a lawn image, a lawn segmentation model based on a deep neural network (such as MaskRCNN) runs in the central processing unit. The model inputs the acquired current image into the lawn segmentation model for processing and outputs a lawn mask in the current image. The mask is where the lawn is located. The part covered by the mask is the working area, and the part not covered by the mask is the non-lawn area, that is, the non-working area. However, the central processing unit is not limited to this. The central processing unit can also distinguish between grass and non-grass, that is, the working area and the non-working area, by recognizing the color and texture in the current image. Alternatively, the central processing unit can also perform semantic segmentation on the current image to distinguish between grass and non-grass, that is, the working area and the non-working area.

[0172] The image is segmented using at least one longitudinal dividing line to obtain at least two detection areas, and a region of interest is obtained from the at least two detection areas, wherein the longitudinal dividing line is parallel to the length direction of the autonomous operating device. Specifically, the current image is segmented using at least one longitudinal dividing line to obtain multiple detection areas, wherein the longitudinal dividing line is parallel to the length direction of the autonomous operating device, that is, the longitudinal dividing line is parallel to the forward direction of the autonomous operating device. For example, if the current image is segmented by two longitudinal dividing lines, three detection areas are obtained, which are respectively recorded as the left detection area, the front detection area, and the right detection area.

[0173] As shown in Figures 34, 35, 36 and 37, the marking device 200A is provided with a hollow hole 4A that passes through it. When the marking device 200A is fixed on the grass, grass can grow from the hollow hole 4A and then cover the marking device 200A. In this embodiment, the projection of the hollow hole 4A on the ground accounts for a proportion of not less than 1 / 5 of the total area enclosed by the projection of the outer contour of the marking device 200A on the ground, and further not less than 1 / 2. The hollow hole 4 is opened on the cover plate 2A, the bottom plate 3A avoids the hollow hole 4A, and the top plate and the cover plate 2A are fixed by bolts. The first permanent magnet 1A is located between the bottom plate 3 and the cover plate 2.

[0174] As shown in Figures 34, 35, 36, and 37, in order to fix the marking device 200A to the work area 300, nail holes 5A for ground nails to pass through are provided on the bottom plate 3A and the cover plate 2A. The ground nails can pass through the nail holes 5A to fix the marking device 200A to the ground. Nail holes 5A for ground nails to pass through are also provided on the bottom plate 3 of the docking station 400. In this embodiment, the nail holes 5A on the marking device 200A and the nail holes 5A on the docking station 400 have the same size and are suitable for ground nails of the same specifications, which is conducive to increasing the commonality of parts and reducing costs. The nail holes 5A can be opened on the cover plate 2A, the bottom plate 3A avoids the nail holes 5A, and the top plate and the cover plate 2 are fixed by bolts.

[0175] In addition, as shown in Figures 34, 35, 36, and 37, the marking device 200A further includes a second permanent magnet 6A disposed in the cover plate 2A, positioned between the pair of first permanent magnets 1. The second permanent magnet 6A extends in a second direction B and is perpendicular to the first permanent magnets 1A. The structure of the second permanent magnet 6A mounted in the cover plate 2A is similar to that of the first permanent magnet 1A. The cover plate 2A defines a mounting slot 21A for the second permanent magnet 6A, and the mounting slot 21 has retaining ribs 22A within it, which will not be further described herein.

[0176] Preferably, the first permanent magnet 1A is a strong magnet and the second permanent magnet 6A is a weak magnet. The magnetic field strengths of the first permanent magnet 1A and the second permanent magnet 6A are selected so as to significantly distinguish strong magnetism, weak magnetism and the earth's magnetic field at a low cost.

[0177] For the autonomous operating equipment 100 that walks counterclockwise along the edge, to exit the current area and enter the next area, it only needs to turn right 90°. In some special scenarios, such as when there is an obstacle near the marking device 200A, the autonomous operating equipment 100 may approach the marking device 200A when walking clockwise due to the obstacle avoidance action, resulting in a failure to cross the area. At this time, a second permanent magnet 6A is set between the two first permanent magnets 1A and along the indicated direction. The magnetization direction is parallel to the ground and perpendicular to the indicated direction. The autonomous operating equipment 100 can determine the direction to exit the current area based on the magnetic field direction of the second permanent magnet 6A. For cost considerations, the second permanent magnet 6A adopts weak magnetism. Although only a direction range can be determined based on this, it can already meet the cross-area requirements. Specifically, when the autonomous operating device 100 moves counterclockwise and detects the magnetic field of a first permanent magnet 1A, the obstacle is located at the marking device 200A. At this time, the autonomous operating device 100 swings around the obstacle and moves in the clockwise direction. It detects the magnetic field of the first permanent magnet 1A again, and the autonomous operating device 100 changes direction. However, since the autonomous operating device 100 is disturbed by the obstacle, the walking direction is clockwise at this time. Direct reversal will cause the autonomous operating device 100 to be misaligned in the later walking direction. Therefore, a second permanent magnet 6A is set. The magnetic field direction of the second permanent magnet 6A can allow the autonomous operating device 100 to change direction in the correct direction.

[0178] Specifically, while the autonomous working device 100 is moving along a sidewalk, if it detects the possible presence of a marking device 200A, it stops and swings left and right in place, causing the first magnetic field sensor 181 to detect a strong magnetic peak and identify the marking device 200A. If it needs to cross a zone, it exits the current working area 300 in the direction indicated by the marking device 200A. After walking a predetermined distance (e.g., 50 cm), it uses the camera to detect whether there is grass ahead. If so, it enters the working state; if not, it continues moving forward. If no grass is detected after exiting the current working area 300 and walking a predetermined distance (e.g., 10 m), an error message is displayed. If an obstacle is encountered during the cross-zone process, the autonomous working device turns around and returns to the current working area 300. The left and right swinging refers to rotating the autonomous working device in one direction, with the center of the autonomous working device's pair of drive wheels as the rotation center, until the two first magnetic field sensors sequentially detect strong magnetic peaks. The autonomous working device is then controlled to rotate in the other direction, until the two first magnetic field sensors sequentially detect strong magnetic peaks in the opposite order. The left and right swinging is performed at least once. Furthermore, at least two groups of left and right swings are performed, and the difference in strong magnetic peak values ​​between different groups is compared to see whether it exceeds a threshold value, so as to eliminate interference.

[0179] When returning to charge, walk along the edge. If it is determined that there is a marking device 200A, continue walking in the current area. If a docking station 400 is detected, enter the docking state; if the docking station 400 is detected before the marking device 200A is detected next time, cross the area and enter the adjacent area to search for the docking station 400.

[0180] When the autonomous operating device 100 determines the marking device 200A and turns to complete the cross-area preparation, it uses the camera to capture images and encodes the current marking device 200A. This can determine which marking device 200A and the stop 400 are in the same area, which is conducive to rapid return to charging.

[0181] Furthermore, as shown in Figures 36, 37, and 39, the height of the first magnetic field sensor 181 above the ground is H0, and the distance between the pair of first magnetic field sensors 181 is W0 (measured from the center of the first magnetic field sensor 181); the length of the first permanent magnet 1A of the marking device 200A set on the ground is L1, the height of the first permanent magnet 1A above the ground is H1 (measured from the center of the first permanent magnet 1A), the distance between the pair of first permanent magnets 1A is G (measured from the center of the first permanent magnet 1A), and the length of the second permanent magnet 6A is L2. In this embodiment, W0 / G is less than 1, preferably W0 / G ≤ 0.7, and more preferably 0.5 ≤ W0 / G ≤ 0.6. If W0 is too large or too small relative to G, the body swing of the autonomous operating device 100 may be abnormal during left and right swing detection.

[0182] In this embodiment, as shown in Figures 36 and 37 , G≥100 mm, preferably G≥150 mm. If G is too small, the two first permanent magnets 1A are likely to interfere with each other, affecting the recognition of the marking device 200A.

[0183] 36 and 37 , 0.75≤L2 / G≤1, preferably 0.9≤L2 / G≤1. If L2 / G is too small, the autonomous operating device 100 may be unable to detect the directional magnetic field of the second permanent magnet 6A.

[0184] In this embodiment, as shown in Figures 36, 37, and 39, H0 is ≥ 40 mm, preferably H0 is ≥ 50 mm. If H0 is too small, the passability of the autonomous working device 100 will be affected.

[0185] In this embodiment, as shown in Figures 36, 37, and 39, ΔH = H0 - H1, ΔH ≤ 100 mm, preferably ΔH ≤ 85 mm. If ΔH is too large, a permanent magnet with stronger magnetic properties needs to be selected, which increases the cost.

[0186] Furthermore, as shown in Figures 36, 37, and 39, when the first magnetic field sensor 181 is at a height H0 above the ground, it can measure the vertical strength of the Earth's magnetic field as Be, and the vertical strength of the combined magnetic field of the first permanent magnet 1A (the first magnetic field sensor 181 is located above the center of the first permanent magnet 1A) and the Earth's magnetic field as Bs. The autonomous operating device 100 has a second magnetic field sensor for detecting the marking device 200A, and can measure the vertical strength of the combined magnetic field of the second permanent magnet 6A (the second magnetic field sensor is located above the center of the second permanent magnet 6A) and the Earth's magnetic field as Bw. Therefore, 12 < Bs / Be < 27, 2 < Bw / Be < 10, and 2 < Bs / Bw < 8.

[0187] Further, as shown in Figures 36, 37 and 39, when H0 is 81 to 90m, W0 is 85 to 94mm, L1 is 38 to 42mm, H1 is 5.5 to 6.1mm, L2 is 142 to 158mm, and G is 152 to 168mm, Be is 30 to 50 Gauss, Bw is 100 to 300 Gauss, and Bs is 600 to 800 Gauss.

[0188] In this embodiment, there are at least two working areas 300. In other embodiments, there may be one working area 300. The marking device 200A is located in the working area 300 and is used to give reversing instructions to the autonomous operating equipment 100 and control the deflection of the fuselage based on the detected magnetic field of the first permanent magnet 1A.

[0189] Preferred embodiments of the present application have been described in detail above, but it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide further embodiments.

[0190] These and other changes can be made to the embodiments in light of the above detailed description.In general, in the claims, the terms used should not be construed as limited to the specific embodiments disclosed in the specification and claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which these claims are entitled.

[0191] The third embodiment of the present application relates to a control method for an autonomous operating device 100. As shown in Figures 35, 39, 40, and 42, the control method acts on the marking device 200A in the second embodiment in conjunction with the autonomous operating device 100 in the first embodiment. The autonomous operating device 100 works in a working area 300, and the working area 300 has a boundary; a marking device 200A is provided in the working area 300, and the autonomous operating device 100 has at least one first magnetic field sensor 181 for detecting the marking device 200A. The marking device 200A includes: a pair of first permanent magnets 1A, the first permanent magnets 1A extend along a first direction A, and the pair of first permanent magnets 1A are relatively spaced and parallel to each other along a second direction B; the first direction A and the second direction B are perpendicular to each other. The control method includes the following steps:

[0192] Step 100, controlling the autonomous operation device 100 to move along the current path and obtain detection signals;

[0193] Step 200 , determining whether the detected signal is the magnetic field of the marking device 100 ;

[0194] If the magnetic field is detected by the marking device 100, step 300 is executed to control the autonomous operating device 100 to reverse direction based on the detected magnetic field of the marking device 100. This means that the autonomous operating device 100 can use the marking device 200A as a directional indicator. If the magnetic field is not detected by the marking device 200A, step 100 is executed to control the autonomous operating device 100 to continue moving along the current path. The current path can be a boundary or any area within the working area. The details are as described in the first embodiment and will not be repeated here.

[0195] Furthermore, as shown in Figures 35, 39, 40, and 42, there are at least two working areas 300. The adjacent boundary between the two adjacent working areas 300 is the adjacent boundary 310, and the marking device 200A is adjacent to the adjacent boundary 310. The adjacent boundary 310 extends along a first direction, and the autonomous operating device 100 is controlled to reverse according to the detected magnetic field of the marking device 100, so that the walking direction of the autonomous operating device 100 is toward the adjacent working area 300 to be entered. Step 300 includes the following steps after controlling the autonomous operating device 100 to reverse according to the detected magnetic field of the marking device 100:

[0196] Step 400 : Control the autonomous operating device 100 to move from the current working area 300 to the adjacent working area 300 to be entered.

[0197] In addition, the extension lines of the boundaries of the two adjacent working areas are adjacent, and the boundary is the adjacent boundary 310. The marking device is adjacent to the adjacent boundary. Specifically, as shown in Figures 40 and 41, two types of working areas are arranged.

[0198] Furthermore, the marking device 200A is adjacent to the boundary, and in the embodiments shown in Figures 36 and 40 , the boundary extends along the first direction A. Step 100 of controlling the autonomous working device to move along the current path and acquiring a detection signal includes: controlling the autonomous working device to move along the boundary and acquiring a detection signal.

[0199] In other embodiments, the two adjacent work areas 300 may be different from the present embodiment and may be arranged as shown in FIG41 . In this case, the marking device 100 is arranged at a corner end of the work area 300, and the adjacent boundary 310 does not extend in the first direction. After the autonomous operation device detects the marking device 200A, it changes direction and moves in the direction indicated by the arrow. Subsequently, it moves in the direction indicated by the marking device 200A to achieve cross-area movement. The direction of the marking device 200A is shown by arrows C and D in FIG8 . In other words, when the autonomous operation device 100 needs to work across areas, the direction of movement after the change is not perpendicular to the adjacent boundary 310, but it can achieve cross-area movement. In actual use, the autonomous operation device 100 needs to work across areas. After setting up multiple work areas, the user can determine the orientation of the marking device by himself. The autonomous operation device only needs to detect the marking device and change direction to achieve cross-area movement.

[0200] Alternatively, the marking device may be positioned adjacent to another boundary rather than the adjacent boundary. When the autonomous operating device 100 detects the marking device 200A, it can then change direction according to the marking device 200A and move toward another work area to achieve cross-zone integration. Alternatively, the marking device 200A may be positioned not based on the boundary but within the work area, when the autonomous operating device 100 needs to change direction, it can detect the marking device 200A as a standard. In other words, when the autonomous operating device 100 moves in its current direction and detects the marking device 200A, it changes direction.

[0201] In addition, step 200 of determining whether the detected signal is the magnetic field of the marking device 100 specifically includes:

[0202] Step 210: Control the autonomous operating device 100 to swing left and right in place, and obtain the magnetic field peaks of the two first permanent magnets 1A through the first magnetic field sensor 181, and determine whether the positional relationship between the two detected magnetic field peaks is a preset positional relationship;

[0203] If the position relationship is the preset one, in step 220 , the detected magnetic field is the magnetic field of the marking device 100 . If the position relationship is not the preset one, the detected magnetic field is not the magnetic field of the marking device 100 .

[0204] Furthermore, step 300 of controlling the commutation of the autonomous operating device 100 according to the detected magnetic field of the first permanent magnet 1A specifically includes:

[0205] According to the postures of the two marking devices 100 when the two first magnetic field sensors 181 detect the peak values, the autonomous working device 100 is controlled to move toward the adjacent work area 300 to be entered.

[0206] Furthermore, before step 100 of controlling the autonomous operating device 100 to move along the boundary and obtain the detection signal, the following steps are included:

[0207] Step 500 , determining whether the autonomous operating device 100 needs to cross from the current working area 300 to enter an adjacent working area 300 to be entered;

[0208] If necessary, execute step 100 to control the autonomous working device 100 to walk along the boundary and detect signals.

[0209] In addition, step 500 of determining whether the autonomous operating device 100 needs to cross from the current working area 300 to an adjacent working area 300 to be entered specifically includes:

[0210] Step 501: Determine whether the continuous or cumulative working time in the current working area 300 has reached a threshold. If so, a cross-zone operation is required. In other embodiments, it may also be determined whether the area coverage of the current working area 300 has reached a threshold. If so, a cross-zone operation is required.

[0211] Furthermore, after step 300 controls the autonomous working device 100 to change direction according to the detected magnetic field of the marking device 100, step 400 controls the autonomous working device 100 to move from the current working area 300 to the adjacent working area 300 to be entered, including the following steps:

[0212] In step 600, image acquisition is performed, and features in the image are extracted as the coded information of the current marking device 200. That is, the autonomous operating device 100 captures an image of each marking device 200 it detects, and uses the captured image as the coded information of that marking device 200. Later, when the autonomous operating device 100 detects a marking device 200 again, it captures the image again and compares the captured image with the previously captured image to determine which marking device 200 was detected.

[0213] In addition, after performing image acquisition in step 600 and extracting features in the image as the coding information of the current marking device 200A, step 400 of controlling the autonomous working device 100 to move from the current working area 300 to the adjacent working area 300 to be entered includes the following steps:

[0214] Step 700: Determine whether to cross zones based on the currently detected marking device 200A according to the coding information of the marking device 200A.

[0215] In step 700, judging whether the marking device 200A meets the cross-region standard based on the coding information of the marking device 200A specifically includes the following steps:

[0216] Step 710, determining whether it is the first time to collect images;

[0217] If it is the first time to collect images, step 400 is executed to control the autonomous operation device 100 to move from the current working area 300 to the adjacent working area 300 to be entered;

[0218] If it is not the first time to capture an image, the current captured image is compared with the previous captured image. If the comparison result shows that the captured images are different, it means that the marking device 200A is different, and it can be determined whether to change the direction of the marking device 200A according to the needs.

[0219] Furthermore, as shown in FIG35 , the marking device 200A further includes a second permanent magnet 6A positioned between the pair of first permanent magnets 1A. The second permanent magnet 6A extends in a second direction B and is perpendicular to the first permanent magnets 1A. The direction of travel out of the current working area 300 is determined based on the magnetic field direction of the second permanent magnet 6. The details are similar to those in the first embodiment and will not be further described here.

[0220] Before controlling the autonomous operating device 100 to change direction according to the detected magnetic field of the marking device 100 , the following steps are included: controlling the autonomous operating device 100 to swing left and right in place, so that the first magnetic field sensor obtains the peak value of the marking device 100 .

[0221] In addition, step 600 of controlling the autonomous working device 100 to move from the current working area 300 to the adjacent working area 300 to be entered specifically includes the following steps:

[0222] Step 410 , controlling the autonomous operating device 100 to travel a preset distance;

[0223] Step 420 , after walking a predetermined distance, obtain the current front image and determine whether it is the area to be worked 300 based on the current image;

[0224] If yes, then enter the working state;

[0225] If not, an error is reported.

[0226] Specifically, after traveling a predetermined distance (e.g., 50 cm), the vehicle uses a camera to detect whether there is grass ahead. If so, the vehicle enters the operating state; otherwise, the vehicle continues traveling forward. If no grass is detected after exiting the current area and traveling a predetermined distance (e.g., 10 m), an error message is displayed. If an obstacle is encountered while crossing the area, the vehicle turns around and returns to the current area.

[0227] In other implementations, when there are two working areas 300, the current working area 300 of the autonomous working device 100 is determined based on the number of times the autonomous working device 100 has crossed areas. When the number of crossings is an odd number, the autonomous working device 100 is in the original working area 300; when the number of crossings is an even number or zero, the autonomous working device 100 is in another working area 300. In this embodiment, encoding the marking device 200 using captured images can be applied to embodiments with more working areas 300.

[0228] In this embodiment, two working areas 300 are taken as an example. In other embodiments, it can also be one working area 300. The marking device 200A is a reversing indication tool for the walking robot and is not necessarily limited to cross-area work.

[0229] It is not difficult to find that this embodiment is a system embodiment corresponding to the first and second embodiments, and this embodiment can be implemented in conjunction with the first and second embodiments. The relevant technical details mentioned in the first and second embodiments are still valid in this embodiment, and to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first and second embodiments.

[0230] The fourth embodiment of the present application relates to a computer-readable storage medium, which stores a computer program that can be executed by a processor. When the processor executes the computer program, the control method described above is implemented.

[0231] The fifth embodiment of the present application relates to an autonomous operation device, including a processor and a memory, the memory storing a computer program, and the processor implementing the control method as described in the above embodiment when executing the program. The computer program is implemented when the processor executes the above method embodiment. That is, those skilled in the art will understand that all or part of the steps in the above embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions for causing a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0232] Preferably, the autonomous working equipment is a lawn mower.

[0233] The steps of the various methods above are divided only for the purpose of clear description. During implementation, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0234] It is worth mentioning that all modules involved in this embodiment are logical modules. In actual applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovation of this application, this embodiment does not include units that are not closely related to solving the technical problem proposed by this application. However, this does not mean that other units do not exist in this embodiment.

[0235] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. An autonomous operating device, characterized in that: include: Main body, a moving mechanism connected to the main mechanism and comprising two driving wheels, wherein the driving wheels are operable to drive the main mechanism to move; as well as A working mechanism is connected to the main mechanism and is used to perform working tasks.

2. The autonomous operation equipment according to claim 1, characterized in that: The autonomous working device has a first end along a first direction and a second end opposite to the first end; The main body mechanism is provided with downwardly extending side protection parts on both sides along the second direction, and the second direction is perpendicular to the first direction; the two side protection parts are partially located on the side of the two driving wheels away from the second end, and at least one of the side protection parts is provided with a reinforcing rib on the inner side.

3. The autonomous operation equipment according to claim 1 or 2, characterized in that: The main body has a main cavity, which is used to place the main control board of the autonomous operation device and is higher than the bottom side of the main body; The autonomous operation equipment further includes: A control module, connected to the working mechanism and the moving mechanism, and used to control the operation of the working mechanism and the moving mechanism; as well as A magnetic field sensor is mounted on the bottom surface of the main body mechanism.

4. The autonomous operation equipment according to any one of claims 1 to 3, characterized in that: The main body includes: a receiving groove, the receiving groove being open toward the top; a drainage channel, the drainage channel having an upstream opening and a downstream opening, the upstream opening being in communication with the receiving groove, and the downstream opening opening toward the outside of the main body mechanism; as well as an escape hole, the escape hole being formed by a depression on the top surface of the main body mechanism and being aligned with the accommodating groove in a vertical direction; The autonomous operation equipment also includes: a charging component, the bottom end of the charging component is located in the accommodating groove, and the top end extends from the avoidance hole beyond the top surface of the main body mechanism, which is used to form an electrical connection with the charging electrode on the docking station.

5. The autonomous operation device according to any one of claims 1 to 4, characterized in that: The main body includes: A main cavity, wherein the main control board is placed in the main cavity; a high-voltage electrical harness connected to the main control board and constrained on one side of the main cavity; as well as A weak-wire harness is confined to a side of the main cavity opposite to the strong-wire harness.

6. The autonomous operation equipment according to any one of claims 1 to 5, characterized in that: The main body mechanism includes a chassis lower cover and a chassis upper cover connected to the chassis lower cover; The top surface of the chassis lower cover is provided with: A placement table, the placement table is used to support the visual control board; as well as a heat sink, the heat sink being located on the bottom surface of the visual control board; as well as The autonomous operation equipment further includes: at least one restricting member, which is connected to the top of the chassis lower cover and has a portion pressing against the top surface of the vision control board, so that the vision control board presses against the heat sink.

7. The autonomous operation device according to any one of claims 1 to 6, characterized in that: The main body is provided with a battery cavity, the battery cavity having a first side wall, and the first side wall is arranged opposite to the opening of the battery cavity; The autonomous operation equipment further includes: A control module, connected to the working mechanism and the moving mechanism, and used to control the operation of the working mechanism and the moving mechanism; as well as A battery box, the battery box is located in the battery cavity and has an inner surface, the inner surface is divided into an equal first inner surface and a second inner surface along the opening direction of the battery cavity, and the structure of the first inner surface is the same as the structure of the second inner surface.

8. The autonomous operation device according to any one of claims 1 to 6, characterized in that: The main body is provided with a battery cavity, the battery cavity including a first side wall and a battery box installed therein; An auxiliary function module cavity is formed by recessing a portion of the first side wall and is used for accommodating an auxiliary function module.

9. A marking device for an autonomous operation system, characterized in that: The autonomous operation system comprises: the autonomous operation device according to any one of claims 1 to 8, and the marking device; The marking device comprises: case; A pair of first permanent magnets are provided in the shell, the first permanent magnets extend along a first direction, and the pair of first permanent magnets are relatively spaced apart and parallel to each other along a second direction; the first direction and the second direction are perpendicular.

10. The marking device according to claim 9, characterized in that The marking device further includes: a second permanent magnet disposed in the housing, and the second permanent magnet is located between a pair of the first permanent magnets; The second permanent magnet extends along the second direction and is perpendicular to the first permanent magnet.

11. The marking device according to claim 10, characterized in that The autonomous operation device has a pair of first magnetic field sensors for detecting the marking device; The height of the first magnetic field sensor from the ground is H0, and the distance between the pair of magnetic field sensors is W0; the length of the first permanent magnet of the marking device set on the ground is L1, the height of the first permanent magnet from the ground is H1, the distance between the pair of first permanent magnets is G, and the length of the second permanent magnet is L2; G≥100mm, W0 / G<1; 0.75≤L2 / G≤1; H0≥40mm, ΔH=H0–H1, ΔH≤100mm.

12. A control method for an autonomous operating device according to any one of claims 1 to 8, characterized in that: The autonomous operation device operates in a working area having a boundary; a marking device is provided in the working area, and the autonomous operation device has at least one first magnetic field sensor for detecting the marking device; The marking device includes: a pair of first permanent magnets, the first permanent magnets extending along a first direction, and the pair of first permanent magnets are relatively spaced apart and parallel to each other along a second direction; the first direction and the second direction are perpendicular; The control method comprises the following steps: Controlling the autonomous operating device to move along the current path and obtain detection signals; determining whether the detected signal is the magnetic field of the marking device; If it is the magnetic field of the marking device, controlling the autonomous operation device to reverse according to the detected magnetic field of the marking device; If it were not for the magnetic field of the marking device, the autonomous operation device would be controlled to continue walking along the boundary of the current path.

13. The control method according to claim 12, characterized in that: There are at least two working areas; Controlling the autonomous operating device to reverse direction according to the magnetic field of the detected marking device so that the autonomous operating device moves toward an adjacent work area to be entered; The steps of controlling the autonomous operation device to reverse according to the magnetic field of the detected marking device include the following steps: After the direction change, the autonomous operating device is controlled to move from the current working area to the adjacent working area to be entered.

14. The control method according to claim 13, characterized in that: the marking device being adjacent to the boundary; The step of controlling the autonomous operating device to move along the current path and obtaining a detection signal includes: controlling the autonomous operating device to move along a boundary and obtaining a detection signal.

15. The control method according to claim 14, characterized in that: The extension lines of the boundaries of two adjacent working areas are adjacent, and the boundaries are adjacent side boundaries; the marking device is adjacent to the adjacent side boundaries.

16. The control method according to claim 14, characterized in that: The steps of controlling the autonomous operation device to move along the boundary and obtain the detection signal include the following steps: Determine whether the autonomous operating equipment needs to cross from the current working area to the adjacent working area to be entered; If necessary, the step of controlling the autonomous working device to walk along the boundary and detect signals is executed.

17. The control method according to claim 16, characterized in that: The steps for determining whether the autonomous operating equipment needs to cross from the current working area to the adjacent working area to be entered include: Determine whether the continuous or cumulative working time in the current working area reaches the threshold. If so, cross the area. Or determine whether the area coverage of the current working area reaches the threshold. If so, cross the area.

18. The control method according to claim 13, characterized in that: After the step of controlling the autonomous operating device to change direction according to the magnetic field of the detected marking device, the step of controlling the autonomous operating device to move from the current working area to the adjacent working area to be entered includes the following steps: Perform image acquisition and extract features in the image as the coding information of the current marking device.

19. The control method according to claim 18, characterized in that: After the step of performing image acquisition and extracting features in the image as the coding information of the current marking device, the step of controlling the autonomous operation device to move from the current working area to the adjacent working area to be entered includes the following steps: Determine whether to cross zones based on the currently detected marking device according to the coding information of the marking device.

20. The control method according to claim 19, characterized in that: The step of determining whether the marking device meets the cross-zone standard according to the coding information of the marking device specifically includes the following steps: Determine whether it is the first time to collect images; If it is the first time to collect images, control the autonomous operation device to move from the current working area to the adjacent working area to be entered; If this is not the first time that the image is captured, the currently captured image is compared with the previously captured image.

21. The control method according to claim 12, characterized in that: The steps of determining whether the detected signal is the magnetic field of the marking device specifically include: The autonomous operating equipment is controlled to swing left and right in place, and the magnetic field peak values ​​of the two first permanent magnets are obtained through the first magnetic field sensor, based on whether the positional relationship between the two detected magnetic field peak values ​​is a preset positional relationship; if it is a preset positional relationship, the detected magnetic field is the magnetic field of the first permanent magnet.

22. The control method according to claim 21, characterized in that: The step of controlling the switching of the autonomous operation device according to the detected magnetic field of the marking device specifically includes: According to the postures of the two first magnetic field sensors when detecting the peak values ​​of the two first permanent magnets, the walking direction of the autonomous operating device is controlled to be toward the adjacent work area to be entered.

23. The control method according to claim 12, characterized in that: The marking device also includes: a second permanent magnet, and the second permanent magnet is located between a pair of the first permanent magnets; the second permanent magnet extends along the second direction and is perpendicular to the first permanent magnet; the direction of exiting the current working area is determined according to the magnetic field direction of the second permanent magnet.

24. The control method according to claim 23, characterized in that: The process of controlling the autonomous operating device to reverse direction according to the detected magnetic field of the marking device includes the following steps: The autonomous operating device is controlled to swing left and right in place, so that the first magnetic field sensor obtains the peak value of the first permanent magnet.

25. The control method according to claim 13, characterized in that: Controlling the autonomous operating device to move from the current working area to the adjacent working area to be entered specifically includes the following steps: Controlling the autonomous operating equipment to travel a preset distance; After walking a predetermined distance, the system obtains the current front image and determines whether it is the area to be worked on based on the current image; If yes, then enter the working state; If not, an error is reported.

26. The control method according to claim 25, characterized in that: The steps of controlling the autonomous operating equipment to travel a preset distance specifically include the following steps: Determine whether an obstacle is encountered. If encountered, the autonomous operating equipment is controlled to turn around and return to the current working area.

27. The control method according to claim 13, characterized in that: When there are two working areas, the current working area of ​​the autonomous operating equipment is determined based on the number of times the autonomous operating equipment crosses the area; when the number of times the autonomous operating equipment crosses the area is an odd number, the autonomous operating equipment is located in the starting working area; when the number of times the autonomous operating equipment crosses the area is an even number or zero, the autonomous operating equipment is located in another working area.

28. A computer-readable storage medium having stored thereon a computer program executable by a processor, characterized in that: When the processor executes the computer program, the control method according to any one of claims 12 to 27 is implemented.

29. An autonomous operation device comprising a processor and a memory, wherein the memory stores a computer program, characterized in that: When the processor executes the program, the control method according to any one of claims 12 to 27 is implemented.

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