Autonomous working system

Abstract

The present disclosure provides an autonomous working system and an autonomous mobile robot. The autonomous working system comprises: a chassis, an energy storage unit, a working component, a working motor, a moving component, and a moving motor; and the autonomous working system further comprises a first controller configured to: when a remaining power level of the energy storage unit meets a preset condition, control the autonomous mobile robot to initiate a return to a charging station so as to charge the energy storage unit, and once the power level of the energy storage unit rises to be greater than or equal to a preset working power level, control the autonomous mobile robot to return to a preset position in a working area and initiate continuation of working. The charging time from when the autonomous mobile robot is docked with the charging station to initiate charging until the power level of the energy storage unit rises to the preset working power level is t2, and the working time from when the autonomous mobile robot arrives at the preset position in the working area to initiate working until the autonomous mobile robot initiates the return to the charging station is t1; and a ratio of the working time to the charging time satisfies the following relationship: 1:1≤t1 / t2≤10:1.

Description

Autonomous working system Technical Field

[0001] This application relates to a working machine system, and more particularly to a home or commercial autonomous mobile machine and its charging station. Background Technology

[0002] Autonomous mobile robots are devices that can move autonomously according to a map of their work area without requiring human intervention. Examples include lawnmowers, snowplows, and sweepers. These autonomous mobile robots rely on a work area map to control their movement and operation within the work area.

[0003] For some special work areas, the working hours are fixed. For example, some commercial work areas (golf courses, football fields, etc.) are open during the day and can only be maintained during special periods at night. For other examples, some home work areas are used for user activities and entertainment during the day and are maintained at night.

[0004] When these work areas are large, in order to complete the work tasks within a certain time, it may be necessary to use more autonomous mobile robots to work together in the work area. This greatly increases the cost of maintaining this work area. Moreover, the system of multiple autonomous mobile robots working together is more complex, and the computing power of each autonomous mobile robot needs to be improved. Summary of the Invention

[0005] In view of this, according to a first aspect of this embodiment, an autonomous operating system is provided, including an automatic lawnmower and a charging station.

[0006] The automatic lawnmower includes:

[0007] Chassis;

[0008] An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower;

[0009] A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation;

[0010] A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis;

[0011] A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower;

[0012] The first charging terminal is electrically connected to the energy storage unit;

[0013] The charging station includes:

[0014] The first controller is further configured to control the automatic lawnmower to move and dock with the charging station, so that the first charging terminal and the second charging terminal are electrically connected.

[0015] A second controller is configured to control the charging voltage output by the charging station to the second charging terminal to start or terminate the charging of the energy storage power source. During at least a portion of the charging process of the charging station charging the energy storage power source, the second controller controls the charging voltage output by the charging station to the second charging terminal to be a first voltage, wherein the first voltage is greater than or equal to 36V.

[0016] In some embodiments, the second controller is further configured to detect the docking status of the charging station and the automatic lawnmower, and in response to the docking status being in a protected state, control the charging station to output the first voltage; or, control the charging station to output a second voltage before outputting the first voltage, wherein the second voltage is less than 36V.

[0017] In the technical solution provided in this application embodiment, in order to enable the automatic lawnmower to work for a longer period of time, it is necessary to reduce the charging time of the automatic lawnmower. That is to say, the automatic lawnmower needs a higher charging power. When the charging power is increased by increasing the charging voltage of the charging station, the excessively high charging voltage may cause safety problems. In this embodiment, it is detected that the charging station and the automatic lawnmower are in a protective state when connected. High voltage charging is only carried out in the protective state. This can increase the charging voltage required by the automatic lawnmower (that is, increase the charging power required by the automatic lawnmower and reduce the charging time required by the automatic lawnmower) while ensuring charging safety and avoiding damage to users or others caused by high voltage.

[0018] According to a second aspect of this embodiment, an autonomous working system is provided, comprising:

[0019] Automatic lawnmowers, including:

[0020] Chassis;

[0021] An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower;

[0022] A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the rated power of the working motor being configured to be P1 watts;

[0023] A moving component and a moving motor, the moving component being connected to the moving motor and configured to drive the chassis to move by the moving motor; the rated power of the moving motor is configured to be P2 watts;

[0024] A first controller is configured to control the working motor and the moving motor to control the operation and movement of the automatic lawnmower;

[0025] The first controller is also configured to, when the remaining power of the energy storage unit meets a preset condition, control the automatic lawnmower to start returning to the charging station to charge the energy storage unit; when the power of the energy storage unit rises to a level greater than or equal to a preset working power level, control the automatic lawnmower to return to a preset position in the working area and start working again; the charging time from when the automatic lawnmower docks with the charging station and starts charging until the power of the energy storage unit rises to the preset working power level is t2; the working time from when the automatic lawnmower reaches the preset position in the working area and starts working until it starts returning to the charging station is t1.

[0026] The autonomous working system also includes:

[0027] The charging station is configured to dock with the automatic lawnmower to charge the energy storage unit, and its charging power is configured to be P charging watts;

[0028] The autonomous working system shall satisfy at least one of the following formulas:

[0029] 1:1 ≤ P_charge / (P1 + P2) ≤ 10:1;

[0030] 1:1≤t1 / t2≤10:1.

[0031] In some embodiments, the autonomous working system satisfies at least one of the following formulas:

[0032] 2:1 ≤ P_charge / (P1 + P2) ≤ 5:1;

[0033] 2:1≤t1 / t2≤5:1.

[0034] In some embodiments, the autonomous working system satisfies at least one of the following formulas:

[0035] 2:1 ≤ P_charge / (P1 + P2) ≤ 3:1;

[0036] 2:1≤t1 / t2≤3:1.

[0037] According to a third aspect of this embodiment, an autonomous working system is provided, comprising:

[0038] Automatic lawnmowers, including:

[0039] Chassis;

[0040] An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower, and the total energy it can store is configured to be E watt-hours;

[0041] The automatic lawnmower includes a working component and a working motor. The working component is connected to the working motor and configured to be driven by the working motor to perform working tasks. The working width of the working component is configured to be d meters. The working component cuts to form a coverage area during operation. The maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d. The rated power of the working motor is configured to be P1 watts.

[0042] A moving component and a moving motor, the moving component being connected to the moving motor and configured to drive the chassis to move by the moving motor; the rated power of the moving motor is configured to be P2 watts;

[0043] A first controller is configured to control the working motor and the moving motor to control the operation and movement of the automatic lawnmower. The first controller controls the moving motor so that the automatic lawnmower moves at a speed of V1 meters per hour when working in the working area, moves at a speed of V2 meters per hour when traveling back and forth between the charging station and the interruption position, and travels a distance of L meters between the charging station and the interruption position. The interruption position is when the remaining power of the energy storage unit meets a preset condition, at which point the automatic lawnmower stops working and returns to the charging station.

[0044] The autonomous working system also includes:

[0045] The charging station is configured to dock with the automatic lawnmower to charge the energy storage unit, and its charging power is configured to be P charging watts;

[0046] The first controller is configured to control the automatic lawnmower to start returning to the charging station to charge the energy storage unit when the remaining power of the energy storage unit meets a preset condition; and to control the automatic lawnmower to return to the working area and start working again when the power of the energy storage unit rises to a level greater than or equal to a preset working power.

[0047] Wherein, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0048] (V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥17000 / 12,

[0049] η is a constant greater than zero and less than or equal to 1, representing the effective coverage rate of the coverage area when the automatic lawnmower is working in the work area.

[0050] In some embodiments, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0051] 17000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤100000 / 12.

[0052] According to a fourth aspect of this embodiment, an autonomous working system is provided, comprising:

[0053] Automatic lawnmowers, including:

[0054] Chassis;

[0055] An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower, and the total energy it can store is configured to be E watt-hours;

[0056] A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the rated power of the working motor being configured to be P1 watts;

[0057] A moving component and a moving motor, the moving component being connected to the moving motor and configured to drive the chassis to move by the moving motor; the rated power of the moving motor is configured to be P2 watts;

[0058] A first controller is configured to control the working motor and the moving motor to control the operation and movement of the automatic lawnmower, wherein the first controller controls the moving motor such that the automatic lawnmower moves at a speed of V2 meters / hour between the charging station and the interruption position, and the distance traveled between the charging station and the interruption position is L meters. The interruption position is when the remaining power of the energy storage unit meets a preset condition, at which point the automatic lawnmower stops working and returns to the charging station.

[0059] The autonomous working system also includes:

[0060] The charging station is configured to dock with the automatic lawnmower to charge the energy storage unit, and its charging power is configured to be P charging watts;

[0061] Among them, E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)*Pcharge*V2)≤12.

[0062] In some embodiments, E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)*Pcharge*V2)≤6.

[0063] According to a fifth aspect of this embodiment, an autonomous working system is provided, comprising:

[0064] Automatic lawnmowers, including:

[0065] Chassis;

[0066] An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower;

[0067] A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation;

[0068] A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis;

[0069] A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower;

[0070] The autonomous working system also includes:

[0071] A charging station is configured to dock with the automatic lawnmower to charge the energy storage unit.

[0072] The first controller is configured to control the automatic lawnmower to start returning to the charging station to charge the energy storage unit when the remaining power of the energy storage unit meets the preset conditions; and to control the automatic lawnmower to return to the preset position in the working area and start working again when the power of the energy storage unit rises to a level greater than or equal to the preset working power.

[0073] The configuration of the energy storage unit's power, the rated power of the working motor, and the rated power of the moving motor ensures that the working time of the automatic lawnmower is t1. The working time t1 is the time from when the automatic lawnmower reaches a preset position in the working area and starts working until it starts returning to the charging station.

[0074] The configuration of the energy storage unit's power and the charging station's charging power ensures that the automatic lawnmower's charging time is t2, which is the time from when the automatic lawnmower connects to the charging station and starts charging until the energy storage unit's power rises to the preset working power.

[0075] The rated power configuration of the mobile motor makes the return time of the automatic lawnmower t3. The return time includes the time for the automatic lawnmower to travel back and forth between the charging station and the interruption position. The interruption position is the position where the automatic lawnmower stops working and returns to the charging station after the remaining power of the energy storage unit meets the preset conditions.

[0076] The working area completed by the automatic lawnmower in the working time t1 is S. The working area S = V1*t1*d*η, where V1 is the moving speed of the automatic lawnmower when working in the working area, d is the diameter of the covered area, and η is a constant greater than 0 and less than or equal to 1, representing the effective coverage rate of the covered area when the automatic lawnmower is working in the working area.

[0077] The working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: S / (t1+t2+t3)≥17000 / 12.

[0078] In some embodiments, the working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: 17000 / 12≤S / (t1+t2+t3)≤100000 / 12.

[0079] According to a sixth aspect of this embodiment, an autonomous operating system is provided, including an automatic lawnmower and a charging station.

[0080] The automatic lawnmower includes:

[0081] Chassis;

[0082] An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower;

[0083] A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation;

[0084] A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis;

[0085] A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower;

[0086] At least one first charging terminal is electrically connected to the energy storage unit;

[0087] The charging station includes:

[0088] At least one second charging terminal, and the first controller is further configured to control the automatic lawnmower to move and dock with the charging station so that the first charging terminal and the second charging terminal are electrically connected;

[0089] Each of the first charging terminals includes at least three contacts. When the first charging terminal and the second charging terminal are electrically connected, the at least three contacts contact the outer surface of the second charging terminal to form at least three contact surfaces, and the at least three contact surfaces are not coplanar.

[0090] According to a seventh aspect of this embodiment, an autonomous operating system is provided, including an automatic lawnmower and a charging station.

[0091] The automatic lawnmower includes:

[0092] Chassis;

[0093] An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower;

[0094] A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation;

[0095] A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis;

[0096] A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower;

[0097] At least one first charging terminal is electrically connected to the energy storage unit;

[0098] The charging station includes:

[0099] At least one second charging terminal, and the first controller is further configured to control the automatic lawnmower to move and dock with the charging station so that the second charging terminal and the first charging terminal are electrically connected;

[0100] Each second charging terminal includes at least three contacts. When the second charging terminal and the first charging terminal are electrically connected, the at least three contacts contact the outer surface of the first charging terminal to form at least three contact surfaces, and the at least three contact surfaces are not coplanar.

[0101] In the technical solution provided in this application embodiment, in order to ensure that the working efficiency of the automatic lawnmower in the working area meets the requirements, that is, the automatic lawnmower can complete the mowing task of a certain area of ​​the working area within a predetermined time range, it is necessary to balance multiple working parameters of the automatic lawnmower. For example, the moving speed of the automatic lawnmower when working in the working area is V1, the working width is d, the total energy of the energy storage unit is E, the effective coverage rate of the area covered by the automatic lawnmower when working in the working area is η, the charging power of the charging station is P, the moving speed of the autonomous mobile robot to and from the charging station and the interruption position is V2, the rated power of the working motor is P1, the rated power of the moving motor is P2, the walking distance L between the automatic lawnmower and the charging station and the interruption position, as well as the ratio of the single working time of the automatic lawnmower to the single charging time, and the time of the automatic lawnmower in a single cycle (the sum of the charging time, the working time, and the time to and from the charging station and the interruption position). When these adjustable parameters all meet the preset range, the working efficiency of the automatic lawnmower can be best adapted to the working area to be worked, effectively increasing the working area of ​​the autonomous lawnmower within a certain time.

[0102] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0103] Figure 1 is a schematic diagram of an autonomous working system according to an embodiment of the present disclosure.

[0104] Figure 2A is a top view of an autonomous mobile robot according to an embodiment of this disclosure.

[0105] Figure 2B is a bottom view of an autonomous mobile robot according to an embodiment of this disclosure.

[0106] Figure 3 is a schematic diagram of an autonomous working system according to an embodiment of the present disclosure.

[0107] Figure 4 is a schematic diagram of the charging station for the autonomous working system in Figure 3.

[0108] Figure 5 is a logic block diagram of a charging station for charging an automatic lawnmower.

[0109] Figure 6 shows another logic block diagram of a charging station for charging an automatic lawnmower.

[0110] Figure 7 shows another logic block diagram of a charging station for charging an automatic lawnmower.

[0111] Figure 8 shows another logic block diagram of a charging station for charging an automatic lawnmower.

[0112] Figure 9 is a logic block diagram of one embodiment of S20 in Figure 5.

[0113] Figure 10 is a logic block diagram of another implementation of S20 in Figure 5.

[0114] Figure 11 is a logic block diagram of another implementation of S20 in Figure 5.

[0115] Figure 12 is a logic block diagram of another implementation of S20 in Figure 5.

[0116] Figure 13 is a logic block diagram of the entire process of a charging station charging an automatic lawnmower.

[0117] Figure 14A is a schematic diagram of a position detector in one embodiment of the present disclosure.

[0118] Figure 14B is a schematic diagram of the triggering process of the position detector in one embodiment of the present disclosure.

[0119] Figure 14C is a schematic diagram of the location detector being triggered in another embodiment of this disclosure.

[0120] Figure 14D is a schematic diagram of the location detector being triggered in another embodiment of this disclosure.

[0121] Figure 15A is a top cross-sectional view of a charging station and an automatic lawnmower in a protected state according to an embodiment of the present disclosure.

[0122] Figure 15B is an enlarged view of the circled area in Figure 15A.

[0123] Figure 16A is a side cross-sectional view of a charging station and an automatic lawnmower in a protected state according to an embodiment of the present disclosure.

[0124] Figure 16B is an enlarged view of the circled area in Figure 16A.

[0125] Figure 17A is a side view of an autonomous mobile robot docking with a charging station in one embodiment of this disclosure.

[0126] Figure 17B is a schematic diagram of the first and second waterproof covers in Figure 17A working together.

[0127] Figure 18A is a schematic diagram of the connection between the first charging terminal and the second charging terminal in one embodiment of this disclosure.

[0128] Figure 18B is a schematic diagram of the connection between the first charging terminal and the second charging terminal in one embodiment of this disclosure.

[0129] Figure 18C is a cross-sectional view of the first charging terminal and the second charging terminal docking in one embodiment of the present disclosure.

[0130] Figure 19 is a schematic diagram of the connection between the first charging terminal and the second charging terminal in one embodiment of this disclosure.

[0131] Figure 20 is a schematic diagram of a position adjustment component in one embodiment of this disclosure. 100, Autonomous working system; 10, Automatic lawnmower; 11, Working component; 12, Moving component; 101, Working motor; 102, Moving motor; 13, First controller; 14, Energy storage unit; 141, First charging terminal; 1411, Contact element; 142, Guide groove; 15, Memory; 16, Self-position sensor; 17, Chassis; 18, First housing; 181, First outer edge; 182, Second waterproof cover; 183, Docking area; 20, Charging station; 211, Second charging terminal; 2111, Charging electrode; 2 112. Proximal end; 2113. Distal end; 212. First position detector; 2121. Hall sensor; 2122. Magnetic component; 2123. Collision block; 213. Water guide; 22. Second controller; 23. Side protection component; 24. First waterproof cover; 25. Position adjustment assembly; 251. Bracket; 252. Support shaft; 253. Roller assembly; 254. Reset component; 255. Guide component; 26. Guide component; 27. Second housing; 271. Shielding component; 28. Main body; 29. ​​Blocking channel; 291. Second outer edge. Detailed Implementation

[0132] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0133] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices. Furthermore, unless expressly specified otherwise, the technical features in the various embodiments of this application can be considered as capable of being combined or integrated with each other, provided that such combination or integration is not technically impossible to implement.

[0134] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0135] With the development of technology, the application of autonomous mobile robots is becoming increasingly widespread. For example, automatic lawnmowers can automatically help people maintain lawns, freeing them from the tedious and time-consuming chore of lawn care, and are therefore very popular. The autonomous mobile robot in this disclosure can be an automatic lawnmower, automatic vacuum cleaner, automatic mop, or automatic snowplow, or other intelligent devices capable of automatic movement. It can automatically move and perform corresponding tasks within a designated work area, and return to the charging station 20 to replenish its power before its battery is depleted.

[0136] This disclosure uses an automatic lawnmower as an example. When the automatic lawnmower is performing grass cutting tasks in some work areas, in order to make the automatic lawnmower work for a longer period of time, it is necessary to reduce the charging time required by the automatic lawnmower so that the automatic lawnmower can have a longer working time, cut a larger area of ​​grass, and maximize the working efficiency of the automatic lawnmower.

[0137] Example 1:

[0138] Please refer to Figures 1, 2A, 2B, 3, and 4. The embodiment provides an autonomous working system 100, including an automatic lawnmower 10, configured to move and / or work in a work area. The automatic lawnmower 10 includes a chassis 17 and a first controller 13.

[0139] The automatic lawnmower 10 also includes a moving component 12 and a moving motor 102. The moving component 12 is connected to the moving motor 102 and configured to be driven by the moving motor 102 to move the chassis 17. Specifically, the moving component 12 is connected to the lower end of the chassis 17 and is connected to the moving motor 102 via a gearbox. It typically includes rollers or tracks. The rollers may include drive wheels and driven wheels. The rollers may be distributed on both sides of the chassis 17, with one or two rollers on each side.

[0140] The automatic lawnmower 10 also includes a working component 11 and a working motor 101. The working component 11 is connected to the working motor 101 and configured to be driven by the working motor 101 to perform working tasks. Specifically, the working component 11 rotates during operation to form a covered area. The working component 11 is connected to the chassis 17 and connected to the working motor 101 through a gearbox to perform specific working tasks. For example, in this embodiment, the automatic lawnmower 10 is an intelligent lawnmower, so the working component 11 includes cutting blades. Further, the working component 11 may also include a blade disc, a cutting motor, etc., and may also include auxiliary components such as a mowing height adjustment mechanism to optimize or adjust the mowing effect; in other embodiments, if the autonomous mobile robot is an automatic vacuum cleaner, then the working component 11 includes working components such as a vacuum motor, a vacuum port, a vacuum pipe, a vacuum chamber, and a dust collection device for performing vacuuming tasks; when the autonomous mobile robot is an automatic snowplow, then the working component 11 includes a snowplow head, a snowplow motor, etc. In this embodiment, the area covered by the rotating working component 11 during operation refers to the range that the cutting blade can sweep when the cutter head rotates.

[0141] The first controller 13, connected to the aforementioned moving component 12 and working component 11, is configured to control the operation and movement of the automatic lawnmower 10.

[0142] The automatic lawnmower 10 also includes an energy storage unit 14, configured to provide energy for the operation and movement of the automatic lawnmower 10. The first controller 13 is connected to the energy storage unit 14. When the remaining power of the energy storage unit 14 meets a preset condition, the controller controls the automatic lawnmower 10 to start returning to the charging station 20 to charge the energy storage unit 14. When the power of the energy storage unit 14 rises to a level greater than or equal to a preset working power level, the controller controls the automatic lawnmower 10 to return to the working area and start continuing to work. The energy storage unit 14 is used to provide energy for various components of the automatic lawnmower 10, and may include a rechargeable battery, typically connected to a charging connection structure. In this embodiment, the automatic lawnmower 10 also includes a first charging terminal 141, which is electrically connected to the energy storage unit 14 as a charging connection structure. The charging connection structure is typically a charging electrode plate, which can be used in conjunction with a charging electrode plate disposed in the charging station 20 to charge the automatic lawnmower 10.

[0143] In one embodiment, the remaining power of the energy storage unit 14 meeting a preset condition can be that the remaining power of the energy storage unit 14 is less than or equal to a preset charging power. The preset charging power only needs to ensure that the remaining power of the energy storage unit 14 can support the automatic lawnmower 10 to return to the charging station 20. This embodiment does not impose any limitations. For example, the preset charging power can be 5% to 30% of the total power of the energy storage unit 14, such as 5%, 10%, 15%, 20%, 25%, 30%, etc.

[0144] In another embodiment, the remaining power of the energy storage unit 14 may meet the preset condition by being the minimum power required to support the automatic lawnmower 10 to move from its current position to the charging station 20 and dock with it. Specifically, the automatic lawnmower 10 can detect the distance between its current position and the charging station 20. When the autonomous mobile robot calculates that the remaining power in the energy storage unit 14 has reached the minimum power required to support the automatic lawnmower 10 to move to the charging station 20 and dock with it at that distance, it controls itself to start returning to the charging station 20. Furthermore, the remaining power of the energy storage unit 14 may also include a safety power. This safety power is an additional amount retained in the energy storage unit 14 on top of the minimum power required for the automatic lawnmower 10 to move to the charging station 20 and dock with it. The core function of the safety power is to cope with non-ideal factors during the return process, ensuring that the remaining power is sufficient to guarantee the automatic lawnmower 10's return to the charging station 20, and preventing the lawnmower from losing power midway and failing to complete docking due to unforeseen circumstances. In this embodiment, the safety power is set to 60Wh. In other embodiments, the safe power level can be set to 20Wh, 30Wh, 40Wh, 50Wh, 70Wh, 80Wh, 100Wh, etc.

[0145] The automatic lawnmower 10 returns to the charging station 20 for charging. Once the energy storage unit 14 reaches the preset operating level, the charging station 20 stops charging the automatic lawnmower 10. The preset operating level can be set by the user or at the factory. For example, the automatic lawnmower 10's default preset operating level at the factory is the maximum capacity of the energy storage unit 14 (100% of the total energy). This embodiment does not impose such a limitation. After the charging station 20 stops charging the automatic lawnmower 10, the automatic lawnmower 10 starts working in the work area at the preset operating level. When the energy storage unit 14's energy level is lower than or equal to the preset charging level, the automatic lawnmower 10 is configured to return to the charging station 20 to replenish its energy.

[0146] In some embodiments, the automatic lawnmower 10 may further include a memory 15 for storing data generated by sensors or control circuits, or pre-storing data for use by the control circuits.

[0147] The automatic lawnmower 10 may also include a self-position sensor 16, which may include an inertial measurement unit (IMU) or an odometer (ODO) mounted on the moving motor 102, for obtaining the relative position based on the movement of the body 100.

[0148] The automatic lawnmower 10 may also include a collision detector for sensing the number of times it collides with itself.

[0149] In addition to the modules mentioned above, the automatic lawnmower 10 may also include a housing (such as the first housing 18 mentioned below) for accommodating and installing the various modules, a control panel for user operation, and various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, and light sensors. These sensors can assist the automatic lawnmower 10 in determining the working environment in order to execute the corresponding program.

[0150] The first controller 13 (including the control circuit) is the core component of the automatic lawnmower 10. It is used to control the automatic lawnmower 10 to move and work automatically. Its functions include controlling the working component 11 to start or stop, generating a movement path and controlling the moving component 12 to move according to the path, judging the power of the energy storage unit 14 and controlling the automatic lawnmower 10 to return to the charging station 20 for automatic charging in a timely manner, and executing corresponding programs in combination with the data of the environmental sensors.

[0151] Furthermore, please continue to refer to Figures 1, 3 and 4. The autonomous working system 100 described above may also include a charging station 20, which is configured to dock with the automatic lawnmower 10 to charge the energy storage unit 14.

[0152] The charging station 20 includes a second charging terminal 211 and a second controller 22. The first controller 13 is also configured to control the automatic lawnmower 10 to move and dock with the charging station 20 so that the first charging terminal 141 and the second charging terminal 211 are electrically connected. The second controller 22 is configured to control the charging voltage output by the charging station 20 to the second charging terminal 211 to start or terminate the charging of the energy storage power supply 14. During at least part of the charging process of the charging station 20 charging the energy storage power supply 14, the second controller 22 controls the charging voltage output by the charging station 20 to the second charging terminal 211 to be a first voltage, which is greater than or equal to 36V.

[0153] The method of docking between the charging station 20 and the automatic lawnmower 10 is not limited in this disclosure. As an example, the automatic lawnmower 10 in this embodiment may also include a vision sensor. When the automatic lawnmower 10 moves to the vicinity of the charging station 20, after the vision sensor recognizes the identification code (such as a QR code, a picture with a pattern, etc.) on the charging station 20, the autonomous mobile robot moves further closer to the charging station 20 and accurately docks with the charging station 20 through the magnetic guide and guide rail set on the bottom plate of the charging station 20. After safety confirmation, charging is started (the safety confirmation method will be described in detail later).

[0154] The aforementioned autonomous operating system 100 and charging station 20 use a charging voltage greater than 36V to charge the automatic lawnmower 10, which can effectively improve the charging power, shorten the charging time, and reduce the downtime of the automatic lawnmower 10. This advantage is particularly crucial for commercial scenarios (such as large-area lawn maintenance). The automatic lawnmower 10 can complete more work cycles within a certain period of time (such as a single day), significantly increasing the daily operating area. On the other hand, the charging voltage needs to be compatible with the rated discharge voltage of the battery pack (the charging voltage is slightly higher than the rated discharge voltage of the battery, such as a 48V battery pack corresponding to a charging voltage of approximately 54.6V). The charging voltage of the charging station 20 disclosed herein exceeds 36V, and is designed for the "battery pack with rated discharge voltage ≥ 36V" in the automatic lawnmower 10. The voltage levels of the two are consistent, and the discharge voltage exceeding 36V, under the premise of the same capacity, greatly increases the total energy of the battery pack (the total energy (Wh) of the battery pack is determined by "discharge voltage (V) × capacity (Ah)"). This can effectively extend the single-operation endurance of the automatic lawnmower 10 and further increase the daily operating area of ​​the automatic lawnmower 10.

[0155] In some embodiments, the first voltage is greater than or equal to 48V. As an example, the first voltage is greater than or equal to 48V and less than or equal to 90V. As another example, the first voltage is greater than or equal to 48V and less than or equal to 72V.

[0156] In some embodiments, the first voltage is greater than or equal to 60V. As an example, the first voltage is greater than or equal to 60V and less than or equal to 90V. As another example, the first voltage is greater than or equal to 60V and less than or equal to 72V. In this example, the energy storage unit 14 consists of multiple battery cells, each with a nominal voltage of 4V, and each battery cell has a fully charged voltage of 4.18V to 4.2V. There are 15 battery cells, so the overall nominal voltage of the energy storage unit 14 is 60V, and the maximum output voltage of the charging station 20 when charging the energy storage unit 14 is 65V.

[0157] In some embodiments, the charging current of charging station 20 is greater than or equal to 13A. As an example, the charging current of charging station 20 is greater than or equal to 13A and less than or equal to 55A. As another example, the charging current of charging station 20 is greater than or equal to 13A and less than or equal to 40A.

[0158] In some embodiments, the charging current of charging station 20 is greater than or equal to 14A. As an example, the charging current of charging station 20 is greater than or equal to 14A and less than or equal to 55A. As another example, the charging current of charging station 20 is greater than or equal to 14A and less than or equal to 40A.

[0159] In some embodiments, the charging current of charging station 20 is greater than or equal to 20A. As an example, the charging current of charging station 20 is greater than or equal to 20A and less than or equal to 55A. As another example, the charging current of charging station 20 is greater than or equal to 20A and less than or equal to 40A.

[0160] In some embodiments, the charging current of charging station 20 is greater than or equal to 30A. As an example, the charging current of charging station 20 is greater than or equal to 30A and less than or equal to 55A. As another example, the charging current of charging station 20 is greater than or equal to 30A and less than or equal to 40A.

[0161] In the above embodiments, the charging station 20 adopts a high-voltage charging scheme of 36V or higher, combined with a high-current design of 13A or higher, which greatly shortens the charging time and ensures the continuous operation capability of the automatic lawnmower 10.

[0162] It should be noted that safety is lacking in high-voltage charging (greater than 36V) scenarios. After docking, the first charging terminal 141 and the second charging terminal 211 are exposed, which may cause electric shock risk. Furthermore, docking deviation may lead to poor contact, further exacerbating safety hazards.

[0163] To address the aforementioned issues, please refer to Figures 5 to 13, which are schematic diagrams illustrating the operational logic of the autonomous operating system 100 of this disclosure. In one embodiment of this disclosure, the second controller 22 is further configured to detect the docking state of the charging station 20 and the automatic lawnmower 10 (corresponding to S101 in Figure 5), and in response to the docking state being in a protected state, control the charging station 20 to output a first voltage; or, control the charging station 20 to output a second voltage before outputting the first voltage, wherein the second voltage is less than 36V (corresponding to S20 in Figure 5). Furthermore, the second controller 22 is also configured to, in response to the docking state not being in a protected state, control the output voltage of the charging station 20 to be less than 36V, or control the output voltage of the charging station 20 to be 0 (corresponding to S30 in Figure 5).

[0164] In this embodiment, the charging station 20 can accurately identify the docking status of the charging station 20 and the automatic lawnmower 10, ensuring they are in a protected state to avoid the risk of exposed live wires. The second controller 22 monitors the docking status in real time, and only outputs a first voltage greater than 36V when the automatic lawnmower 10 is fully docked with the charging station 20 and in a protected state. This design eliminates the high-voltage output when the first and second charging terminals 211 are exposed during the docking process, completely avoiding the risk of electric shock from human fingers touching live terminals, and solving the core problem of "exposed terminals are live" in traditional high-voltage charging.

[0165] In some operating scenarios, the energy storage unit 14 (battery pack) may experience over-discharge. Therefore, in the initial connection of the first charging terminal 141 and the second charging terminal 211, pre-charging is performed by outputting a second voltage of less than 36V, instead of directly outputting high voltage. This solves the problem that the energy storage unit 14 is unsuitable for high-voltage wake-up when it is over-discharged. Directly using high-voltage charging after the battery pack is over-discharged can cause serious damage to the internal structure of the battery, potentially leading to thermal runaway, electrolyte decomposition, plate sulfation, and even battery bulging, short circuits, or fires and explosions. On the other hand, pre-charging by outputting a second voltage of less than 36V, instead of directly outputting high voltage, can effectively buffer the contact vibration caused by connection deviation, prevent the "high-voltage arcing" phenomenon caused by the incomplete contact of the first and second charging terminals 211 (high-voltage arcing refers to the phenomenon in a high-voltage circuit where the voltage exceeds the insulation strength of air, causing air ionization and forming a high-temperature arc), reduce the erosion loss of the contacts of the first and second charging terminals 211, and extend the service life of the first and second charging terminals 211.

[0166] In a further embodiment, when the second controller 22 detects that the docking state between the charging station 20 and the automatic lawnmower 10 is in an unprotected state, it forcibly reduces the output voltage of the charging station 20, making the output voltage of the charging station 20 less than 36V (human safety voltage), forming a dual safety protection. When the docking is not in place, the first and second charging terminals 211 are disconnected, or the protection state fails, the second controller 22 immediately controls the output voltage to drop below 36V or directly to zero. Even in the event of accidental collisions causing loose docking or equipment erroneously triggering charging, the high-voltage circuit can be quickly cut off to avoid safety accidents such as electric shock and short circuit fire caused by high-voltage power leakage, providing full-scenario safety protection for high-voltage charging.

[0167] In the above embodiments, the second controller 22 is in a protective state in response to the docking state, and the control of the charging station 20 to output the first voltage may include the following implementation: the controller controls the charging station 20 to directly output the first voltage (corresponding to S201 in FIG9).

[0168] In this embodiment, once the second controller 22 confirms that the automatic lawnmower 10 and the charging station 20 have been stably connected and are in a protected state, it immediately controls the charging station 20 to start high-voltage output without waiting for other signal feedback. This directly supplies a first voltage (e.g., 48V, 60V, 72V) to the energy storage unit 14 of the automatic lawnmower 10, initiating a high-efficiency charging process. In other words, "protected state = sufficient condition for high-voltage start-up." Once the connection is confirmed to be safe and stable, no additional verification is required; the system directly enters the high-voltage charging mode, maximizing charging efficiency, shortening downtime, and eliminating the need for additional signal interaction or current detection waiting. High-voltage charging starts immediately after the protected state is established, reducing unnecessary time spent in the charging process. When the automatic lawnmower 10 is used for large-area commercial lawn mowing, charging time can be effectively reduced, significantly increasing the daily operating frequency of the automatic lawnmower 10 and avoiding the impact of excessive charging preparation time on operational efficiency. On the other hand, the second controller 22 directly outputs the first voltage in response to the docking state when it is in the protection state, which simplifies the control logic and reduces the system failure rate. This is because there is no need to design complex signal interaction protocols or current detection triggering mechanisms. The control process directly revolves around "high voltage output detected in the protection state", which reduces the signal transmission nodes between the controller and the automatic lawnmower 10 and the charging circuit, reduces the risk of charging start failure due to signal delay and protocol incompatibility, and improves the stability of system operation.

[0169] In the above embodiments, the second controller 22, in response to the docking state being in a protected state, controlling the charging station 20 to output a first voltage may further include the following implementation: the second controller 22, in response to an electrical signal from the automatic lawnmower 10, controls the charging station 20 to output a first voltage (corresponding to S202 in FIG. 10). The electrical signal from the automatic lawnmower 10 includes at least one of the following: the automatic lawnmower 10 sending a charging request to the charging station 20; or a current formed in the charging circuit of the charging station 20 for charging the automatic lawnmower 10.

[0170] In this embodiment, when the second controller 22 confirms that the docking state is in the protected state, it does not immediately output the first voltage, but waits for the output conditions (i.e., receiving an electrical signal from the automatic lawnmower 10) to be met, and then starts high-voltage charging after the output conditions are met.

[0171] In this system, the second controller 22, responding to an electrical signal from the automatic lawnmower 10, controls the charging station 20 to output a first voltage. This can be achieved by the first controller 13 sending a charging request via a communication device (such as Bluetooth, Wi-Fi, 4G / 5G remote communication, etc.). The charging request typically includes the charging voltage and / or charging current required by the energy storage unit 14. Upon receiving this request, the charging station 20 sends the corresponding charging voltage and charging current. By verifying the charging request signal, the second controller 22 can avoid misjudging that the charging station 20 and the automatic lawnmower 10 are successfully connected and in a safe protection state. If a user accidentally triggers the system, causing the second controller 22 to detect the protection state, but at this time the second controller 22 has not received a charging request from the automatic lawnmower 10, then the second controller 22 determines that this situation prevents the output of the first voltage, further strengthening safety protection under high-voltage charging and preventing accidental electric shock to the user. In addition, by verifying the charging request signal, the high-voltage output of the automatic lawnmower 10 can be avoided due to incorrect docking (such as temporary stopping due to navigation deviation) or the energy storage unit 14 being fully charged but accidentally triggering docking, thus reducing unnecessary energy consumption. At the same time, it can also prevent the high-voltage circuit from starting frequently when charging is not required, reducing the ineffective wear of components such as the first and second charging terminals 211 and the second controller 22, and extending the overall service life of the equipment.

[0172] The second controller 22 responds to the electrical signal from the automatic lawnmower 10 and controls the charging station 20 to output the first voltage. Alternatively, after the second controller 22 confirms that the charging station 20 and the automatic lawnmower 10 are in a protected state, the charging station 20 can first precharge the energy storage unit 14 with a low voltage (less than 36V, such as 20V, 23V, 25V, 28V, 30V, etc.) to form a loop current. After the second controller 22 confirms through the current detection module that the charging loop is conducting and there is no open circuit or short circuit abnormality, it switches to the first voltage for high-voltage charging. By combining the dual conditions of "protection status detection + loop current detection", hidden risks after docking can be further investigated. For example, if the protection status is established but the automatic lawnmower 10 is not actually in place, the circuit for charging the energy storage unit 14 by the charging station 20 is not connected. The second controller 22 determines that "protection status detected + no loop current" means that the first voltage cannot be output. In this case, the first voltage is not output. This multi-verification method strengthens safety redundancy and can eliminate risks in special scenarios. It is especially suitable for charging needs in complex environments (such as when the user accidentally triggers the second controller 22 to detect the protection status).

[0173] In the above embodiments, the second controller 22 is in a protective state in response to the docking state, and controls the charging station 20 to output the second voltage and then output the first voltage. This includes: the second controller 22 controls the charging station 20 to directly output the second voltage (corresponding to S203 in FIG11), and then continues to directly output the first voltage (corresponding to S204 in FIG11).

[0174] In the above embodiments, the second controller 22, in response to the docking state being in a protected state, controls the charging station 20 to output a second voltage and then output a first voltage. This includes: the second controller 22 controls the charging station 20 to directly output the second voltage (corresponding to S203 in FIG. 12), and then controls the charging station 20 to output the first voltage in response to an electrical signal from the automatic lawnmower 10 (corresponding to S205 in FIG. 12). The electrical signal from the automatic lawnmower 10 includes at least one of the following: a charging request sent by the automatic lawnmower 10 to the charging station 20; or a current formed in the charging circuit of the charging station 20 for charging the automatic lawnmower 10.

[0175] In some working scenarios, the energy storage unit 14 (battery pack) may experience over-discharge. Therefore, in the initial connection of the first charging terminal 141 and the second charging terminal 211, pre-charging is performed by outputting a second voltage of less than 36V, instead of directly outputting high voltage. This solves the problem that the energy storage unit 14 is unsuitable for high-voltage wake-up when it is over-discharged. After waking up the battery pack with the second voltage, it can either be charged directly with the first voltage, or it can wait for the "output conditions" to be met before starting high-voltage charging. These two methods of outputting the first voltage have been detailed in the embodiments above and will not be repeated here. However, it should be emphasized that after waking up the battery pack with the second voltage, the first voltage is not directly output. Instead, the second controller 22 waits for the electrical signal from the automatic lawnmower 10 before switching to the first voltage implementation. This further confirms that the automatic lawnmower 10, rather than a person or other animal, triggered the first position sensor, thereby ensuring the user's personal safety.

[0176] As stated above, the method of docking between the charging station 20 and the automatic lawnmower 10 is not limited in this disclosure. As an example, the automatic lawnmower 10 in this embodiment may also include a vision sensor. When the automatic lawnmower 10 moves to the vicinity of the charging station 20, after the vision sensor recognizes the identification code (such as a QR code, a picture with a pattern, etc.) on the charging station 20, the autonomous mobile robot moves further closer to the charging station 20 and accurately docks with the charging station 20 through the magnetic guide and guide rail set on the bottom plate of the charging station 20, thereby starting charging.

[0177] As a standalone embodiment or based on the above embodiments, the following embodiment of the present disclosure provides a method for further successful docking of an automatic lawnmower 10 with a charging station 20. A first controller 13 is configured to send an electrical signal to a first charging terminal 141. After the first charging terminal 141 and the second charging terminal 211 are docked, the electrical signal forms a loop between the charging station 20 and the automatic lawnmower 10. In response to the formation of the loop, the first controller 13 controls the automatic lawnmower 10 to brake (corresponding to S60 in FIG13).

[0178] Specifically, the automatic lawnmower 10 has a preset 5kHz or 10kHz low-voltage signal (safe voltage ≤36V). This low-voltage signal is output through the first charging terminal 141, and the second charging terminal 211 is the signal receiver. The signal is in an open state before a closed loop is formed. When the automatic lawnmower 10 moves autonomously to the vicinity of the charging station 20, the first charging terminal 141 and the second charging terminal 211 begin to make physical contact and gradually become connected, thus connecting the low-voltage signal loop first. The first controller 13 monitors the low-voltage signal status in real time. Once it detects that the loop is connected (determining that the first charging terminal 141 and the second charging terminal 211 have initially connected), it immediately sends a "stop command" to the braking system, forcing the lawnmower to enter the braking process from the moving state. Alternatively, the second controller 22 can monitor the low-voltage signal status in real time. Once it detects that the loop is connected, it immediately transmits a signal to the automatic lawnmower 10, and the first controller 13 sends a "stop command" to the braking system based on the signal returned from the charging station 20, forcing the lawnmower to enter the braking process from the moving state. When the automatic lawnmower 10 receives a stop command, its braking system (usually an electromagnetic brake or a mechanical brake structure) immediately cuts off the power output of the moving motor 102 and decelerates the moving component 12 (wheel) of the automatic lawnmower 10 by friction between the brake pads and the wheel hub (mechanical brake) or by electromagnetic locking (electromagnetic brake).

[0179] Based on the above embodiments, how to determine whether the docking state between the charging station 20 and the automatic lawnmower 10 is in a protected state has become a technical problem that urgently needs to be solved in the above embodiments. In some embodiments, the moving component 12 is configured to move the automatic lawnmower 10 closer to the charging station 20 (i.e., the first charging terminal 141 is close to the second charging terminal 211, corresponding to S50 in FIG7). The charging station 20 also includes at least a first position detector 212 connected to the second controller 22. The first position detector 212 is triggered to generate a trigger signal after the first charging terminal 141 moves to a docking position that is stably docked with the second charging terminal 211 (corresponding to S70 in FIG7). The second controller 22 determines that the docking state between the charging station 20 and the automatic lawnmower 10 is in a protected state in response to the trigger signal (corresponding to S102 in FIG7). In this embodiment, the triggering process of the first position detection can be combined with the braking process of the automatic lawnmower 10. The first controller 13 of the automatic lawnmower 10 controls the moving motor 102 to drive the moving component 12 (such as wheels, tracks, or a dedicated docking drive mechanism) according to the position signal of the charging station 20, so as to move the first charging terminal 141 closer to the second charging terminal 211 of the charging station 20. In response to the current loop generated by the docking of the first charging terminal 141 and the second charging terminal 211, the first controller 13 controls the automatic lawnmower 10 to brake. During the inertial gliding phase of the automatic lawnmower 10 from movement to rest, its body will continue to move slightly towards the charging station 20 (usually the displacement ≤50mm). This tiny displacement becomes the key driving force for triggering the first position detector 212. When the automatic lawnmower 10 comes to a complete stop, the position of the machine body no longer changes. The moving component 12 drives the first charging terminal 141 to a stable docking position (the first charging terminal 141 and the second charging terminal 211 are completely in contact with each other without relative displacement). At this time, the first position detector 212 is stably triggered and sends a trigger signal to the second controller 22 that the automatic lawnmower 10 has stopped and docked in place (that is, the first charging terminal 141 and the second charging terminal 211 are in a stable docking position). Based on this trigger signal, the second controller 22 determines that the docking state of the charging station 20 and the automatic lawnmower 10 is a protective state.

[0180] The trigger signal of the first position detector 212 provides proof that the high-voltage charging is in "mechanical protection in place", forming a closed loop with the "voltage reduction / power cut-off in non-protection state" mechanism. When the trigger signal is present, the high voltage is unlocked; when the signal disappears, the voltage is immediately reduced, ensuring that the high-voltage charging is in a safe state of "protection in place" throughout the process. Compared with relying on manual confirmation and visual recognition, this solution realizes automatic and real-time determination of the protection status without user intervention, which meets the core requirements of "unmanned and automated" autonomous working system 100, while avoiding the subjectivity and lag of manual confirmation.

[0181] In another embodiment, the first controller 13 is configured to send an electrical signal to the first charging terminal 141, and the electrical signal forms a loop after the first charging terminal 141 and the second charging terminal 211 are connected (corresponding to S40 in FIG. 6). The second controller 22 determines that the connection state between the charging station 20 and the automatic lawnmower 10 is in a protected state in response to the formation of the loop (corresponding to S101 in FIG. 6). Specifically, the automatic lawnmower 10 has a preset 5KHz or 10KHz low-voltage signal (safe voltage ≤36V). This low-voltage signal is output through the first charging terminal 141, and the second charging terminal 211 is the signal receiving end. The signal is in an open state before a closed loop is formed. When the automatic lawnmower 10 moves autonomously to the vicinity of the charging station 20, the first charging terminal 141 and the second charging terminal 211 begin to make physical contact and gradually become connected, and the low-voltage signal loop is connected first. The second controller 22 monitors the status of the low-voltage signal in real time. Once it detects that the loop is connected (determining that the first charging terminal 141 and the second charging terminal 211 have been initially connected), it determines that the connection status of the charging station 20 and the automatic lawnmower 10 is a protected state.

[0182] In this embodiment, the second controller 22 uses a single electrical signal conduction as the core determination criterion, without the need for complex multi-signal fusion algorithms. The determination process of the second controller 22 is simple, the response time is short, and high-voltage charging can be started quickly, reducing charging waiting time.

[0183] In another embodiment, the moving component 12 is configured to move the automatic lawnmower 10 closer to the charging station 20 (i.e., the first charging terminal 141 is brought closer to the second charging terminal 211, corresponding to S50 in FIG8), and the first controller 13 is configured to send an electrical signal to the first charging terminal 141, the electrical signal forming a loop after the first charging terminal 141 and the second charging terminal 211 are connected (corresponding to S40 in FIG8); the charging station 20 also includes a first position detector 212 connected to the second controller 22, the first position detector 212 being triggered to generate a trigger signal after the first charging terminal 141 moves to a stable docking position with the second charging terminal 211 (corresponding to S70 in FIG8); the second controller 22, in response to the formation of the loop and the trigger signal, determines that the docking state of the charging station 20 and the automatic lawnmower 10 is in a protected state (corresponding to S103 in FIG8).

[0184] In this embodiment, the second controller 22 uses both the electrical signal conduction circuit formation and the trigger signal generation as the basis for determining the protection state. Through dual verification of the electrical connection validity and mechanical position stability, a more rigorous safety determination logic is constructed. Compared with single signal determination, this design has significant improvements in safety, reliability, and adaptability. Electrical signal conduction proves that the first charging terminal 141 and the second charging terminal 211 have formed an effective conductive circuit (without electrical problems such as poor contact or terminal misalignment), ensuring stable transmission of charging energy. Trigger signal generation (such as the first position detector 212 being triggered) proves that the automatic lawnmower 10 has reached a stable docking position. Both are indispensable. Even if the electrical signal is conducted but the trigger signal is not generated (such as a loose connection but the first and second charging terminals 211 are not in a stable docking position), or if the trigger signal is generated but the electrical signal is not conducted (such as the position is in place but the terminals are not in contact), it is determined to be a non-protected state, avoiding high-voltage output. This design completely blocks the safety loopholes under high-voltage energized conditions from both electrical and mechanical dimensions, solving the "pseudo-safety" problem that may exist with single signal determination.

[0185] In some embodiments, the moving component 12 is further configured to move the automatic lawnmower 10 away from the charging station 20 (i.e., the first charging terminal 141 moves away from the second charging terminal 211). When the first charging terminal 141 leaves the stable docking position, the trigger signal generated by the first position detector 212 disappears. In response to the disappearance of the trigger signal, the second controller 22 controls the output voltage of the charging station 20 to be 0, or reduces the output voltage of the charging station 20 to less than 36V. When the second controller 22 detects the disappearance of the trigger signal, it forcibly reduces the output voltage of the charging station 20 to less than 36V (human safety voltage), forming a dual safety protection. When the docking is not in place, the first and second charging terminals 211 are disconnected, or the protection status fails, the second controller 22 immediately controls the output voltage to drop below 36V or directly to zero. Even in the event of accidental collisions causing loose docking or accidental charging by the equipment, the high-voltage circuit can be quickly cut off to avoid safety accidents such as electric shock and short circuit fire caused by high-voltage power leakage, providing full-scenario safety protection for high-voltage charging.

[0186] Please refer to Figure 12, which is a logic block diagram of the entire process of charging an automatic lawnmower 10 by a charging station 20 according to this disclosure. The moving component 12 is configured to move the automatic lawnmower 10 closer to the charging station 20 (i.e., the first charging terminal 141 moves closer to the second charging terminal 211, corresponding to S50 in Figure 12); the first controller 13 is configured to send an electrical signal to the first charging terminal 141. After the first charging terminal 141 and the second charging terminal 211 are connected, the electrical signal forms a loop between the charging station 20 and the automatic lawnmower 10. In response to the formation of the loop, the first controller 13 controls the automatic lawnmower 10 to brake (corresponding to S60 in Figure 12); the charging station 20 also includes a first position detector 212 connected to the second controller 22. The first position detector 212 moves the first charging terminal 141 to the second charging terminal 211 and the second charging terminal 211 to the second charging terminal 20. After the second charging terminal 211 is stably connected to the docking position, it is triggered to generate a trigger signal (corresponding to S70 in Figure 12); the second controller 22 responds to the trigger signal to determine that the docking state of the charging station 20 and the automatic lawnmower 10 is in a protected state (corresponding to S102 in Figure 12); in response to the docking state being in a protected state, the second controller 22 controls the charging station 20 to directly output a second voltage (corresponding to S203 in Figure 12); the second controller 22 responds to the electrical signal from the automatic lawnmower 10 and controls the charging station 20 to output a first voltage (corresponding to S205 in Figure 12); the second controller 22 is also configured to respond to the docking state not being in a protected state by controlling the output voltage of the charging station 20 to be less than 36V, or controlling the output voltage of the charging station 20 to be 0 (corresponding to S30 in Figure 12).

[0187] The first position detector 212 can have various design forms, please refer to Figures 14A, 14B, 14C, and 14D. In some embodiments, the first position detector 212 includes a Hall sensor 2121, which is configured to generate a trigger signal in response to a change in the magnetism of a magnetic element. Furthermore, the charging station 20 also includes a collision block 2123 and a magnetic element 2122. The collision block 2123 is displaced upon impact with the automatic lawnmower 10. The magnetic element 2122 is connected to the collision block 2123 and moves under the influence of the collision block 2123. The Hall sensor 2121 generates a trigger signal in response to the movement of the magnetic element 2122.

[0188] In one embodiment, referring to FIG14D, one of the Hall sensor 2121 and the magnetic element 2122 is disposed in the charging station 20, and the other is disposed in the automatic lawnmower 10. As the moving component 12 moves the automatic lawnmower 10 closer to the charging station 20, the Hall sensor 2121 detects that the magnetic change of the magnetic element 2122 changes from small to large, and then generates a trigger signal.

[0189] In another embodiment, referring to Figures 14A, 14B, and 14C, the collision block 2123 is movably connected to the bracket 251 provided on the charging station 20. The magnetic element 2122 is connected to the collision block 2123, and the Hall sensor 2121 is fixedly installed on the bracket 251. When the moving component 12 drives the automatic lawnmower 10 to move towards the charging station 20, the automatic lawnmower 10 pushes the collision block 2123 to move, thereby causing the magnetic element 2122 to displace relative to the Hall sensor 2121. The Hall sensor 2121 detects the displacement of the magnetic element 2122 and generates a trigger signal. It should be noted that the collision block 2123 can be movably connected to the bracket 251 in two ways: either the collision block 2123 is rotatably connected to the bracket 251 via a pivot shaft (see Figures 14A and 14B), or the collision block 2123 slides in a groove provided on the bracket 251 (see Figure 14C). In both of the above embodiments, the collision block 2123 is connected to an elastic element (such as a spring, elastic rope, etc.). After the collision block 2123 loses the pushing force of the automatic lawnmower 10, it will reset.

[0190] It should be noted that the first position detector 212 can also be installed on the autonomous mobile robot 10, or it can be partially installed on the autonomous mobile robot 10 and partially installed on the charging station 20. When the first charging terminal 141 moves to a position where it is stably connected to the second charging terminal 211, the first position detector 212 is triggered, generating a trigger signal. After the trigger signal is acquired by the first controller 13 and / or the second controller 22, it is determined that the charging station 20 and the automatic lawnmower 10 are in a protected state. For example, the trigger signal is acquired by the first controller 13, which can send a signal (such as an electrical signal, Bluetooth signal, Wi-Fi signal, 4G / 5G signal) to the second controller 22. Upon receiving the signal, the second controller 22 determines that the charging station 20 and the automatic lawnmower 10 are in a protected state.

[0191] In other embodiments, the first position detector 212 may be configured as a trigger sensor, an infrared sensor, a photoelectric sensor, etc.

[0192] To achieve safety protection under high-voltage charging, the charging station 20 and the automatic lawnmower 10 are structurally designed to form a safety barrier, corresponding to the protection state described above. This disclosure provides an embodiment, referring to Figures 15A, 15B, 16A, and 16B. The automatic lawnmower 10 and the charging station 20 each include a first housing 18 and a second housing 27. When the automatic lawnmower 10 and the charging station 20 are in the protection state, the first housing 18 and the second housing 27 cooperate to surround the outer periphery of the first charging terminal 141 and the second charging terminal 211, forming a barrier channel 29. The barrier channel 29 is a channel connecting the external environment and the first charging terminal 141 and the second charging terminal 211. The size of the barrier channel 29 meets preset conditions to prevent user fingers in the external environment from touching the first charging terminal 141 and the second charging terminal 211. In this embodiment, the precise fit between the first housing 18 of the automatic lawnmower 10 and the second housing 27 of the charging station 20 forms a barrier channel 29 that meets the required dimensions around the first and second charging terminals 211, physically blocking the contact path between external fingers and the high-voltage terminals. The first housing 18 and the second housing 27 surround each other, completely enclosing the first charging terminal 141 and the second charging terminal 211, ensuring that the external environment can only communicate with the terminals through the single barrier channel 29, preventing direct exposure of the terminals. At the same time, by strictly limiting the length, width, and other parameters of the barrier channel 29, it is ensured that the fingers of adults or children cannot pass through the channel to touch the terminals, eliminating the possibility of electric shock from a physical perspective.

[0193] In one embodiment, referring to Figure 15B, the side of the charging station 20 where the second charging terminal 211 is installed is defined as the front side of the charging station 20. When the automatic lawnmower 10 and the charging station 20 are successfully docked, the first housing 18 and the second housing 27 overlap in the front-rear direction of the charging station 20 to form a barrier channel 29. The preset conditions include at least one of the following: the length c of the barrier channel 29 is greater than or equal to 80 mm; the barrier channel 29 includes a starting point and an ending point; the starting point is the outer edge of the first housing 18 near the second housing 27, referred to as the first outer edge 181; or, the starting point is the outer edge of the second housing 27 near the first housing 18, referred to as the second outer edge 291; and the ending point is the surface of the second charging terminal 211; the maximum width b of the cross-sectional area of ​​the barrier channel 29 does not exceed 20 mm. Further, the preset condition may also be that the maximum width b of the cross-sectional area of ​​the barrier channel 29 does not exceed 12 mm. With the side of the charging station 20 where the second charging terminal 211 is installed as the front side, the first housing 18 and the second housing 27 overlap in the front-rear direction, and the blocking channel 29 is curved (such as L-shaped or U-shaped), with the inner wall of the blocking channel 29 forming a "bent protection". The total length c of the curved blocking channel 29 is ≥80mm, where the length refers to the actual path length of the channel (not the straight distance). The curved structure prevents the touch finger from extending straight in, and with a path length of ≥80mm, the touch finger cannot reach the first and second charging terminals 211 under the double restriction. Understandably, when the first housing 18 surrounds the outside of the second housing 27 (i.e., the cross-sectional area of ​​the first housing 18 is larger than the cross-sectional area of ​​the second housing 27, and the first housing 18 surrounds the second housing 27), the starting point of the blocking channel 29 is the first outer edge 181 (this outer edge refers to the outer edge closer to the second housing 27), and the blocking channel 29 extends from the first outer edge 181 according to the structure formed by the first housing 18 and the second housing 27, up to the surface of the second charging terminal 211. When the second housing 27 surrounds the outside of the first housing 18 (i.e., the cross-sectional area of ​​the second housing 27 is larger than the cross-sectional area of ​​the first housing 18, and the second housing 27 surrounds the first housing 18), the starting point of the blocking channel 29 is the second outer edge 291 (this outer edge refers to the outer edge closer to the first housing 18), and the blocking channel 29 extends from the second outer edge 291 according to the structure formed by the first housing 18 and the second housing 27, up to the surface of the second charging terminal 211. For example, the length c of the blocking channel 29 is 80mm, 83mm, 85mm, 87mm, 90mm, 95mm, 100mm, 120mm, 150mm, or 200mm.

[0194] As another example, the maximum width b of the cross-sectional area of ​​the barrier channel 29 is ≤20mm, such as 20mm, 18mm, 16mm, 15mm, 12mm, 10mm, 8mm, 6mm, which is smaller than the average diameter of an adult index finger (approximately 22mm). As another example, the maximum width b of the cross-sectional area of ​​the barrier channel 29 is ≤12mm, such as 12mm, 11mm, 10mm, 9mm, 8mm, 6mm, 5mm, 3mm, etc., which physically restricts the finger from being inserted into the channel and also blocks debris, water droplets, etc. from entering.

[0195] In another embodiment, referring to Figure 16B, the side of the charging station 20 where the second charging terminal 211 is installed is defined as the front. When the automatic lawnmower 10 and the charging station 20 are successfully docked, the first housing 18 and the second housing 27 overlap in the front-rear direction of the charging station 20 to form a barrier channel 29. The length a of the overlapping portion of the barrier channel 29 in the front-rear direction is greater than or equal to 80 mm. The side of the charging station 20 where the second charging terminal 211 is installed is defined as the front side. When the automatic lawnmower 10 is docked, its first housing 18 (which houses the first charging terminal 141) extends toward the charging station 20, forming a nested overlapping structure with the second housing 27 of the charging station 20 (which wraps around the second charging terminal 211) in the front-rear direction. The overlapping area forms a closed barrier channel 29 around the charging terminal (similar to a "nested sleeve"). As an example, the overlapping portion extends for a length a ≥ 80 mm in the front-to-back direction, such as 80 mm, 83 mm, 85 mm, 87 mm, 90 mm, 95 mm, 100 mm, 120 mm, 150 mm, or 200 mm. This length is much greater than the effective touch length of an adult's finger (approximately 60 mm to 80 mm), making it impossible to reach the terminal even if the finger is inserted into the channel.

[0196] In one specific embodiment, the first housing 18 houses the first charging terminal 141 and has an opening at least facing the second charging terminal 211 for docking. After the first charging terminal 141 moves to a stable docking position with the second charging terminal 211, the first housing 18 houses at least a portion of the second charging terminal 211. It should be noted that when the automatic lawnmower 10 approaches the charging station 20, and the first charging terminal 141 moves to a stable docking position with the second charging terminal 211, there is a relative position. This position is referred to as the docking position where the first charging terminal 141 is stably docked with the second charging terminal 211 (i.e., the stable docking position mentioned above). The second controller 22 determines that the first charging terminal 141 is in the stable docking position by detecting electrical signals and / or trigger signals. At this time, the charging station 20 and the automatic lawnmower 10 are in a physically protected state.

[0197] As an example, referring to Figures 15B and 16B, when the charging station 20 and the automatic lawnmower 10 are in a stable docking position, the second housing 27 surrounds the outer periphery of the first housing 18, and the outer wall of the first housing 18 and the inner wall of the second housing 27 form the aforementioned barrier channel 29. When the automatic lawnmower 10 and the charging station 20 are in a protected state, i.e., when the first charging terminal 141 and the second charging terminal 211 are in a stable docking position, the distance f between the second charging terminal 211 and the top of the first housing 18 housing it in the height direction of the automatic lawnmower 10 is greater than or equal to 50 mm. Furthermore, in the lateral direction of the charging station 20, the minimum distance e between the second charging terminal 211 and the housing housing it is greater than or equal to 50 mm, and the lateral direction is perpendicular to the front-back direction of the charging station 20.

[0198] As another example, when the charging station 20 and the automatic lawnmower 10 are in a stable docking position, the first housing 18 surrounds the outer periphery of the second housing 27, and the outer wall of the second housing 27 and the inner wall of the first housing 18 form the aforementioned barrier channel 29.

[0199] In a further embodiment, referring to FIG16B, the second housing 27 includes a shield 271 and a side protection member 23. The shield 271 is located at least above the second charging terminal 211, and its projection along the height direction of the charging station 20 at least partially overlaps with the second charging terminal 211. The side protection member 23 is disposed on the left and right sides of the charging station 20, and its projection along the left and right upward directions of the charging station 20 at least partially overlaps with the second charging terminal 211. As an example, the side of the charging station 20 where the second charging terminal 211 is installed is defined as the front side of the charging station 20, and the side opposite to the front side is defined as the rear side. The shield 271 extends from the main body 28 of the charging station 20 toward the front of the charging station 20, and the extension length d is not less than 100mm. For example, it is 100mm, 110mm, 120mm, 130mm, 140mm, 150mm, 180mm, or 200mm. As an example, the side guard 23 extends from the main body 28 of the charging station 20 towards the front of the charging station 20, with an extension length of not less than 100mm. For example, it is 100mm, 110mm, 120mm, 130mm, 140mm, 150mm, 180mm, or 200mm.

[0200] The shield 271 and the side guard 23 are located on the upper, left, and right sides of the charging station 20, respectively. After the charging station 20 is connected to the automatic lawnmower 10, the first housing 18, the shield 271, and the side guard 23 form the aforementioned blocking channel 29 (e.g., the shield 271 and the side guard 23 surround the first housing, and the second outer edge 291 mentioned above is the outer edge of the shield 271 and / or the outer edge of the side guard 23), preventing the user's fingers from penetrating. If the maximum gap between the side guard 23 and the first housing 18 (i.e., the maximum width of the cross-sectional area of ​​the blocking channel 29) is less than or equal to 12mm, the maximum gap between the shield 271 and the first housing 18 (i.e., the maximum width of the cross-sectional area of ​​the blocking channel 29) is less than or equal to 12mm. The maximum width of the cross-sectional area of ​​the barrier channel 29 is less than or equal to 12mm. The 12mm gap is much smaller than the diameter of a user's finger, making it difficult for the user's finger to penetrate deeply. For example, even without limiting the size of the maximum gap between the side guard 23, the shield 271 and the first housing 18, the length of the barrier channel 29 formed by the shield 271 and the first housing 18 can be greater than or equal to 80mm. The length of the barrier channel 29 formed by the side guard 23 and the first housing 18 can also be greater than or equal to 80mm. This ensures that even if the user's finger can be inserted into the barrier channel 29, it will not be able to touch the first charging terminal 141 and the second charging terminal 211 because the length of the barrier channel 29 is long enough. Of course, the maximum gap between the side protection member 23 and the first housing 18 can be less than or equal to 12mm, the maximum gap between the shielding member 271 and the first housing 18 can be less than or equal to 12mm, and the length of the blocking channel 29 formed by the shielding member 271 and the first housing 18 can be greater than or equal to 80mm, and the length of the blocking channel 29 formed by the side protection member 23 and the first housing 18 can be greater than or equal to 80mm, thus providing double protection so that the user's fingers cannot touch the first charging terminal 141 and the second charging terminal 211.

[0201] In other embodiments, when the automatic lawnmower 10 and the charging station 20 are successfully docked, the first housing 18 and the second housing 27 do not overlap in the front-to-back direction, forming a gap. This gap serves as an isolation channel 29, with preset conditions including a gap width not exceeding 20 mm. Further, preset conditions include a gap width not exceeding 12 mm. As an example, the gap width can be set to 20 mm, 18 mm, 16 mm, 15 mm, 12 mm, 11 mm, 10 mm, 9 mm, 8 mm, 7 mm, 6 mm, 5 mm, 4 mm, 3 mm, 2 mm, or 1 mm. After the automatic lawnmower 10 docks with the charging station 20, the first housing 18 and the second housing 27 do not overlap in the front-to-back direction, forming only a narrow gap at the docking surface. This gap is the isolation channel 29 connecting the outside to the charging terminal (similar to a "slit channel"); the gap width is ≤20 mm, especially ≤12 mm, and the gap is evenly distributed along the circumference of the charging terminal, forming a surrounding slit. The width is insufficient for an adult's finger to penetrate (the diameter of an index finger is about 22 mm). In a further embodiment, the width of the gap is less than or equal to 12 mm, which also prevents children's small fingers from touching the terminal (the diameter of a child's little finger is about 15 mm, but the effective length of the finger is limited, and the slit structure further limits the depth of contact).

[0202] The above-described embodiments prevent users from touching the first charging terminal 141 and the second charging terminal 211 on the upper left and right sides, respectively. The same implementation method can be used for the lower protection when the charging station 20 and the automatic lawnmower 10 are docked. Referring to Figures 16A and 16B, for example, when the charging station 20 and the automatic lawnmower 10 are docked, the distance between the outer shell of the base station body 28 and the first housing 18 is less than or equal to 12mm (equivalent to the second housing 27 referring to the shell of the body 28, the outer shell of the body 28 and the first housing 18 forming the aforementioned blocking channel 29). This prevents the user's fingers from penetrating between the outer shell of the base station body 28 and the first housing 18. Alternatively, the length of the aforementioned blocking channel 29 formed by the outer shell of the body 28 and the first housing 18 is greater than or equal to 80mm, preventing the user's fingers from touching the first charging terminal 141 and the second charging terminal 211 even if they can penetrate the blocking channel 29.

[0203] It is understandable that the working environment of the intelligent lawnmower is outdoors, where it will be exposed to rain and dew. In some of the above embodiments, when the charging station 20 uses a larger current and a larger voltage to charge the autonomous mobile robot 10, if rainwater wets the first charging terminal 141 and the second charging terminal 211, it may cause the water to become conductive, resulting in the autonomous mobile robot 10 and the charging station 20 becoming electrified, thus posing a risk of electric shock.

[0204] To avoid the risk of electric shock due to the conductivity of water, in some embodiments, referring to Figures 17A and 17B, the charging station 20 further includes a first waterproof cover 24. The first waterproof cover 24 is located above the second charging terminal 211, and the projection of the first waterproof cover 24 along the height direction of the charging station 20 at least partially overlaps with the second charging terminal 211. The first waterproof cover 24 can effectively prevent rainwater from falling onto the second charging terminal 211 from above. In some embodiments, the projection of the first waterproof cover 24 along the height direction of the charging station 20 completely covers the second charging terminal 211. The first waterproof cover 24 can completely cover the second charging terminal 211 from below, resulting in better water-blocking effect. Furthermore, in the horizontal direction, the edge of the first waterproof cover extends beyond the second charging terminal 211 by at least 10 mm. For example, the edge of the first waterproof cover extends beyond the second charging terminal 211 by 10 mm, 15 mm, 20 mm, 25 mm, 30 mm, 35 mm, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm, 70 mm, or 90 mm. As an example, in the horizontal direction, the edge of the first waterproof cover extends beyond the second charging terminal by 30 to 50 mm. It is understood that the charging station 20 includes a main body 28 disposed on the ground, the second charging terminal 211 extending forward from the main body 28, and the first waterproof cover located above the second charging terminal 211, also extending forward from the main body 28. The edge of the first waterproof cover extending beyond the second charging terminal 211 by at least 10 mm means that the first waterproof cover extends beyond the second charging terminal 211 by at least 10 mm in one or more of the forward, left, and right directions. As an example, the first waterproof cover extends beyond the second charging terminal 211 by at least 10 mm in the forward, left, and right directions.

[0205] In one specific embodiment, the first waterproof cover 24 and the shielding member 271 in the above embodiment are the same component. This reduces the number of components on the charging station 20, making the charging station 20 simpler and lower in cost.

[0206] To further prevent rainwater from reaching the first charging terminal 141 and the second charging terminal 211, the first housing 18 includes a second waterproof cover 182 located above the first charging terminal 141. After the charging station 20 and the autonomous mobile robot 10 successfully dock, the first charging terminal 141 and the second charging terminal 211 form a docking area 183, which is located inside the second waterproof cover 182.

[0207] After the charging station 20 and the autonomous mobile robot 10 successfully dock, the projection of the second waterproof cover 182 along the height direction of the charging station 20 at least partially overlaps with the first waterproof cover 24. The first waterproof cover 24 and the second waterproof cover 182 have no gap in the horizontal direction, preventing rainwater from falling between the first charging terminal 141 and the second charging terminal 211. After being blocked by the first waterproof cover 24, a small portion of the remaining rainwater falls onto the second waterproof cover 182, resulting in better double-layer waterproofing.

[0208] Furthermore, the second waterproof cover 182 extends upward to form a blocking portion 181. In some embodiments, the blocking portion 181 can both prevent a person's hand from reaching into the docking area 183 and prevent rainwater from falling into the docking area 183.

[0209] Furthermore, referring to Figure 17B, when the second charging terminal 211 is connected to the first charging terminal 141, it has a distal end 2113 away from the first charging terminal 141 and a proximal end 2112 close to the first charging terminal 141. The distal end 2113 is connected to a downwardly inclined water guide 213, and the end of the water guide near the proximal end is higher than the end near the distal end. In this embodiment, the water guiding part 213 is tilted away from the near end 2112. After a small amount of rainwater falls on the second waterproof cover 182, it slides down the second waterproof cover 182 and drips onto the water-receiving part 2113 at the far end of the second charging terminal 211. The water guiding part 213 tilts downward to guide even less rainwater to the ground, thereby preventing rainwater from flowing to the first charging terminal 141 and the second charging terminal 211. Through the above embodiment, rainwater is blocked and guided in multiple ways, making it difficult for it to fall on the first charging terminal 141 and the second charging terminal 211. This prevents conductive water from flowing onto the autonomous mobile robot 10 and the charging station 20 and making them charged, thus maximizing the safety of the charging point for the autonomous mobile robot 10.

[0210] In some embodiments of this disclosure, the charging voltage of the charging station 20 is increased (charging the automatic lawnmower 10 with a charging voltage exceeding 36V) in order to increase the charging power of the charging station 20. Of course, in order to increase the charging power, the charging current can also be increased, but increasing the charging current will cause the problem of heat generation.

[0211] Therefore, this disclosure provides an embodiment, please refer to Figures 3, 18A, 18B, 18C, and 19, an automatic working system including an automatic lawnmower 10 and a charging station 20. The automatic lawnmower 10 includes: a chassis 17; an energy storage unit 14 configured to provide energy for the operation and movement of the automatic lawnmower 10; a working component 11 and a working motor 101, the working component 11 being connected to the working motor 101 and configured to be driven by the working motor 101 to perform working tasks, the working component 11 rotating to form a coverage area during operation; a moving component 12 and a moving motor 102, the moving component 12 being connected to the moving motor 102 and configured to be driven by the moving motor 102 to move the chassis 17; a first controller 13 connected to the working motor 101 and the moving motor 102 and configured to control the operation and movement of the automatic lawnmower 10; and at least one first charging terminal 141 electrically connected to the energy storage unit 14.

[0212] The charging station 20 includes at least one second charging terminal 211. The first controller 13 is also configured to control the automatic lawnmower 10 to move and dock with the charging station 20 so that the first charging terminal 141 and the second charging terminal 211 are electrically connected. Each first charging terminal 141 includes at least three contacts 1411. When the first charging terminal 141 and the second charging terminal 211 are electrically connected, the at least three contacts 1411 contact the outer surface of the second charging terminal 211 to form at least three contact surfaces, and the at least three contact surfaces are not coplanar.

[0213] Other structures of the automatic lawnmower 10 and the charging station 20 are similar to or the same as those in the above embodiments and will not be described in detail here.

[0214] It should also be noted that in this embodiment, the automatic lawnmower includes two first charging terminals 141, each of which includes at least three contacts 1411. Correspondingly, the charging station 20 also includes two second charging terminals 211. In other embodiments, the first charging terminals 141 and the second charging terminals 211 can be configured as one, three, four, etc.

[0215] This embodiment employs a scheme with at least three non-coplanar contact surfaces. Stable conductivity is achieved by dispersing current through multi-point contact, and deviation compatibility is achieved by compensating for docking deviations through the non-coplanar structure.

[0216] Specifically, the first charging terminal 141 includes at least three independent contacts 1411, preferably three or four contacts 1411 (balancing structural simplicity and contact stability). The three contacts 1411 can be arranged on the upper, left, and right sides, or the front, upper, and lower sides of the second charging terminal 211, respectively, to ensure contact with the outer surface of the second charging terminal 211 from different spatial angles. The four contacts 1411 can be arranged circumferentially in a "top, bottom, left, and right" configuration to further enhance contact redundancy. In addition, the contacts 1411 are made of highly conductive and wear-resistant metal materials (such as copper alloys or gold-plated copper sheets), and the surface is treated with anti-oxidation to reduce contact resistance.

[0217] Furthermore, the three contact surfaces are distributed circumferentially along the second charging terminal 211. Each contact 1411 forms an independent contact surface after being attached to the outer surface of the second charging terminal 211. The contact surface is a small plane or arc-shaped surface, adapted to the outer surface contour of the second charging terminal 211. For example, if the second charging terminal 211 is a cylindrical terminal, the contact 1411 is set as an arc-shaped contact surface. By designing the installation angle, protrusion height, or spatial position of the contact 1411, the three or more contact surfaces are not on the same plane. For example, if the second charging terminal 211 is cylindrical, the three contact 1411 contact the outer surface of the terminal from the three directions of "horizontal left, horizontal right, and vertical up", and the three arc-shaped contact surfaces formed are respectively located in two vertical planes and one horizontal plane, naturally not coplanar; if the second charging terminal 211 is square, the three contact 1411 contact the "front side, top side, and right side" of the terminal respectively, and the three contact surfaces correspond to three mutually perpendicular planes, achieving a non-coplanar distribution. Due to the spatial distribution characteristics of the non-coplanar contact 1411, even if there are slight mating deviations (such as horizontal offset ±5mm, vertical tilt ±3°), it can still be ensured that at least two contact 1411 first contact the second charging terminal 211. As the mating is further completed, all contact 1411 can be tightly fitted to the outer surface of the terminal to form a stable non-coplanar contact surface.

[0218] In one specific embodiment, the first charging terminal 141 includes three charging electrodes 1411, and the second charging terminal 211 includes a charging rod 2111. When the autonomous mobile robot 10 replenishes its power at the charging station 20, the three charging electrodes 1411 are fitted around the outer periphery of the charging rod 2111. The three charging electrodes 1411 form a hollow sleeve, and the charging rod 2111 can extend into the hollow sleeve, forming surface contact with the inner wall of the hollow sleeve. This creates contact surfaces from multiple directions, increasing the contact area between the first charging terminal 141 and the second charging terminal 211, reducing contact resistance, and thus reducing heat generation. Of course, in other embodiments, the positions of the charging electrodes 1411 and the charging rod 2111 can be interchanged, with the first charging terminal 141 configured as the charging rod 2111 and the second charging terminal 211 configured as the charging electrode 1411. This disclosure does not impose any limitations.

[0219] To further ensure effective contact between the charging electrode 1411 and the charging rod 2111, the autonomous mobile robot 10 uses an interference fit between the charging electrode 1411 and the charging rod 2111 when replenishing power at the charging station 20. Specifically, the charging electrode 1411 is connected to an elastic element, such as a spring, which provides pressure when the charging rod 2111 is inserted into the charging electrode 1411, pressing the charging electrode 1411 firmly against the outer periphery of the charging rod 2111. Alternatively, the charging electrode 1411 itself has a certain degree of elasticity; when the charging rod 2111 is inserted into the charging electrode 1411, the charging electrode 1411 undergoes elastic deformation, pressing itself firmly against the outer periphery of the charging rod 2111.

[0220] In some embodiments, at least one of the at least three contact surfaces is spaced apart from the other contact surfaces along the axial direction of the second charging terminal 211. The contact elements 1411 are spaced apart along the axial direction, and the contact surfaces are not on the same axial section, completely avoiding the problems of mutual squeezing, jamming, or poor contact caused by mating deviations in traditional coplanar contact elements 1411. Even if the automatic lawnmower 10 has a slight tilt in its mating posture, the three contact elements 1411 can still independently conform to the outer surface of the second charging terminal 211, preventing a chain reaction where "misalignment of one contact element 1411 causes other contact elements 1411 to be unable to contact." Furthermore, the axially staggered design disperses the contact surfaces in different areas of the second charging terminal 211. Even if some areas have dust, grass clippings, or wear marks, other contact surfaces can still remain clean and in good contact, reducing the risk of charging interruption due to contact surface contamination or wear, making it particularly suitable for dusty and cluttered working environments such as lawns.

[0221] As an example, please refer to Figures 18B and 19. The second charging terminal 211 has a columnar structure. The three contacts 1411 of the first charging terminal 141 are A, B, and C. Contacts A and B are positioned at the same location along the axial direction (length direction) of the second charging terminal 211. Contact C is positioned at a different location from contacts A and B along the axial direction (length direction) of the second charging terminal 211. Contact C is spaced apart from contacts A and B along the axial direction and is not in the same plane perpendicular to the axial direction. During the insertion process, the first charging terminal 141 is gradually advanced along the axial direction of the second charging terminal 211. Contacts A and B first contact the outer surface of the front end of the second charging terminal 211 to form a contact surface. As the depth of advancement increases, contact C contacts the outer surface of the rear end of the second charging terminal 211.

[0222] As another example, the three contacts 1411 of the first charging terminal 141 are A, B, and C. Contact A is located near the front end (front end in the insertion direction) of the second charging terminal 211, contact B is located in the middle, and contact C is located near the rear end. The three contacts 1411 are spaced apart along the axial direction and are not in the same plane perpendicular to the axial direction. During the insertion process, the first charging terminal 141 is gradually advanced along the axial direction of the second charging terminal 211. Contact A first contacts the outer surface of the front end of the second charging terminal 211. As the depth of advancement increases, contacts B and C successively contact the outer surfaces of the middle and rear ends of the second charging terminal 211.

[0223] In some embodiments, one of the at least three contacts 1411 is configured to move in a first direction, and another is configured to move in a second direction. One of the at least three contacts 1411 is configured to move in a vertical plane, and another is configured to move in a horizontal plane. For example, of the at least three contacts 1411, one is specifically configured to move horizontally (e.g., lateral translation), and another is specifically configured to move vertically (e.g., vertical lifting, pitch adjustment), serving to compensate for docking misalignment in both directions. The remaining contacts 1411 can be designed as fixed structures or have additional moving directions (e.g., fine-tuning forward and backward) to assist in compensating for docking misalignment. For another example, the first charging terminal 141 has three contacts 1411, two of which are configured to move horizontally (e.g., lateral translation), and the other is configured to move vertically (e.g., vertical lifting, pitch adjustment), serving to compensate for docking misalignment in both directions. The moving structure of the contacts 1411 can be configured using sliding guides, elastic telescopic components, or ball joint connections to achieve directional movement of the contacts 1411. For example, the horizontal moving contact 1411 and the vertical moving contact 1411 can be moved by the spring when they are actuated by the charging electrode 2111. As another example, the horizontal moving contact 1411 is mounted on a transverse slide rail and can slide back and forth in the left-right direction; the vertical moving contact 1411 is equipped with a longitudinal telescopic spring or a lifting guide rail and can be adjusted in the up-down direction.

[0224] In a further embodiment, the horizontal and vertical movement amounts are greater than or equal to the maximum docking deviation of the automatic lawnmower 10. The maximum docking deviation refers to the maximum positional deviation between the first charging terminal 141 and the second charging terminal 211 caused by navigation errors, terrain undulations, and other factors during the autonomous docking process of the automatic lawnmower 10. It typically includes a maximum horizontal offset (e.g., ±8mm) and a maximum vertical offset (e.g., ±6mm), values ​​determined through extensive outdoor measurements. The maximum horizontal movement of the contact member 1411 is greater than the maximum horizontal docking deviation, and the maximum vertical movement of the contact member 1411 is greater than the maximum vertical docking deviation. For example, if the maximum horizontal docking deviation is ±8mm, the horizontal movement of the contact member 1411 is designed to be 16mm (8mm to the left and right); if the maximum vertical docking deviation is ±6mm, the vertical movement of the contact member 1411 is designed to be 12mm (6mm up and down), ensuring that even under extreme deviation scenarios, the contact member 1411 can still engage with the second charging terminal 211 through movement.

[0225] To accommodate the maximum mating deviation mentioned above, the size of the contact element must be adapted to the maximum mating deviation. To match the maximum mating deviation of ±8mm horizontally and ±6mm vertically, the width of the contact element must be specifically designed according to the installation position to ensure effective contact can still be maintained under extreme deviations.

[0226] For example, three contacts are set up, located on the left, right, and top of the charging electrode. The contacts on the left and right sides of the charging electrode are vertically arranged and need to accommodate a maximum vertical mating deviation of ±6mm. The width of the contacts on the left and right sides of the charging electrode needs to cover "charging electrode diameter + maximum vertical mating deviation × 2". If the horizontal diameter of the charging electrode is 15mm (the conventional diameter of a columnar terminal), then the width of the contact on one side needs to be designed as 15mm + 6mm × 2 = 27mm (or simplified to 25 to 30mm).

[0227] The contact above the charging electrode is horizontally positioned and needs to accommodate a maximum horizontal mating deviation of ±8mm. Therefore, the width of the contact above the charging electrode needs to cover "the vertical diameter of the charging electrode + the maximum horizontal mating deviation × 2". If the vertical diameter of the charging electrode is 15mm, then the width of the contact above needs to be designed as 15mm + 8mm × 2 = 31mm (or 28 to 35mm).

[0228] Considering that horizontal deviation may cause the charging electrode to shift laterally on the vertical contact, the upper contact needs to reserve an extra horizontal redundancy width, usually 5 to 10 mm more than the vertical adaptation width, and the final design is 30 to 40 mm, to ensure that even if there is a combined deviation of ±8 mm horizontally and ±6 mm vertically, the contact can still completely cover the contact area of ​​the charging electrode and maintain a stable electrical connection.

[0229] In this embodiment, the width of the contact element needs to "cover the electrode body size + bidirectional maximum deviation". Essentially, this is to offset the risk of contact offset caused by docking deviation through redundant width, and to avoid the contact element and electrode being "misaligned" or "insufficient contact area" due to deviation.

[0230] The above embodiments further improve the fault tolerance rate of the automatic lawnmower 10 in autonomous docking and the contact stability of the first and second charging terminals 211. Based on the fact that at least three contact members 1411 form non-coplanar contact surfaces with the second charging terminal 211, by designing some contact members 1411 as bidirectional movable structures and adapting the amount of movement to the maximum docking deviation, the dual goals of "active deviation compensation + stable contact" are achieved.

[0231] To ensure reliable docking of the first charging terminal 141 and the second charging terminal 211, in some embodiments, at least a portion of the first charging terminal 141 is movable relative to the autonomous mobile robot 10, and / or at least a portion of the second charging terminal 211 is movable relative to the charging station 20. It is understood that the autonomous mobile robot 10 relies on its own sensors to dock with the base station, such as infrared sensors, vision sensors, etc. During the docking process between the autonomous mobile robot 10 and the charging station 20, there may be some errors, making it difficult for the second charging terminal 211 and the first charging terminal 141 to dock precisely. To eliminate the impact of such errors, a certain amount of mobility is provided for the first charging terminal 141 and / or the second charging terminal 211, so that even if the autonomous mobile robot 10 and the charging station 20 do not dock precisely, the first charging terminal 141 and the second charging terminal 211 can still dock stably and accurately. In this embodiment, the charging electrode 2111 of the second charging terminal 211 is movable relative to the charging station 20. For example, the charging electrode 2111 can be connected to the charging station 20 via a universal rotating shaft, allowing it to rotate at any angle relative to the charging station 20. This eliminates the influence of errors that occur during the docking process between the autonomous mobile robot 10 and the charging station 20. The charging plate 1411 of the first charging terminal 141 is fixed relative to the autonomous mobile robot 10. In other embodiments, the charging plate 1411 of the first charging terminal 141 is movable relative to the autonomous mobile robot 10, while the charging electrode 2111 of the second charging terminal 211 is fixed relative to the charging station 20; or, the charging plate 1411 of the first charging terminal 141 is fixed relative to the autonomous mobile robot 10, and the charging plate 1411 of the second charging terminal 211 is fixed relative to the charging station 20.

[0232] Please refer to Figure 20. In order to further eliminate the influence of errors that occur during the docking process of the autonomous mobile robot 10 with the charging station 20, in some embodiments, the charging station 20 also includes a position adjustment component 25. The position adjustment component 25 is connected to the second charging terminal 211 and is configured to drive the second charging terminal 211 to move when subjected to an external force, so that the second charging terminal 211 docks with the first charging terminal 141. Specifically, the position adjustment component 25 includes a bracket 251 and a support shaft 252 connected to the bracket 251. The second charging terminal 211 is mounted on the bracket 251 via the support shaft 252. The second charging terminal 211 is movable relative to the support shaft 252 and the bracket 251. For example, a roller assembly 253 is provided between the second charging terminal 211 and the bracket 251. The second charging terminal 211 can slide relative to the bracket 251 and the support shaft 252 via the roller assembly 253. When the second charging terminal 211 is not accurately aligned with the first charging terminal 141, the first charging terminal 141 will exert a pushing effect on the second charging terminal 211. Under the action of the external force exerted by the first charging terminal 141, the second charging terminal 211 moves left and right along the support shaft 252 and finally accurately aligns with the first charging terminal 141. Furthermore, a reset member 254 (such as a spring) is provided between the second charging terminal 211 and the bracket 251. When the second charging terminal 211 is moved by the first charging terminal 141, the reset member 254 is compressed and stores force. When the second charging terminal 211 loses the external force given by the first charging terminal 141, the reset member 254 resets the second charging terminal 211 in order to restore its elastic deformation.

[0233] Furthermore, the position adjustment assembly 25 also includes a guide member 255. The energy storage unit 14 includes a guide groove 142 that cooperates with the guide member 255. During the docking process of the first charging terminal 141 and the second charging terminal 211, the guide member 255 is configured to move along the guiding direction of the guide groove and drive the second charging terminal 211 to move. When there is misalignment between the first charging terminal 141 and the second charging terminal 211, the guide member 255 guides along the guiding direction of the guide groove and drives the second charging terminal 211 to accurately dock with the first charging terminal 141. Specifically, the guide member 255 is configured as a guide rod, and the guide groove 142 is a V-shape with a gradually decreasing opening.

[0234] In some alternative embodiments, to reduce processing costs, the charging electrode 2111 in the above embodiments can be replaced with a charging tongue. The charging electrode 2111 requires machining, which is costly. In this alternative embodiment, the charging tongue is a stamped part, which is cheaper and provides better results in removing verdigris. The charging tongue electrode is a stamped part, then injection molded, so that the charging tongue electrode in three directions is exposed on the injection molded surface for charging connection.

[0235] Based on the above embodiments, this disclosure also provides a modified embodiment. In this embodiment, the second charging terminal includes at least three contacts, i.e., the contacts are disposed at the charging station and cooperate with the first charging terminal disposed at the automatic lawnmower. The remaining structure can be adapted and adjusted accordingly. For details, please refer to the above embodiments, which will not be repeated here.

[0236] When the automatic lawnmower 10 performs lawn mowing tasks in certain work areas, these areas often have special uses, such as commercial uses like golf courses and football fields, or recreational uses like home lawns. This means the automatic lawnmower 10 cannot perform mowing tasks 24 / 7 in these areas; it may only be able to perform maintenance at night. Furthermore, because these work areas are often large, the autonomous mobile robot often cannot complete its work in the current work area before its battery is depleted, requiring it to return to the charging station 20 to replenish its power. This takes time. Therefore, to ensure the completion of the mowing task for the entire work area within the specified time, these work areas require high efficiency and fast charging speeds from the autonomous mobile robot. Of course, a multi-robot collaborative mode can be selected to maintain the work area, but this mode not only increases maintenance costs but also requires multiple autonomous mobile robots to have higher computing power.

[0237] To address the above problems, this disclosure provides the following second embodiment:

[0238] Example 2

[0239] Please refer to Figures 1, 2A, 2B, and 3. This embodiment provides an autonomous working system 100, including an automatic lawnmower 10, configured to move and / or work in a work area.

[0240] The automatic lawnmower 10 includes a chassis 17, an energy storage unit 14, a working component 11, a working motor 101, a moving component 12, a moving motor 102, a first controller 13, and a first charging terminal 141. The charging station 20 includes a second controller 22 and a second charging terminal 211. The specific structure and connection relationships of the components of the automatic lawnmower 10 and charging station 20 in this embodiment can be found in the automatic lawnmower 10 and charging station 20 in Embodiment 1, and will not be repeated here.

[0241] In a further embodiment, the rated power of the working motor 101 is configured as P1 (watts), the rated power of the moving motor 102 is configured as P2 (watts), and the charging power of the charging station 20 is configured as Pcharge (watts); the first controller 13 is further configured to control the autonomous mobile robot to start returning to the charging station 20 to charge the energy storage unit 14 after the remaining power of the energy storage unit 14 meets the preset conditions; after the power of the energy storage unit 14 rises to greater than or equal to the preset working power, the autonomous mobile robot is controlled to return to the working area and start continuing to work; the autonomous mobile robot docks with the charging station 20 and starts charging until the power of the energy storage unit 14 rises to the preset working power and stops charging for a time t2; the autonomous mobile robot arrives at the preset position in the working area and starts working until it starts returning to the charging station 20 for a working time t1 (i.e., the time period from when the working component 11 starts working to when the working component 11 stops working is t1); wherein, the autonomous working system 100 satisfies at least one of the following formulas:

[0242] 1:1 ≤ P_charge / (P1 + P2) ≤ 10:1;

[0243] 1:1≤t1 / t2≤10:1.

[0244] It should be noted that the rated power P1 of the working motor 101 refers to the power at its maximum efficiency point, or the nominal power of the working motor 101. The rated power P2 of the mobile motor 102 refers to the power at its maximum efficiency point, or the nominal power of the mobile motor 102. The charging power Pcharge refers to the average charging power during the constant current charging phase of the charging station 20, or the average charging power during the entire charging phase.

[0245] It should also be noted that when the automatic lawnmower starts mowing for the first time, the aforementioned preset position is the position where the automatic lawnmower leaves the charging station to begin mowing. During subsequent mowing operations, the aforementioned preset position is the interruption position. The automatic lawnmower will stop working and return to the charging station once the remaining power of the energy storage unit at the interruption position meets preset conditions. The preset conditions will be described in detail below and will not be repeated here.

[0246] In the above embodiments, one implementation method for ensuring that the remaining power of the energy storage unit 14 meets the preset conditions is that the remaining power of the energy storage unit 14 is lower than or equal to the preset charging power. The preset charging power only needs to ensure that the remaining power of the energy storage unit 14 can support the automatic lawnmower 10 to return to the charging station 20. This embodiment does not impose any limitations. For example, the preset charging power can be 5% to 30% of the total power of the energy storage unit 14, such as 5%, 10%, 15%, 20%, 25%, 30%, etc.

[0247] In another embodiment, the remaining power of the energy storage unit 14 may meet the preset condition by being the minimum power required to support the automatic lawnmower 10 to move to and dock with the charging station 20. Specifically, the automatic lawnmower 10 can detect the distance between itself and the charging station 20. When the autonomous mobile robot calculates that the remaining power in the energy storage unit 14 has reached the minimum power required to support the automatic lawnmower 10 to move to and dock with the charging station 20 at that distance, it controls itself to start returning to the charging station 20. Furthermore, the remaining power of the energy storage unit 14 may also include a safety power, which is an additional amount of power reserved in the energy storage unit 14 beyond the minimum power required for the automatic lawnmower 10 to move to and dock with the charging station 20. The core function of the safety power is to cope with non-ideal factors during the return process, ensuring that the remaining power is sufficient to guarantee the return of the automatic lawnmower 10 to the charging station 20, and preventing the lawnmower from losing power midway and failing to complete docking due to unforeseen circumstances. In this embodiment, the safety power is set to 60Wh. In other embodiments, the safe power level can be set to 40Wh, 50Wh, 70Wh, 80Wh, 100Wh, etc.

[0248] For the two implementation methods described above, the automatic lawnmower 10 accurately detects the remaining power of the energy storage unit 14 using either of the following two methods:

[0249] Method 1: Determine the remaining power by detecting the voltage of the energy storage unit 14. There is a certain correlation between the terminal voltage of the energy storage unit 14 (e.g., a lithium battery pack) and its remaining power (State of Charge, SOC). This relationship is usually pre-calibrated experimentally and stored in the battery management system (BMS) or second controller 22 of the automatic lawnmower 10. During the operation of the automatic lawnmower 10, the voltage detection circuit monitors the terminal voltage of the energy storage unit 14 in real time. When the detected voltage value drops to the voltage threshold corresponding to the preset charging capacity, it can be determined that the remaining power has reached the preset condition. For example, if the preset charging capacity is 10% of the total power, the BMS will query its internally stored voltage-SOC curve to find the voltage value corresponding to 10% SOC (e.g., 3.5V / cell). When the detected average cell voltage reaches or falls below this value, a return-to-charge procedure is triggered. The advantage of this method is its simplicity and low cost, but the disadvantage is that the voltage is greatly affected by load current and temperature, and the accuracy is slightly lower than that of Method 2.

[0250] Method 2: Estimating remaining power by detecting and integrating the charging and discharging current throughout the entire process, i.e., the Coulomb Counting method. This method uses a high-precision current sensor (such as a Hall effect sensor or a shunt resistor) connected in series in the power supply circuit of the energy storage unit 14 to detect the charging and discharging current flowing through the energy storage unit 14 in real time. The controller of the automatic lawnmower 10 integrates the detected current signal, i.e., power = ∫ current dt (unit: Ah). When the energy storage unit 14 is fully charged, its initial power is set to the rated capacity. Then, by accumulating the power consumed during the discharge process (i.e., the integral value of current over time) and subtracting this consumption from the initial capacity, the real-time estimated value of the remaining power can be obtained. For example, if the rated capacity of the energy storage unit 14 is 10 Ah, and after working for a period of time, the current integration calculation shows that 8 Ah has been consumed, then the remaining power is approximately 2 Ah, i.e., 20% SOC. When the estimated charge level drops to a preset level (e.g., 10% SOC, corresponding to 1 Ah), the controller stops the automatic lawnmower 10 and returns it to the charging station 20. This method offers the advantage of high accuracy, especially under stable loads, but it requires a high-precision current sensor and a complex integration algorithm. Furthermore, the calibration of the initial capacity and long-term drift issues need to be considered.

[0251] In practical applications, the controller of the automatic lawnmower 10 can use any one of the above methods alone, or more preferably, combine both methods to detect and determine the remaining power, thus leveraging their respective strengths to obtain more accurate and reliable remaining power information and more precisely control the timing of the automatic lawnmower 10's return to charging. For example, a coulomb counter can be used as the primary means of power estimation, while a voltage detection method can be used for calibration and fault diagnosis. The return to charging command is only triggered when the remaining power detected by both methods reaches or falls below the preset charging level, further improving the system's reliability.

[0252] Once the energy storage unit 14 reaches the preset operating power level, the charging station 20 stops charging the automatic lawnmower 10. The preset operating power level can be set by the user or at the factory. For example, the automatic lawnmower 10's default preset operating power level at the factory is the maximum capacity of the energy storage unit 14 (100% of the total power). This embodiment does not impose such a limitation. The automatic lawnmower 10 starts working in the work area at the preset operating power level. When the energy storage unit 14's power level is lower than or equal to the preset charging power level, the automatic lawnmower 10 is configured to return to the charging station 20 to replenish its power.

[0253] When the energy storage unit 14 has a preset working charge, the automatic lawnmower 10 starts working in the working area (lawn) (at this time, the automatic lawnmower is located at a preset position in the working area) until the energy storage unit 14's charge drops to the remaining charge (at this time, the automatic lawnmower starts returning to the charging station), which is considered the working time t1 of the automatic lawnmower 10; when the energy storage unit 14's charge drops to the remaining charge, the automatic lawnmower 10 starts returning to the charging station 20, and the position where the automatic lawnmower 10 stops working is called the breakpoint position. From the breakpoint position, the automatic lawnmower 10 moves... The time from when the automatic lawnmower 10 starts charging at the charging station 20 until it returns to the breakpoint (excluding the time the automatic lawnmower 10 spends charging at the charging station 20) is considered the return time t3 of the automatic lawnmower 10; the time from when the automatic lawnmower 10 returns to the charging station 20 to start charging until its battery level rises to the preset working battery level is considered the charging time t2 of the automatic lawnmower 10. The sum of the working time t1, the charging time t2, and the return time t3 is considered the time for the automatic lawnmower 10 to complete one cycle. Within the specified working time of the automatic lawnmower 10 (such as the working time of some commercial lawns, which is usually around 12 hours, from 8:00 pm to 8:00 am, from 7:00 pm to 7:00 am, etc., while some home lawns are used as recreational areas by users during the day and are not suitable for the automatic lawnmower 10 to work, so the working time of the automatic lawnmower 10 is the nighttime period, from 8:00 pm to 8:00 am, from 7:00 pm to 7:00 am, etc.), the automatic lawnmower 10 can complete one or more cycles.

[0254] The allocation of working time t1, charging time t2, and return time t3 within the specified working time of the automatic lawnmower 10 directly affects its working efficiency. The return time t3, relative to the working time t1 and charging time t2, constitutes a relatively small proportion of the working time and can be ignored in this embodiment. Other embodiments will detail the impact of the return time t3 setting on the efficiency of the automatic lawnmower 10. The longer the working time t1 occupies in one cycle of the automatic lawnmower 10, the shorter the charging time t2 occupies in one cycle. This means that in a complete work cycle, the automatic lawnmower 10 has more time for actual mowing and less time spent waiting to charge, which is crucial for effectively improving lawn coverage and overall work efficiency per unit time. The working time should be at least as long as the charging time to avoid the inefficient scenario of "one hour of charging for half an hour of working," ensuring that the time invested in charging yields equivalent work output. The working time should not exceed 10 times the charging time to avoid over-discharging of the energy storage unit 14 (such as deep discharge leading to battery capacity degradation), while ensuring a reasonable charging frequency to extend battery life. For example, when t2 = 30 minutes, t1 ≤ 300 minutes (5 hours) to meet the needs of large-area lawn operations while avoiding excessive battery wear.

[0255] Understandably, the total power of the motors (including the rated power of the mobile motor 102 + the rated power of the working motor 101) directly affects the working time t1. With a fixed energy storage unit 14, a higher total motor power results in a shorter working time t1, and a lower total motor power results in a longer working time t1. This can be expressed by the formula t1 = E / (P1 + P2) (where E is the total energy of the energy storage unit 14; this formula ignores the energy required by other power-consuming components in the automatic lawnmower 10). The charging power directly affects the charging time t2. With a fixed energy storage unit 14, a higher charging power results in a shorter charging time t2, and a lower charging power results in a longer charging time t2. This can be expressed by the formula t2 = E / P_charging. Reducing the charging time of the automatic lawnmower 10 can effectively improve its working efficiency. In summary, the ratio of charging power to total motor power affects the working time t1 and charging time t2, and the magnitudes of working time t1 and charging time t2 affect the working efficiency of the automatic lawnmower 10.

[0256] In this embodiment, the charging power is at least as high as the total power of the motor to ensure that the charging speed matches the energy consumption rate of the motor operation; the charging power does not exceed 10 times the total power of the motor to avoid excessive charging power from impacting the energy storage unit 14 (such as overcurrent charging of lithium batteries leading to bulging and lifespan degradation), while reducing the power supply load requirements of the charging station 20.

[0257] In the above embodiments, the ratio of charging power to motor power, and the ratio of working time to charging time, directly determine the overall energy efficiency and user experience of the autonomous working system 100. By clearly defining the range of the ratio of rated power of the working motor 101 and the mobile motor 102 to the charging power, and the range of the ratio of working time t1 to charging time t2, the working time of the automatic lawnmower 10 in the working area is effectively increased, while the charging time is effectively reduced. This ensures that the working efficiency of the automatic lawnmower 10 meets the requirements (such as the total area mowed within a certain time exceeds the predetermined area), while avoiding the waste of electrical energy and damage to the energy storage unit 14. In a working scenario of the automatic lawnmower 10, such as the automatic lawnmower 10 mowing grass on a golf course, a golf course typically has 18 fairways (one hole per fairway), including par-3 holes (hole-in-3), par-4 holes, and par-5 holes, corresponding to different areas. The problem we aim to solve is mowing a maximum area of ​​fairway—typically at least the area of ​​a par-5 hole (usually larger than 17,000 square meters)—within the working hours of a golf course (e.g., 12 hours at night). Existing technology addresses this by having multiple lawnmower robots work collaboratively. However, the solution in this embodiment allows a single lawnmower robot to mow the area of ​​a par-5 hole within the working hours of a golf course, effectively reducing the cost of maintaining golf course lawns.

[0258] As an example, Pcharge / (P1+P2) = 1:1; t1 / t2 = 1:1.

[0259] As an example, Pcharge / (P1+P2) = 7:1; t1 / t2 = 7:1.

[0260] As an example, Pcharge / (P1+P2) = 8:1; t1 / t2 = 8:1.

[0261] As an example, Pcharge / (P1+P2) = 9:1; t1 / t2 = 9:1.

[0262] As an example, Pcharge / (P1+P2) = 10:1; t1 / t2 = 10:1.

[0263] Furthermore, in some embodiments, the autonomous working system 100 satisfies at least one of the following formulas:

[0264] 2:1 ≤ P_charge / (P1 + P2) ≤ 5:1;

[0265] 2:1≤t1 / t2≤5:1.

[0266] Furthermore, in some embodiments, the autonomous operating system 100 satisfies at least one of the following formulas:

[0267] 2:1 ≤ P_charge / (P1 + P2) ≤ 3:1;

[0268] 2:1≤t1 / t2≤3:1.

[0269] To better adapt to large-area commercial lawns (typically 17,000 square meters or more, with fixed operating hours, such as 8:00 PM to 8:00 AM, 7:00 PM to 7:00 AM, etc.), the ratio of charging power to motor power, and the ratio of working time to charging time, need to be more rationally configured.

[0270] Commercial lawns typically operate for about 12 hours a day (e.g., 8:00 PM to 8:00 AM, 7:00 PM to 7:00 AM, etc.). The ratio of working time to charging time is 2:1 to 5:1, ensuring that the working time is much longer than the charging time, and avoiding charging taking up too much of the automatic lawnmower's operating time. For example, when t2 = 30 minutes, t1 = 60 to 150 minutes. A single charge can support 1 to 2.5 hours of operation, requiring only 4 to 12 charges within 12 hours, with a total charging time of only 2 to 6 hours. The remaining 6 to 8 hours can be used for continuous operation, significantly increasing the area that can be covered per unit time. The ratio of charging power to motor power is between 2:1 and 5:1, which balances fast charging efficiency with the load-bearing capacity of the energy storage unit 14. This avoids prolonged work interruptions due to slow charging, ensures that the cyclical work of large lawns is completed within a fixed time period, avoids backlog of work tasks due to insufficient charging efficiency, and also avoids polarization of the energy storage unit 14 (battery pack) due to excessively high charging power, as well as reducing heat loss and extending the cycle life of the energy storage unit 14.

[0271] As an example, Pcharge / (P1+P2) = 2:1; t1 / t2 = 2:1.

[0272] As an example, Pcharge / (P1+P2) = 3:1; t1 / t2 = 3:1.

[0273] As an example, Pcharge / (P1+P2) = 4:1; t1 / t2 = 4:1.

[0274] As an example, Pcharge / (P1+P2) = 5:1; t1 / t2 = 5:1.

[0275] Of course, a longer working time t1 does not necessarily mean higher efficiency for the automatic lawnmower 10. The efficiency of the automatic lawnmower 10 is also related to its working capacity. A balance needs to be struck between the working time and the working capacity to maximize efficiency. The rated power P2 of the moving motor 102 and the rated power P1 of the working motor 101 both affect the working capacity of the automatic lawnmower 10. The rated power P2 of the moving motor 102 affects the speed at which the automatic lawnmower 10 can move, while the rated power P1 of the working motor 101 affects its mowing capacity. The moving speed V1 of the automatic lawnmower 10 during mowing must be matched with the corresponding mowing capacity to avoid redundancy or insufficiency in mowing capacity.

[0276] On the other hand, increasing the mowing area of ​​the automatic lawnmower 10 per unit time can also effectively improve its working efficiency. The working width of the working component 11 is configured as d. The working component cuts to form a coverage area during operation, and the maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d. The first controller 13 controls the moving motor 102, causing the autonomous mobile robot to move at a speed of V1 within the working area. It can be understood that d*V1 represents the mowing area of ​​the automatic lawnmower 10 per unit time, reflecting its working efficiency. Increasing the value of d*V1 increases the mowing area per unit time. However, if d*V1 is too high, it will increase the power consumption of the moving motor 102 and the working motor 101, resulting in a shorter working time t1. Therefore, reasonably increasing the value of d*V1 is necessary to effectively improve the working efficiency of the automatic lawnmower 10. It should be noted that the left-right direction of the automatic lawnmower is perpendicular to its traveling direction and approximately parallel to the chassis 17.

[0277] As an extension of any of the above embodiments, in some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥150W. As an example, P1+P2≥150W and P1+P2≤3300W.

[0278] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥200W. As an example, P1+P2≥200W and P1+P2≤3300W.

[0279] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥300W. As an example, P1+P2≥300W and P1+P2≤3300W.

[0280] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥350W. As an example, P1+P2≥350W and P1+P2≤3300W.

[0281] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥600W. As an example, P1+P2≥600W and P1+P2≤3300W.

[0282] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥900W. As an example, P1+P2≥900W and P1+P2≤3300W.

[0283] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥1200W. As an example, P1+P2≥1200W and P1+P2≤3300W.

[0284] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≤3300W.

[0285] As an extension of any of the above embodiments, in some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 100W. As an example, P1 is greater than or equal to 100W and less than or equal to 2000W.

[0286] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 400W. As an example, P1 is greater than or equal to 400W and less than or equal to 2000W.

[0287] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 600W. As an example, P1 is greater than or equal to 600W and less than or equal to 2000W.

[0288] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 800W. As an example, P1 is greater than or equal to 800W and less than or equal to 2000W.

[0289] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 1200W. As an example, P1 is greater than or equal to 1200W and less than or equal to 2000W.

[0290] In some embodiments, the rated power P1 of the working motor 101 is less than or equal to 2000W.

[0291] As an extension of any of the above embodiments, in some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 100W. As an example, P2 is greater than or equal to 100W and less than or equal to 1100W.

[0292] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 150W. As an example, P2 is greater than or equal to 150W and less than or equal to 1100W.

[0293] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 200W. As an example, P2 is greater than or equal to 200W and less than or equal to 1100W.

[0294] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 300W. As an example, P2 is greater than or equal to 300W and less than or equal to 1100W.

[0295] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 400W. As an example, P2 is greater than or equal to 400W and less than or equal to 1100W.

[0296] In some embodiments, the rated power P2 of the mobile motor 102 is less than or equal to 1100W.

[0297] In the above embodiment, the sum of the rated power P1 (100W≤P1≤2000W) of the working motor 101 and the rated power P2 (100W≤P2≤1100W) of the moving motor 102 is limited to 150W≤P1+P2≤3300W, and the power configuration is strongly related to the actual operation requirements: P1 needs to be matched with the moving speed and cutting speed: when the moving speed V1 is low (1 to 2m / s), the cutting speed requirement is 3000 to 4000r / min, and P1 is adapted to 100 to 800W, which satisfies the power of grass stem cutting and avoids power redundancy; when V1 increases to 3 to 5m / s, the cutting speed needs to be increased to 4000 to 5500r / min, and P1 needs to be increased to 800 to 2000W to ensure that the grass stems are fully cut under high-speed movement and avoid the situation of "not being able to cut grass". Matching P2 with walking speed and climbing ability: If only low-speed walking (V1 = 1-2 m / s) is required for leveling the lawn, P2 is suitable for 100 to 400W to meet basic mobility needs; if high-speed walking (V1 = 3 to 5 m / s) or climbing ability of less than 15° is required, P2 needs to be increased to 400 to 1100W to avoid insufficient power to "drive the lawnmower uphill"; the lower limit of 150W for P1+P2 ensures that the equipment has at least basic operation and mobility capabilities, and the upper limit of 3300W avoids excessive power redundancy (such as a high-power motor that exceeds actual needs will not only increase costs, but also increase energy consumption).

[0298] As an extension of any of the above embodiments, in some embodiments, the charging power Pcharge is greater than or equal to 400W. As one example, Pcharge is greater than or equal to 400W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 400W and less than or equal to 3000W. As another example, Pcharge is greater than or equal to 400W and less than or equal to 2500W. As yet another example, Pcharge is greater than or equal to 400W and less than or equal to 1800W. Considering that the US power grid limits charging power to below 3300W, the standard voltage of US mains electricity is 110V, and the fusing current of most sockets is 15A, most sockets can only withstand a power of no more than 1800W. Therefore, in this example, Pcharge is less than or equal to 1800W.

[0299] In some embodiments, the charging power Pcharge is greater than or equal to 500W. As an example, Pcharge is greater than or equal to 500W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 500W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 500W and less than or equal to 2500W.

[0300] In some embodiments, the charging power Pcharge is greater than or equal to 600W. As an example, Pcharge is greater than or equal to 600W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 600W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 600W and less than or equal to 2500W.

[0301] In some embodiments, the charging power Pcharge is greater than or equal to 700W. As an example, Pcharge is greater than or equal to 700W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 700W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 700W and less than or equal to 2500W.

[0302] In some embodiments, the charging power Pcharge is greater than or equal to 800W. As an example, Pcharge is greater than or equal to 800W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 800W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 800W and less than or equal to 2500W.

[0303] In some embodiments, the charging power Pcharge is greater than or equal to 1000W. As an example, Pcharge is greater than or equal to 1000W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 1000W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 1000W and less than or equal to 2500W.

[0304] In some embodiments, the charging power Pcharge is greater than or equal to 1100W. As an example, Pcharge is greater than or equal to 1100W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 1100W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 1100W and less than or equal to 2500W.

[0305] In some embodiments, the charging power Pcharge is greater than or equal to 1200W. As an example, Pcharge is greater than or equal to 1200W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 1200W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 1200W and less than or equal to 2500W.

[0306] In some embodiments, the charging power Pcharge is less than or equal to 3300W. As an example, the charging power Pcharge is less than or equal to 3000W. As another example, the charging power Pcharge is less than or equal to 2500W.

[0307] In the above embodiments, by increasing the charging power Pcharge (charging power Pcharge is greater than or equal to 400W and less than or equal to 3300W), the charging time is greatly reduced, to at least less than the working time, and further reduced to one-tenth of the working time. This achieves the goal of the automatic lawnmower 10 having a long working time and a short charging time in one cycle. Combined with the above embodiments of increasing P1+P2, and / or the embodiments of increasing d*V1, and / or the embodiments of increasing d, and / or the embodiments of increasing V1, the cutting ability of the automatic lawnmower 10 is improved, thereby achieving the goal of improving the cutting efficiency of the automatic lawnmower 10.

[0308] As an extension of any of the above embodiments, in some embodiments, the working width of the working component 11 is configured as d. The working component cuts to form a coverage area during operation, and the maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d. The first controller 13 controls the moving motor 102 so that the autonomous mobile robot moves at a speed of V1 when working in the work area. The working width d and the moving speed V1 satisfy: d*V1 ≥ 0.2 square meters / second. It can be understood that d*V1 represents the area of ​​grass mowing by the automatic lawnmower 10 per unit time, reflecting the working efficiency of the automatic lawnmower 10.

[0309] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.2 square meters / second.

[0310] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.4 square meters / second.

[0311] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.5 square meters / second.

[0312] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.7 square meters / second.

[0313] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥1 square meter / second.

[0314] As an extension of any of the above embodiments, in some embodiments, the first controller 13 is configured to control the mobile motor 102, such that the autonomous mobile robot moves at a speed of V1 when working in the work area; wherein the moving speed V1 is greater than 1 m / s. As an example, the moving speed V1 is greater than or equal to 1 m / s and less than or equal to 5 m / s. As an example, the moving speed V1 is greater than or equal to 1 m / s and less than or equal to 3 m / s. As an example, the moving speed V1 is greater than or equal to 1 m / s and less than or equal to 2.5 m / s.

[0315] In some embodiments, the movement speed V1 is greater than or equal to 1.2 m / s. As an example, the movement speed V1 is greater than or equal to 1.2 m / s and less than or equal to 5 m / s. As an example, the movement speed V1 is greater than or equal to 1.2 m / s and less than or equal to 3 m / s. As an example, the movement speed V1 is greater than or equal to 1.2 m / s and less than or equal to 2.5 m / s.

[0316] In some embodiments, the movement speed V1 is greater than or equal to 1.5 m / s. As an example, the movement speed V1 is greater than or equal to 1.5 m / s and less than or equal to 5 m / s. As an example, the movement speed V1 is greater than or equal to 1.5 m / s and less than or equal to 3 m / s. As an example, the movement speed V1 is greater than or equal to 1.5 m / s and less than or equal to 2.5 m / s.

[0317] In some embodiments, the movement speed V1 is greater than or equal to 2 m / s. As an example, the movement speed V1 is greater than or equal to 2 m / s and less than or equal to 5 m / s. As an example, the movement speed V1 is greater than or equal to 2 m / s and less than or equal to 3 m / s. As an example, the movement speed V1 is greater than or equal to 2 m / s and less than or equal to 2.5 m / s.

[0318] In some embodiments, the movement speed V1 is less than or equal to 5 m / s. As an example, the movement speed V1 is less than or equal to 3 m / s. As another example, the movement speed V1 is less than or equal to 2.5 m / s.

[0319] In the above embodiment, the first controller 13 of the automatic lawnmower 10 precisely controls the output power of the moving motor 102 to limit the moving speed V1 within the working area to a range greater than or equal to 1 m / s (i.e., 3600 m / h) and less than or equal to 5 m / s (i.e., 18000 m / h). Simultaneously, it combines a vision sensor (such as a monocular / dual-lens camera) to achieve obstacle avoidance. The obstacle avoidance capability of the vision sensor is limited by the image acquisition frame rate and recognition delay. If V1 exceeds 5 m / s, the lawnmower will move more than 1 meter within a 0.2-second delay, potentially leading to untimely obstacle avoidance. A V1 greater than or equal to 1 m / s avoids excessively low operating efficiency. In this embodiment, the range of 1 to 5 m / s ensures both reliable obstacle avoidance by the vision sensor and the operating efficiency of the automatic lawnmower 10.

[0320] If users require higher operational efficiency (such as for larger commercial lawns), a lidar sensor can be added to this embodiment: the lidar has an obstacle avoidance response delay of only 0.05 seconds and a detection distance of up to 5 meters, at which point V1 can be safely increased to 6 to 8 m / s; and the speed range of this embodiment serves as a "basic configuration", which not only meets user needs but also reserves hardware upgrade space for high-end scenarios, thereby improving the market compatibility of the product.

[0321] In a further embodiment, the cutting quality (stubble smoothness) of the automatic lawnmower 10 is strongly correlated with the "moving speed V1" and the "cutting speed n of the blade driven by the working motor 101": when V1 increases, the time it takes for the grass stems to pass through the cutting area is shortened, and the cutting speed n needs to be increased simultaneously to ensure that the grass stems are completely cut; however, excessively high n will increase safety risks (such as being hit by flying stones or being struck by sticks). Therefore, the matching rule between V1 and n in this embodiment is:

[0322] V1 = 1.5 to 3 m / s (medium and low speed): cutting speed n = 3000 to 4000 r / min. At this speed, the grass stem passes through at a moderate speed. The low speed can prevent the stones from being thrown away at high speed, while meeting the impact energy limit of the safety regulation "stick impact test" (impact energy ≤ 5J).

[0323] V1 = 3 to 4 m / s (medium to high speed): cutting speed n = 4000 to 5000 r / min, synchronously increasing the speed to ensure cutting quality, while limiting the distance of the stone flying out to ≤1m by "blade guard curvature optimization" (guard opening angle ≤30°);

[0324] V1 = 4 to 5 m / s (high speed): cutting speed n = 5000 to 5500 r / min (not exceeding the safety threshold of 5500 r / min), and at the same time, a "stone detection sensor" (reusing a vision sensor to identify hard objects) is added. When a stone is detected, n is temporarily reduced to 3000 r / min to avoid dangerous ejection.

[0325] As an extension of any of the above embodiments, in some embodiments, the working width of the working component 11 is configured as d. The working component cuts to form a coverage area during operation, and the maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d, wherein the working width d is greater than or equal to 8 inches. As an example, the working width d is greater than or equal to 8 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 8 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 8 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 8 inches and less than or equal to 30 inches.

[0326] In some embodiments, the working width d is greater than or equal to 9 inches. As an example, the working width d is greater than or equal to 9 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 9 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 9 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 9 inches and less than or equal to 30 inches.

[0327] In some embodiments, the working width d is greater than or equal to 14 inches. As an example, the working width d is greater than or equal to 14 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 14 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 14 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 14 inches and less than or equal to 30 inches.

[0328] In some embodiments, the working width d is greater than or equal to 20 inches. As an example, the working width d is greater than or equal to 20 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 20 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 20 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 20 inches and less than or equal to 30 inches.

[0329] In some embodiments, the working width d is greater than or equal to 23 inches. As an example, the working width d is greater than or equal to 23 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 23 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 23 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 23 inches and less than or equal to 30 inches.

[0330] In some embodiments, the working width d is greater than or equal to 24 inches. As an example, the working width d is greater than or equal to 24 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 24 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 24 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 24 inches and less than or equal to 30 inches.

[0331] In some embodiments, the working width d is less than or equal to 80 inches. As an example, the working width d is less than or equal to 60 inches. As another example, the working width d is less than or equal to 40 inches. As yet another example, the working width d is less than or equal to 30 inches.

[0332] In the above embodiments, the value of the working width d is positively correlated with the cost of the automatic lawnmower 10: the larger the working width d, the higher the design and manufacturing cost of the working component 11. A larger working width d requires the working component 11 to use longer, high-strength alloy blades, a thicker drive shaft, and a higher-power working motor 101, leading to an increase in the overall cost of the working component 11. Simultaneously, the increased difficulty in transporting, installing, and maintaining the larger working component 11 further indirectly increases the overall cost of the product. Therefore, it is necessary to reasonably control the working width d to control the cost of the automatic lawnmower 10.

[0333] To ensure that the working efficiency of the automatic lawnmower 10 meets the precise needs of users, such as ensuring that the actual mowing area of ​​the automatic lawnmower 10 is not less than 17,000 square meters within a 12-hour working time, this disclosure also provides the following embodiment three:

[0334] Example 3

[0335] Please refer to Figures 1, 2A, 2B, and 3. This embodiment provides an autonomous working system 100, including an automatic lawnmower 10, configured to move and / or work in a work area.

[0336] The automatic lawnmower 10 includes a chassis 17, an energy storage unit 14, a working component 11, a working motor 101, a moving component 12, a moving motor 102, a first controller 13, and a first charging terminal 141. The charging station 20 includes a second controller 22 and a second charging terminal 211. The specific structure and connection relationships of the components of the automatic lawnmower 10 and charging station 20 in this embodiment can be found in the automatic lawnmower 10 and charging station 20 in Embodiment 1, and will not be repeated here.

[0337] In this embodiment, the rated power of the working motor 101 is configured as P1 (watts), the rated power of the moving motor 102 is configured as P2 (watts), and the charging power of the charging station 20 is configured as Pcharge (watts); the total energy stored in the energy storage unit 14 is configured as E (watt-hours); the working width of the working component 11 is configured as d (meters), and the working component cuts to form a coverage area during operation. The maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d.

[0338] The first controller 13 is configured to control the moving motor 102, such that the moving speed of the automatic lawnmower 10 when working in the working area is V1 (m / h), the moving speed of the automatic lawnmower 10 when traveling back and forth between the charging station 20 and the interruption position is V2 (m / h), the distance traveled by the automatic lawnmower 10 between the charging station 20 and the interruption position is L (m), and the interruption position is when the remaining power of the energy storage unit 14 meets the preset conditions, and the automatic lawnmower 10 stops working and returns to the position of the charging station 20.

[0339] The first controller 13 is also configured to control the automatic lawnmower 10 to start returning to the charging station 20 to charge the energy storage unit 14 when the remaining power of the energy storage unit 14 meets the preset conditions; and to control the automatic lawnmower 10 to return to the working area and start working again when the power of the energy storage unit 14 rises to a level greater than or equal to the preset working power.

[0340] Wherein, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0341] (V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥17000 / 12,

[0342] η is a constant greater than zero and less than or equal to 1, representing the effective coverage of the area covered when the automatic lawnmower 10 is working in the work area.

[0343] In this embodiment, by clarifying the synergistic relationship of each parameter, the overall efficiency imbalance caused by optimizing a single parameter is avoided (such as pursuing only the working speed but having to return to the starting position frequently due to excessive energy consumption, or increasing the battery capacity but having to occupy working time due to slow charging). This ensures that the actual mowing area of ​​the automatic lawnmower 10 is not less than 17,000 square meters within 12 hours of operation, thus meeting the needs of commercial-scale lawn maintenance.

[0344] Understandably, the working efficiency of the automatic lawnmower 10 is affected by the ratio of the working time t1, the charging time t2, and the return time t3. If the working time t1 is too short, while the charging time t2 and the return time t3 are too long, the automatic lawnmower 10 will not be able to complete a certain mowing area (e.g., no less than 17,000 square meters) within the specified time (e.g., 12 hours). The total energy E of the energy storage unit 14, the rated power P1 of the working motor 101, and the rated power of the moving motor 102 directly affect the working time t1. The larger the total energy E of the energy storage unit 14, the smaller the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102, and the longer the working time t1. Conversely, the smaller the total energy E of the energy storage unit 14, the larger the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102, and the shorter the working time t1. This can be expressed by the formula t1 = E / (P1 + P2). It should be noted that this formula ignores the power of other low-power components in the automatic lawnmower 10. The total energy E of the energy storage unit 14 and the charging power P of the charging station 20 directly affect the charging time t2. The larger the total energy E of the energy storage unit 14 and the smaller the charging power P, the longer the charging time t2 will be, and vice versa. The smaller the total energy E of the energy storage unit 14 and the larger the charging power P, the shorter the charging time t2 will be. This can be expressed by the formula t2 = E / P. The distance L that the automatic lawnmower 10 travels between the charging station 20 and the interruption position, and its speed V2, directly affect the return time t3. A larger distance L and a smaller speed V2 result in a longer return time t3; conversely, a smaller distance L and a larger speed V2 result in a shorter return time t3. This can be expressed as t3 = L / V2. Therefore, by clarifying the synergistic relationship between the parameters (E, P_charge, V2, P1, P2, L), the working time t1, charging time t2, and return time t3 can be adjusted. As mentioned above, the sum of the working time t1, charging time t2, and return time t3 is considered as the time for one cycle of the automatic lawnmower 10. Theoretically, the area that the automatic lawnmower 10 can mow in one cycle is S = V1 * t1 * d * η. The moving speed of the automatic lawnmower 10 in the working area is the product of V1, working time t1, working width d, and effective coverage η, which can be expressed by the formula S = V1 * t1 * d * η. Therefore, the mowing area S of the automatic lawnmower 10 in one cycle can be controlled by adjusting the coordination relationship between V1, d, η, and t1.In summary, by rationally configuring V1, d, E, η, P, V2, P1, P2, and L, the working efficiency of the automatic lawnmower 10 can be controlled (the working efficiency of the automatic lawnmower 10 is represented by the formula S / (t1+t2+t3)), so that the efficiency of the automatic lawnmower 10 meets the requirement that the mowing area is not less than 17,000 square meters within a 12-hour working time.

[0345] When setting the above parameters, it is important to note that the total energy E of the energy storage unit 14 needs to be adapted to the requirements of high-frequency charging and high energy consumption. It must ensure that a single charge can support long-term operation, so that the working time t1 meets the user's needs (e.g., the working area completed within a total working time of 12 hours is not less than 17,000 square meters), reducing the frequency of recharging, but not so much that it increases the charging time t2. The working width d, i.e., the diameter of the coverage area formed by the rotation of the working component 11 (cutting blade), needs to be increased to improve the working area per unit time, but it cannot be too large, causing excessive power consumption of the working motor 101 and reducing the working time t1. The working movement speed V1 needs to balance the mowing effect and efficiency, avoiding excessive speed leading to poor grass cutting effect, and avoiding excessively slow speed resulting in too small a cutting area per unit time for the automatic lawnmower 10, thus affecting cutting efficiency. The homing speed V2 allows the lawnmower to travel between the charging station 20 and the interrupted position without cutting, at a speed higher than the operating speed to shorten homing time. However, the speed cannot be too high to avoid accidental collisions with obstacles that could damage the machine, or to prevent collisions with people or animals that could cause injury. The round-trip distance L is based on the zoning plan of the commercial lawn and the layout of the charging station 20 to avoid excessive homing time. The effective coverage rate η represents the actual effective operating ratio after considering factors such as overlapping lawn cutting and missed corners. Precise navigation optimization improves the effective coverage rate, ensuring no areas are missed. The rated power P2 of the moving motor 102 and the rated power P1 of the working motor 101 both affect the working capacity of the automatic lawnmower 10. The power of the moving motor 102 affects the speed at which the automatic lawnmower 10 can move, while the power of the working motor 101 affects the mowing capacity of the automatic lawnmower 10. The moving speed of the automatic lawnmower 10 must match the corresponding mowing capacity to avoid redundant mowing capacity that would waste energy in the energy storage unit 14, or insufficient mowing capacity that would affect the mowing effect. The charging power P_charge directly affects the charging time t2. With a fixed total energy E in the energy storage unit 14, a larger charging power P_charge results in a shorter charging time t2, and a smaller charging power P_charge results in a longer charging time t2. Shortening the charging time t2 of the automatic lawnmower 10 can effectively improve its working efficiency.

[0346] In a further embodiment, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0347] (V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥18000 / 12.

[0348] In a further embodiment, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0349] 17000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤100000 / 12.

[0350] In a further embodiment, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0351] 18000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤30000 / 12.

[0352] In a further embodiment, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0353] 19000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤30000 / 12.

[0354] In the further embodiments described above, by reasonably configuring V1, d, E, η, P, V2, P1, P2, and L, the automatic lawnmower 10 can cover a larger area during a 12-hour work period, further improving its working efficiency to meet higher user demands.

[0355] This disclosure also provides an alternative embodiment in which the first controller 13 is configured to control the automatic lawnmower 10 to start returning to the charging station 20 to charge the energy storage unit 14 when the remaining power of the energy storage unit 14 meets the preset conditions; and to control the automatic lawnmower 10 to return to the working area and start working again when the power of the energy storage unit 14 rises to a level greater than or equal to the preset working power.

[0356] The configuration of the power of the energy storage unit 14, the rated power of the working motor 101, and the rated power of the moving motor 102 makes the working time of the automatic lawnmower 10 t1. The working time t1 is the time from when the automatic lawnmower 10 reaches the preset position in the working area and starts working until it starts returning to the charging station 20.

[0357] The configuration of the power of the energy storage unit 14 and the charging power of the charging station 20 makes the charging time of the automatic lawnmower 10 t2, which is the time from when the automatic lawnmower 10 connects to the charging station 20 and starts charging until the power of the energy storage unit 14 rises to the preset working power.

[0358] The rated power configuration of the mobile motor 102 makes the return time of the automatic lawnmower 10 t3. The return time includes the time for the automatic lawnmower 10 to travel back and forth to the charging station 20 and the interruption position. The interruption position is when the remaining power of the energy storage unit 14 meets the preset conditions, and the automatic lawnmower 10 stops working and returns to the position of the charging station 20.

[0359] The working area completed by the automatic lawnmower 10 in the working time t1 is S. The working area S = V1*t1*d*η, where V1 is the moving speed of the automatic lawnmower 10 when working in the working area, d is the diameter of the covered area, and η is a constant greater than 0 and less than or equal to 1, which represents the effective coverage rate of the covered area when the automatic lawnmower 10 is working in the working area.

[0360] Among them, the working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: S / (t1+t2+t3)≥17000 / 12.

[0361] In this embodiment, by clarifying the synergistic relationship of each parameter (E, P, V2, P1, P2, L), the lengths of working time t1, charging time t2, and return time t3 are adjusted, thereby adjusting the ratio of t1, t2, and t3 within the working time period of the automatic lawnmower 10 (e.g., from 8:00 PM to 8:00 AM the next day). By adjusting the synergistic relationship of V1, d, η, and t1, the mowing area S of the automatic lawnmower 10 in one cycle is controlled. Furthermore, by controlling the magnitudes of S, t1, t2, and t3, the working efficiency of the automatic lawnmower 10 is controlled, ensuring that the mowing area of ​​the automatic lawnmower 10 within a 12-hour working time is not less than 17,000 square meters, thus meeting the needs of commercial-scale lawn maintenance.

[0362] In a further embodiment, the working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: S / (t1+t2+t3)≥18000 / 12.

[0363] In a further embodiment, the working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: 17000 / 12≤S / (t1+t2+t3)≤100000 / 12.

[0364] In a further embodiment, the working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: 18000 / 12≤S / (t1+t2+t3)≤30000 / 12.

[0365] In a further embodiment, the working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: 19000 / 12≤S / (t1+t2+t3)≤30000 / 12.

[0366] In the further embodiments described above, by reasonably configuring V1, d, E, η, P, V2, P1, P2, and L, the automatic lawnmower 10 can cover a larger area during a 12-hour work period, further improving its working efficiency to meet higher user demands.

[0367] As an example, E = 2000Wh, d = 25 inches = 0.635m, V1 = 2m / s = 7200m / h, V2 = 2m / s = 7200m / h, L = 1080m (the one-way distance between charging station 20 and the breakpoint is 540m), η = 0.8, P1 = 500W, P2 = 400W, Pcharge = 1800W. The total working time is 12 hours.

[0368] Working time t1 = E / (P1+P2) = 2000 / 900 ≈ 2.222h;

[0369] Theoretically, the area that the automatic lawnmower 10 can mow in one cycle is S = V1*t1*d*η = 7200*0.635*2.222*0.8 ≈ 8127 square meters.

[0370] Charging time t2 = E / P charging = 2000 / 1800 ≈ 1.111h;

[0371] The repositioning time t3 = L / V2 = 1080 / 7200 = 0.15h;

[0372] Total time for a single cycle: tcycle = t1 + t2 + t3 = 2.222 + 1.111 + 0.15 ≈ 3.483h.

[0373] Number of cycles: 12 / 3.483≈3.445 times (taking 3 complete cycles, the remaining time is 12-3×3.483=1.551h, and the remaining working time is 1.551-1.111=0.44h);

[0374] Remaining work area: 7200 * 0.635 * 0.44 * 0.8 ≈ 1609 square meters;

[0375] The total area of ​​mowed lawn is approximately: 3*8127+1609=25590 square meters.

[0376] Understandably, to improve the mowing efficiency of the automatic lawnmower 10, the energy storage unit 14 is usually fully charged before the working period. For example, if the working period is from 8:00 PM to 8:00 AM, the energy storage unit 14 is fully charged before 8:00 PM, and the automatic lawnmower 10 can start operating at 8:00 PM. In this case:

[0377] The automatic lawnmower 10 can theoretically mow an area S of grass within one cycle, which remains unchanged and is still about 8127 square meters.

[0378] Charging time t2 = E / P charging = 2000 / 1800 ≈ 1.111h;

[0379] The repositioning time t3 = L / V2 = 1080 / 7200 = 0.15h;

[0380] The first cycle time (t1 + t3, no charging time t2) = 2.222 + 0.15 = 2.372h;

[0381] Subsequent cycle time (including charging): still approximately 3.483 hours;

[0382] Number of cycles: 1 cycle without charging + 2 cycles with charging, remaining time is 12 - (2.372 + 2 × 3.483) = 2.662h, remaining working time is 2.662 - 1.111 = 1.551h;

[0383] Remaining work area: 7200 * 0.635 * 1.551 * 0.8 ≈ 5673 square meters;

[0384] The total area of ​​mowed lawn is approximately: 3*8127+5673=30054 square meters.

[0385] It is understandable that the above theoretical calculations do not consider other power-consuming components of the automatic lawnmower 10. If other power-consuming components are considered, for example, if the total power P of these components is 100W, the working time t1 will be shortened to 2 hours. These other power-consuming components include: control components (first main controller, BMS) and navigation components (GPS / communication module), which are the continuously power-consuming "basic loads," with a total power of approximately 15 to 30W; sensing and actuation components (cooling fan, brakes) are "dynamic loads," starting and stopping according to working conditions, with a total power of approximately 20 to 50W after aggregation; in extreme scenarios (such as nighttime operation with lighting on, continuous operation of the lidar, and full load of the cooling fan), the total power of all components can reach 50 to 100W. When the working period is from 8:00 PM to 8:00 AM, and the energy storage unit 14 is fully charged before 8:00 PM, the automatic lawnmower 10 will start working at 8:00 PM. In this case:

[0386] Theoretically, the area that the automatic lawnmower 10 can mow in one cycle is S = V1*t1*d*η = 7200*0.635*2*0.8 ≈ 7315 square meters.

[0387] Charging time t2 = E / P charging = 2000 / 1800 ≈ 1.111h;

[0388] The repositioning time t3 = L / V2 = 1080 / 7200 = 0.15h;

[0389] The first cycle time (t1 + t3, no charging time t2) = 2 + 0.15 = 2.15h;

[0390] Subsequent cycle time (including charging): approximately 3.261 hours;

[0391] Number of cycles: 1 cycle without charging + 3 cycles with charging, remaining time is 12 - (2.15 + 3 × 3.261) = 0.067h, remaining working time does not include working time;

[0392] The total area of ​​mowed lawn is approximately: 4 * 7315 = 29260 square meters.

[0393] In the example above, by setting the basic parameters of the automatic lawnmower 10, it is ensured that the actual mowing area of ​​the automatic lawnmower 10 during a 12-hour operation is approximately 29,260 square meters, which is greater than 17,000 square meters, perfectly meeting the needs of commercial-scale lawn maintenance.

[0394] As another example, E = 3000Wh, d = 30 inches = 0.762m, V1 = 3m / s = 10800m / h, V2 = 3m / s = 10800m / h, L = 2000m (the one-way distance between charging station 20 and the breakpoint is 1000m), η = 0.9, P1 = 700W, P2 = 600W, Pcharge = 2500W. The total power Pother of other power-consuming components is 100W. When the working period is from 8:00 PM to 8:00 AM, the energy storage unit 14 is fully charged before 8:00 PM, and the automatic lawnmower 10 starts working at 8:00 PM. In this case:

[0395] Working time t1 = E / (P1 + P2 + P other) = 3000 / 1400 ≈ 2.143h;

[0396] Theoretically, the area that an automatic lawnmower 10 can mow in one cycle is S = V1*t1*d*η = 10800*0.762*2.143*0.9 ≈ 15872 square meters.

[0397] Charging time t2 = E / P charging = 3000 / 2500 = 1.2h;

[0398] The homing time t3 = L / V2 = 2000 / 10800 = 0.185h;

[0399] The first cycle time (t1 + t3, no charging time t2) = 2.143 + 0.185 = 2.328h;

[0400] Subsequent cycle time (including charging): approximately 3.528 hours;

[0401] Number of cycles: 1 cycle without charging + 2 cycles with charging, remaining time is 12 - (2.328 + 2 × 3.528) = 2.616h, remaining working time is 2.616h - 1.2h = 1.416h, remaining working area: 10800 * 0.762 * 1.416 * 0.9 ≈ 10487 square meters;

[0402] The total area of ​​mowed lawn is approximately: 3 * 15872 + 10487 = 58103 square meters.

[0403] In the example above, by setting the basic parameters of the automatic lawnmower 10, it is ensured that the actual mowing area of ​​the automatic lawnmower 10 during a 12-hour operation is approximately 58,103 square meters, which is far greater than 17,000 square meters, perfectly meeting the needs of commercial-scale lawn maintenance.

[0404] It is understandable that the total mowing area in the above example is a theoretical calculation. The theoretical mowing area is an optimal value derived from "ideal operating conditions." However, in actual scenarios, the effective mowing area will be significantly reduced due to multiple factors such as lawn condition, equipment operating characteristics, and environmental factors. In engineering design, the theoretical value is usually multiplied by an "actual efficiency coefficient" of 0.6 to 0.8 to estimate the actual operating area, ensuring that the product can meet the user's actual needs (e.g., theoretical 29260 square meters × 0.6 ≈ 17556 square meters, still higher than 17000 square meters; theoretical 29260 square meters × 0.7 ≈ 20482 square meters, still higher than the 17000 square meter target; theoretical 58103 square meters × 0.6 ≈ 34861 square meters, still higher than the 17000 square meter target; theoretical 58103 square meters × 0.7 ≈ 40672 square meters, still higher than the 17000 square meter target).

[0405] It is understandable that the configuration of V1, d, E, η, P_charge, V2, P1, P2, and L affects the ratio of S / (t1+t2+t3); the configuration of V1, d, η, and t1 affects the cutting area S of the automatic lawnmower 10 in one cycle; and the configuration of E, P_charge, V2, P1, P2, and L affects the magnitude of (t1+t2+t3). The configuration methods of V1, d, E, η, P_charge, V2, P1, P2, and L will be detailed below and will not be discussed here.

[0406] It should be noted that Embodiment 3 can be implemented alone or in combination with the above-mentioned embodiments with configuration Pcharge / (P1+P2) and configuration t1 / t2. Through dual constraints, the working efficiency of the automatic lawnmower 10 is further guaranteed, ensuring that the actual mowing area of ​​the automatic lawnmower 10 during a 12-hour operation is not less than 17,000 square meters.

[0407] To improve the working efficiency of the automatic lawnmower 10, the number of cycles within the working time period can be increased (the sum of working time t1, charging time t2, and return time t3 is considered as the time for one cycle of the automatic lawnmower 10; the automatic lawnmower 10 can cycle once or several times within the working time period). Under the premise of the same mowing capacity and the same working time t1, the more times the automatic lawnmower 10 cycles within the working time period, the larger the mowing area and the higher the mowing efficiency. Controlling the number of cycles of the automatic lawnmower 10 within the working time period requires controlling the time of one cycle. Therefore, this disclosure provides the following embodiment four:

[0408] Example 4

[0409] Please refer to Figures 1, 2A, 2B, and 3. This embodiment provides an autonomous working system 100, including an automatic lawnmower 10, configured to move and / or work in a work area.

[0410] The automatic lawnmower 10 includes a chassis 17, an energy storage unit 14, a working component 11, a working motor 101, a moving component 12, a moving motor 102, a first controller 13, and a first charging terminal 141. The charging station 20 includes a second controller 22 and a second charging terminal 211. The specific structure and connection relationships of the components of the automatic lawnmower 10 and charging station 20 in this embodiment can be found in the automatic lawnmower 10 and charging station 20 in Embodiment 1, and will not be repeated here.

[0411] In this embodiment, the rated power of the working motor 101 is configured as P1 (watts), the rated power of the moving motor 102 is configured as P2 (watts), the charging power of the charging station 20 is configured as Pcharge (watts), and the total energy stored in the energy storage unit 14 is configured as E (watt-hours).

[0412] The first controller 13 is configured to control the moving motor 102, such that the moving speed of the automatic lawnmower 10 between the charging station 20 and the interruption position is V2 (meters / hour), the distance traveled by the automatic lawnmower 10 between the charging station 20 and the interruption position is L (meters), and the interruption position is when the remaining power of the energy storage unit 14 meets the preset conditions, the automatic lawnmower 10 stops working and returns to the position of the charging station 20.

[0413] The first controller 13 is also configured to control the automatic lawnmower 10 to start returning to the charging station 20 to charge the energy storage unit 14 when the remaining power of the energy storage unit 14 meets the preset conditions; and to control the automatic lawnmower 10 to return to the working area and start working again when the power of the energy storage unit 14 rises to a level greater than or equal to the preset working power.

[0414] Among them, L, E, P, V2, P1, and P2 satisfy the following relationship:

[0415] (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤12.

[0416] In this embodiment, by configuring L, E, P, V2, P1, and P2, the sum of the working time t1, charging time t2, and return time t3 does not exceed 12 hours. The automatic lawnmower 10 can complete at least one cycle within 12 hours. That is, during the 12 hours of operation, the automatic lawnmower 10 will mow at least once for time t1, charge at least once for time t2, and travel back and forth between the charging station 20 and the breakpoint position at least once for time t3. Of course, there is also a scenario where the energy storage unit 14 has enough energy to fully support the automatic lawnmower 10's continuous operation for 12 hours. In this case, the automatic lawnmower 10 will fully charge the energy storage unit 14 before the operating time period, and the charging time t2 can be 0.

[0417] In a further embodiment, L, E, P, V2, P1, and P2 satisfy the following relationship:

[0418] (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤6.

[0419] In this embodiment, by configuring L, E, P, V2, P1, and P2, the sum of the working time t1, charging time t2, and return time t3 does not exceed 6 hours. The automatic lawnmower 10 can complete at least two cycles within 12 hours. That is, during the 12 hours of operation, the automatic lawnmower 10 has at least two periods of time t1 for mowing, at least two periods of time t2 for charging, and at least two periods of time t3 for traveling between the charging station 20 and the breakpoint. Of course, there is also a scenario where the automatic lawnmower 10 fully charges the energy storage unit 14 before the working period begins. In this case, the number of charging cycles for the automatic lawnmower 10 is reduced by one.

[0420] In a further embodiment, L, E, P, V2, P1, and P2 satisfy the following relationship:

[0421] (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤4.

[0422] In this embodiment, by configuring L, E, P, V2, P1, and P2, the sum of the working time t1, charging time t2, and return time t3 does not exceed 4 hours. The automatic lawnmower 10 can complete at least three cycles within 12 hours. That is, during the 12 hours of operation, the automatic lawnmower 10 will mow the lawn at least three times for time t1, charge at least three times for time t2, and travel back and forth between the charging station 20 and the breakpoint position at least three times for time t3. Of course, there is also a scenario where the automatic lawnmower 10 fully charges the energy storage unit 14 before the working period begins. In this case, the number of charging cycles for the automatic lawnmower 10 is reduced by one.

[0423] As mentioned above, the total energy E of the energy storage unit 14, the rated power P1 of the working motor 101, and the rated power of the moving motor 102 directly affect the working time t1. The larger the total energy E of the energy storage unit 14, the smaller the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102, and the longer the working time t1. Conversely, the smaller the total energy E of the energy storage unit 14, the larger the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102, and the shorter the working time t1. This can be expressed by the formula t1 = E / (P1 + P2). It should be noted that this formula ignores the power of other low-power components in the automatic lawnmower 10. The total energy E of the energy storage unit 14 and the charging power P of the charging station 20 directly affect the charging time t2. The larger the total energy E of the energy storage unit 14 and the smaller the charging power P, the longer the charging time t2 will be, and vice versa. The smaller the total energy E of the energy storage unit 14 and the larger the charging power P, the shorter the charging time t2 will be. This can be expressed by the formula t2 = E / P. The distance L that the automatic lawnmower 10 travels between the charging station 20 and the interruption position, and the speed V2 of the automatic lawnmower 10 traveling between the charging station 20 and the interruption position, directly affect the return time t3. The larger the distance L that the automatic lawnmower 10 travels between the charging station 20 and the interruption position, and the smaller the speed V2 of the automatic lawnmower 10 traveling between the charging station 20 and the interruption position, the longer the return time t3 will be. Conversely, the smaller the distance L that the automatic lawnmower 10 travels between the charging station 20 and the interruption position, and the larger the speed V2 of the automatic lawnmower 10 traveling between the charging station 20 and the interruption position, the shorter the return time t3 will be. This can be expressed by the formula t3 = L / V2. Therefore, by adjusting the values ​​of L, E, P, V2, P1, and P2, the working time t1, charging time t2, and return time t3 can be effectively adjusted. By constraining the total time of "working time t1 + charging time t2 + return time t3" for a single cycle, it is ensured that a sufficient number of cycles can be completed within 12 hours. This ensures that the actual mowing area of ​​the automatic lawnmower 10 within 12 hours of operation is not less than 17,000 square meters, perfectly meeting the needs of commercial-scale lawn maintenance.

[0424] This disclosure provides the following embodiments to control the size of t1+t2+t3 so that t1+t2+t3 conforms to the constraints in the above embodiments.

[0425] In some embodiments, E, P1, and P2 satisfy the following relationship: 1.2 ≤ E / (P1+P2) ≤ 12;

[0426] The following relationship exists between E and P being fully charged: 0.16 ≤ E / Pcharged ≤ 2;

[0427] L and V2 satisfy the following relationship: 0.016≤L / V2≤0.5.

[0428] As one implementation of the above embodiment, the energy storage unit 14 has a power E greater than or equal to 1000Wh and less than or equal to 3000Wh, the mobile motor 102 has a rated power P2 greater than or equal to 150W and less than or equal to 1100W, and the working motor 101 has a rated power P1 greater than or equal to 400W and less than or equal to 2000W, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12;

[0429] The energy storage unit 14 has a capacity E greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging station 20 has a charging power Pcharge greater than or equal to 400W and less than or equal to 6250W, such that E and Pcharge are in the following relationship: 0.16 ≤ E / Pcharge ≤ 2.

[0430] The automatic lawnmower 10 travels to and from the charging station 20 and the interruption position at a speed V2 greater than or equal to 3600 m / h / s and less than or equal to 10800 m / h. The distance L traveled by the automatic lawnmower 10 between the charging station 20 and the interruption position is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016 ≤ L / V2 ≤ 0.5.

[0431] In a further embodiment, the energy storage unit 14 has a power E greater than or equal to 1000Wh and less than or equal to 3000Wh, the mobile motor 102 has a rated power P2 greater than or equal to 150W and less than or equal to 1100W, and the working motor 101 has a rated power P1 greater than or equal to 400W and less than or equal to 2000W, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12;

[0432] The energy storage unit 14 has a capacity E greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging station 20 has a charging power Pcharge greater than or equal to 400W and less than or equal to 3300W, such that E and Pcharge are in the following relationship: 0.303 ≤ E / Pcharge ≤ 2.

[0433] The automatic lawnmower 10 travels to and from the charging station 20 and the interruption position at a speed V2 greater than or equal to 3600 m / h / s and less than or equal to 10800 m / h. The distance L traveled by the automatic lawnmower 10 between the charging station 20 and the interruption position is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016 ≤ L / V2 ≤ 0.5.

[0434] In this embodiment, P1+P2 is adapted to E to ensure t1 = 1.2 to 12h. In commercial scenarios, t1 can be 1.2 to 3h (high frequency cycling), and in home scenarios, t1 can be 6 to 12h (long battery life). E and P are adapted to ensure t2 = 0.16 to 2h. In commercial scenarios, t2 is 0.16 to 1.2h (fast charging), and in home scenarios, t2 is 1.2 to 2h (slow charging). L and V2 are adapted to ensure 0.016 ≤ t3 ≤ 0.5.

[0435] As an example, with a configuration of E = 3000Wh, P1 = 200W, P2 = 50W (P1 + P2 = 250W), P_charge = 6250W, L = 60m, and V2 = 3750m / h, t1 = 12h, t2 = 0.48h, and t3 = 0.016h. When the automatic lawnmower 10 is configured with these parameters, it can complete one cycle within the working time (within 12 hours), which includes one working time and one return time (1 minute, negligible).

[0436] As an example, with a configuration of E = 2400Wh, P1 = 200W, P2 = 100W (P1 + P2 = 300W); Pcharge = 3000W; L = 1440m, V2 = 7200m / h, t1 = 8h, t2 = 0.8h, t3 = 0.2h. When the automatic lawnmower 10 is configured with these parameters, it can complete one cycle within the working time (within 12 hours), which includes one working time and one return time, and complete one recharge within the remaining 3.8 hours, continuing to work for the remaining 3 hours.

[0437] As an example, with E = 2000Wh, P1 = 400W, P2 = 100W (P1 + P2 = 500W); P_charge = 1667W; L = 2700m, V2 = 9000m / h, the configuration results in t1 = 4h, t2 = 1.2h, and t3 = 0.3h. When the automatic lawnmower 10 is configured with these parameters, it can complete two cycles within the working time (within 12 hours). The first cycle includes one working time and one return time, totaling 4.3h. The second cycle includes one charging time, one working time, and one return time, totaling 5.5h. The automatic lawnmower 10 completes one charging cycle in the remaining 2.2 hours and continues to work in the remaining 1 hour.

[0438] As an example, with E = 1000Wh, P1 = 400W, P2 = 450W (P1 + P2 = 850W); P_charge = 500W; L = 5000m, V2 = 10000m / h, the configuration results in t1 = 1.2h, t2 = 2h, and t3 = 0.5h. When the automatic lawnmower 10 is configured with these parameters, it can complete three cycles within the working time (within 12 hours). The first cycle includes one working time and one return time, totaling 1.7h. The second and third cycles include one charging time, one working time, and one return time, totaling 7.4h. The automatic lawnmower 10 completes one charging cycle in the remaining 2.9 hours and continues to work in the remaining 0.9 hours.

[0439] As an example, with E = 2250Wh, P1 = 500W, P2 = 150W, P1 + P2 = 650W; P_charge = 6250W; L = 300m, V2 = 3750m / h, the configuration results in t1 = 3.46h, t2 = 0.36h, and t3 = 0.08h. When the automatic lawnmower 10 is configured with these parameters, it can complete three cycles within the working time (within 12 hours). The first cycle includes one working time and one return time, totaling 3.54h. The second and third cycles include one charging time, one working time, and one return time, totaling 7.8h. The automatic lawnmower 10 continues to charge in the remaining 0.66 hours.

[0440] As an example, with a configuration of E = 2000Wh, P1 = 600W, P2 = 400W, P1 + P2 = 1000W; P_charge = 2500W; L = 1440m, and V2 = 7200m / h, t1 = 2h, t2 = 0.8h, and t3 = 0.2h. When the automatic lawnmower 10 is configured with these parameters, it can complete approximately four cycles within its working time (12 hours). The first cycle of these four cycles includes one working time and one return time, totaling 2.2h. The second to fourth cycles include one charging time, one working time, and one return time, totaling 9h. The automatic lawnmower 10 completes one charging cycle within the remaining 0.8 hours.

[0441] As an example, with a configuration of E = 1500Wh, P1 = 8000W, P2 = 200W, P1 + P2 = 1000W; P_charge = 833W; L = 4275m, and V2 = 9500m / h, t1 = 1.5h, t2 = 1.8h, and t3 = 0.45h. When the automatic lawnmower 10 is configured with these parameters, it can complete three cycles within the working time (within 12 hours). The first cycle includes one working time and one return time, totaling 1.95h. The second and third cycles include one charging time, one working time, and one return time, totaling 7.5h. The automatic lawnmower 10 completes one charging cycle in the remaining 2.55 hours and continues to work in the remaining 0.75 hours.

[0442] As an example, with a configuration of E = 1500Wh, P1 = 500W, P2 = 100W, P1 + P2 = 600W; P_charge = 6250W; L = 540m, V2 = 5400m / h, t1 = 2.5h, t2 = 0.24h, t3 = 0.1h. When the automatic lawnmower 10 is configured with these parameters, it can complete four cycles within the working time (within 12 hours). The first cycle of the four cycles includes one working time and one return time, totaling 2.6h. The second to fourth cycles include one charging time, one working time, and one return time, totaling 8.52h. The automatic lawnmower 10 completes one charging cycle in the remaining 0.88 hours and continues to work in the remaining 0.64 hours.

[0443] As an example, with a configuration of E = 1800Wh, P1 = 900W, P2 = 100W, P1 + P2 = 1000W; P_charge = 2250W; L = 2000m, V2 = 8000m / h, t1 = 1.8h, t2 = 0.8h, t3 = 0.25h. When the automatic lawnmower 10 is configured with these parameters, it can complete four cycles within the working time (12 hours). The first cycle of the four cycles includes one working time and one return time, totaling 2.05h. The second to fourth cycles include one charging time, one working time, and one return time, totaling 8.55h. The automatic lawnmower 10 completes one charging cycle in the remaining 1.4 hours and continues to work in the remaining 0.6 hours.

[0444] As an example, with a configuration of E = 1200Wh, P1 = 400W, P2 = 600W, P1 + P2 = 1000W; P_charge = 800W; L = 5000m, V2 = 10000m / h, t1 = 1.2h, t2 = 1.5h, t3 = 0.5h. When the automatic lawnmower 10 is configured with these parameters, it can complete four cycles within the working time (12 hours). The first cycle of the four cycles includes one working time and one return time, totaling 1.7h. The second to fourth cycles include one charging time, one working time, and one return time, totaling 9.6h. The automatic lawnmower 10 continues to charge during the remaining 0.7 hours.

[0445] As one implementation of the above embodiment, the energy storage unit 14 has a power E greater than or equal to 1000Wh and less than or equal to 3000Wh, the automatic lawnmower 10 has a moving speed V1 greater than or equal to 3600m / h and less than or equal to 10800m / h when working in the working area, and the diameter d of the covered area is greater than or equal to 8 inches and less than or equal to 80 inches, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12;

[0446] The energy storage unit 14 has a capacity E greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging station 20 has a charging power Pcharge greater than or equal to 400W and less than or equal to 6250W, such that E and Pcharge are in the following relationship: 0.16 ≤ E / Pcharge ≤ 2.

[0447] The automatic lawnmower 10 travels to and from the charging station 20 and the interruption position at a speed V2 greater than or equal to 3600 m / h and less than or equal to 10800 m / h. The distance L traveled by the automatic lawnmower 10 between the charging station 20 and the interruption position is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016 ≤ L / V2 ≤ 0.5.

[0448] In a further embodiment, the energy storage unit 14 has a power E greater than or equal to 1000Wh and less than or equal to 3000Wh, the automatic lawnmower 10 has a moving speed V1 greater than or equal to 3600m / h and less than or equal to 10800m / h when working in the work area, and the diameter d of the covered area is greater than or equal to 8 inches and less than or equal to 80 inches, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12;

[0449] The energy storage unit 14 has a capacity E greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging station 20 has a charging power Pcharge greater than or equal to 400W and less than or equal to 3300W, such that E and Pcharge are in the following relationship: 0.303 ≤ E / Pcharge ≤ 2.

[0450] The automatic lawnmower 10 travels at a speed V2 between the charging station 20 and the interruption position, which is greater than or equal to 3600 m / h and less than or equal to 10800 m / h. The distance L traveled by the automatic lawnmower 10 between the charging station 20 and the interruption position is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016 ≤ L / V2 ≤ 0.5.

[0451] In this embodiment, the operating speed V1 of the automatic lawnmower 10 directly determines the rated power P2 of the moving motor 102. The higher V1 is, the greater the wind resistance and grass friction that the machine needs to overcome when moving forward, and the more powerful P2 needs to be configured. If V1 is too high but P2 is insufficient, the moving motor 102 will be overloaded, the machine will jam, and the actual operating efficiency will decrease. If V1 and P2 are matched, P2 can stably support the machine to move at V1, ensuring smooth operation. The operating width d directly determines the power P1 of the working motor 101. The wider d is, the larger the grass area contacted by the cutting blade, and the cutting resistance (especially in the case of tall and thick grass) increases proportionally. Therefore, a more powerful P1 must be configured. If d is too wide but P1 is insufficient, the blade speed will decrease, the cutting will be incomplete (such as grass stem breakage), and even the motor will overheat and protect itself. If d and P1 are matched, P1 can provide sufficient torque to drive the blade, ensuring cutting effect and efficiency. After selecting V1, P2 needs to be selected according to the appropriate range, which in turn affects the sum of P1+P2 and indirectly controls t1; after selecting d, P1 needs to be selected according to the appropriate range, which in turn affects the sum of P1+P2 and indirectly controls t1. Therefore, through the two-step logic of "selecting V1 → determining P2" and "selecting d → determining P1", the sum of P1+P2 can be precisely controlled, ultimately achieving precise regulation of t1 within the range of 1.2 to 12 hours, while ensuring operational efficiency and equipment stability.

[0452] As an example, d = 25 inches is compatible with P1 = 500W; V1 = 5400 m / h is compatible with P2 = 400W; in addition, E = 2000Wh; P_charge = 1800W; L = 1000 m, V2 = 7200 m / h. t1 = 2.22h, t2 = 1.11h, t3 = 0.14h. When the automatic lawnmower 10 is configured with these parameters, it can complete three cycles within the working time (within 12 hours). The first cycle includes one working time and one return time, totaling 2.36h. The second and third cycles include one charging time, one working time, and one return time, totaling 6.94h. The automatic lawnmower 10 completes one charging cycle in the remaining 2.7 hours and continues to work in the remaining 1.59 hours.

[0453] As an example, d = 40 inches is adapted to P1 = 1000W; V1 = 7200m / h is adapted to P2 = 500W; in addition, E = 2000Wh; P_charge = 1667W; L = 2700m, V2 = 9000m / h. t1 = 1.33h, t2 = 1.2h, t3 = 0.375h. When the automatic lawnmower 10 is configured with these parameters, it can complete four cycles within the working time (within 12 hours). The first cycle of the four cycles includes one working time and one return time, totaling 1.705h. The second to fourth cycles include one charging time, one working time, and one return time, totaling 8.715h. The automatic lawnmower 10 completes one charging cycle in the remaining 1.58 hours and continues to work in the remaining 0.38 hours.

[0454] It should be noted that the configuration of L, E, P, V2, P1, and P2 in this embodiment to control the size of t1+t2+t3 is also applicable to Embodiment 3 above and Embodiment 5 below, and will not be repeated in Embodiment 3 and Embodiment 5.

[0455] It should also be noted that this embodiment can be combined with any of the above embodiments to configure parameters affecting the working efficiency of the automatic lawnmower 10 from multiple perspectives, so as to improve the working efficiency of the automatic lawnmower 10. For example, this embodiment can be combined with the above embodiment two to configure P_charge / (P1+P2) and / or t1 / t2, and combined with the configuration of the time for one cycle of the automatic lawnmower 10, so as to ensure the working efficiency of the automatic lawnmower 10 through double constraints. This embodiment can also be combined with the above embodiment three to configure V1, d, E, η, P_charge, V2, P1, P2, L, so that the efficiency of the automatic lawnmower 10 meets the requirement that the mowing area is not less than 17,000 square meters within 12 hours of operation, and combined with the configuration of the time for one cycle of the automatic lawnmower 10, so as to ensure that the working efficiency of the automatic lawnmower 10 meets the precise needs of the user through double constraints. Of course, this embodiment can also be combined with the above-mentioned embodiments two and three, configuring P charge / (P1+P2) and / or t1 / t2, and combining V1, d, E, η, P charge, V2, P1, P2, L, so that the efficiency of the automatic lawnmower 10 meets the requirement that the mowing area is not less than 17,000 square meters within a 12-hour working time, and combined with the configuration of the time for one cycle of the automatic lawnmower 10, through triple limitation, the working efficiency of the automatic lawnmower 10 meets the precise needs of the user.

[0456] Understandably, it is necessary to ensure that the working time t1 accounts for a certain percentage of the time of one cycle of the automatic lawnmower 10, that is, to ensure that the value of t1 / (t1+t2+t3) meets the requirements, in order to increase the effective working time of the automatic lawnmower 10 in one cycle, thereby increasing the mowing area of ​​the automatic lawnmower 10 in one cycle, and improving the working efficiency of the automatic lawnmower 10 to meet user needs (such as a mowing area of ​​not less than 17,000 square meters in a continuous working time of 12 hours). Therefore, this disclosure also provides the following embodiment five:

[0457] Example 5

[0458] Please refer to Figures 1, 2A, 2B, and 3. This embodiment provides an autonomous working system 100, including an automatic lawnmower 10, configured to move and / or work in a work area.

[0459] The automatic lawnmower 10 includes a chassis 17, an energy storage unit 14, a working component 11, a working motor 101, a moving component 12, a moving motor 102, a first controller 13, and a first charging terminal 141. The charging station 20 includes a second controller 22 and a second charging terminal 211. The specific structure and connection relationships of the components of the automatic lawnmower 10 and charging station 20 in this embodiment can be found in the automatic lawnmower 10 and charging station 20 in Embodiment 1, and will not be repeated here.

[0460] In this embodiment, the rated power of the working motor 101 is configured as P1 (watts), the rated power of the moving motor 102 is configured as P2 (watts), the charging power of the charging station 20 is configured as Pcharge (watts), and the total energy stored in the energy storage unit 14 is configured as E (watt-hours).

[0461] The first controller 13 is configured to control the moving motor 102, such that the moving speed of the automatic lawnmower 10 between the charging station 20 and the interruption position is V2 (meters / hour), the distance traveled by the automatic lawnmower 10 between the charging station 20 and the interruption position is L (meters), and the interruption position is when the remaining power of the energy storage unit 14 meets the preset conditions, the automatic lawnmower 10 stops working and returns to the position of the charging station 20.

[0462] The first controller 13 is also configured to control the automatic lawnmower 10 to start returning to the charging station 20 to charge the energy storage unit 14 when the remaining power of the energy storage unit 14 meets the preset conditions; and to control the automatic lawnmower 10 to return to the working area and start working again when the power of the energy storage unit 14 rises to a level greater than or equal to the preset working power.

[0463] Among them, E, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0464] (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.5.

[0465] In this embodiment, by configuring L, E, P, V2, P1, and P2, the proportion of working time t1 in the sum of working time t1, charging time t2, and return time t3 is not less than 0.5, ensuring that the effective working time of the automatic lawnmower 10 is dominant, thereby guaranteeing the working efficiency of the automatic lawnmower 10.

[0466] In a further embodiment, E, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0467] (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.6.

[0468] In a further embodiment, E, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0469] (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.7.

[0470] In a further embodiment, E, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0471] (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.8.

[0472] In a further embodiment, E, Pcharge, V2, P1, P2, and L satisfy the following relationship:

[0473] (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤0.9.

[0474] In a further embodiment, the proportion of working time t1 in the sum of working time t1, charging time t2, and return time t3 is further increased, thereby increasing the effective working time of the automatic lawnmower 10 and further improving the working efficiency of the automatic lawnmower 10.

[0475] As mentioned above, the total energy E of the energy storage unit 14, the rated power P1 of the working motor 101, and the rated power of the moving motor 102 directly affect the working time t1. The larger the total energy E of the energy storage unit 14, the smaller the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102, and the longer the working time t1. Conversely, the smaller the total energy E of the energy storage unit 14, the larger the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102, and the shorter the working time t1. This can be expressed by the formula t1 = E / (P1 + P2). It should be noted that this formula ignores the power of other low-power components in the automatic lawnmower 10. The total energy E of the energy storage unit 14 and the charging power P of the charging station 20 directly affect the charging time t2. The larger the total energy E of the energy storage unit 14 and the smaller the charging power P, the longer the charging time t2 will be, and vice versa. The smaller the total energy E of the energy storage unit 14 and the larger the charging power P, the shorter the charging time t2 will be. This can be expressed by the formula t2 = E / P. The distance L that the automatic lawnmower 10 travels between the charging station 20 and the interruption position, and the speed V2 of the automatic lawnmower 10 traveling between the charging station 20 and the interruption position, directly affect the return time t3. The larger the distance L that the automatic lawnmower 10 travels between the charging station 20 and the interruption position, and the smaller the speed V2 of the automatic lawnmower 10 traveling between the charging station 20 and the interruption position, the longer the return time t3 will be. Conversely, the smaller the distance L that the automatic lawnmower 10 travels between the charging station 20 and the interruption position, and the larger the speed V2 of the automatic lawnmower 10 traveling between the charging station 20 and the interruption position, the shorter the return time t3 will be. This can be expressed by the formula t3 = L / V2. Therefore, by adjusting the values ​​of L, E, P, V2, P1, and P2, the working time t1, charging time t2, and return time t3 can be effectively adjusted. This constrains the proportion of working time t1 in the time of one cycle of the automatic lawnmower 10, ensuring that the proportion of working time t1 in the sum of working time t1, charging time t2, and return time t3 is not less than 0.5. This ensures that the actual mowing area of ​​the automatic lawnmower 10 within 12 hours of operation is not less than 17,000 square meters, perfectly meeting the needs of commercial-scale lawn maintenance.

[0476] As an example, E = 3000Wh, P1 = 1500W, P2 = 1000W, Pcharge = 1500W, L = 5000m, V2 = 10000m / s, then t1 = 1.2h, t2 = 2h, t3 = 0.5h, t1 / (t1+t2+t3)≈0.51.

[0477] As an example, E = 2400Wh, P1 = 800W, P2 = 400W, Pcharge = 3000W, L = 1440m, V2 = 7200m / s, then t1 = 2h, t2 = 0.8h, t3 = 0.2h, t1 / (t1+t2+t3)≈0.66.

[0478] As an example, E = 1800WH, P1 = 600W, P2 = 300W, P_charge = 4500W, L = 540m, V2 = 5400m / s, then t1 = 2h, t2 = 0.4h, t3 = 0.1h, t1 / (t1+t2+t3) = 0.8.

[0479] As an example, with the configuration of E = 2400Wh, P1 = 200W, P2 = 100W (P1 + P2 = 300W); P_charge = 3000W; L = 1440m, V2 = 7200m / h, t1 = 8h, t2 = 0.8h, t3 = 0.2h, and t1 / (t1 + t2 + t3) ≈ 0.88.

[0480] As an example, with the configuration of E = 2000Wh, P1 = 400W, P2 = 100W (P1 + P2 = 500W); P_charge = 1667W; L = 2700m, V2 = 9000m / h, t1 = 4h, t2 = 1.2h, t3 = 0.3h, and t1 / (t1 + t2 + t3) ≈ 0.73.

[0481] As an example, with the configuration of E = 2250Wh, P1 = 500W, P2 = 150W, P1 + P2 = 650W; P_charge = 6250W; L = 300m, V2 = 3750m / h, t1 = 3.46h, t2 = 0.36h, t3 = 0.08h, and t1 / (t1 + t2 + t3) ≈ 0.89.

[0482] As an example, with the configuration of E = 2000Wh, P1 = 600W, P2 = 400W, P1 + P2 = 1000W; P_charge = 2500W; L = 1440m, V2 = 7200m / h, t1 = 2h, t2 = 0.8h, t3 = 0.2h, and t1 / (t1 + t2 + t3) ≈ 0.66.

[0483] As an example, with the configuration of E = 1800Wh, P1 = 900W, P2 = 100W, P1 + P2 = 1000W; P_charge = 2250W; L = 2000m, V2 = 8000m / h, t1 = 1.8h, t2 = 0.8h, t3 = 0.25h, and t1 / (t1 + t2 + t3) ≈ 0.63.

[0484] It should be noted that this embodiment five can be implemented alone, or it can be implemented in combination with any one or more of embodiments two to four, to configure the parameters affecting the working efficiency of the automatic lawnmower 10 from multiple perspectives, so as to improve the working efficiency of the automatic lawnmower 10.

[0485] In embodiments two to five above, the size of t1 / t2 can be controlled by constraining t1 and t2 respectively, and the size of t1+t2+t3 and t1 / (t1+t2+t3) can be controlled by constraining t1, t2, and t3 respectively. This disclosure provides the following embodiments to control the size of t1, t2, and t3 respectively, so that t1 / t2, t1+t2+t3, and t1 / (t1+t2+t3) conform to the constraints in the above embodiments.

[0486] In some embodiments, the total energy stored in the energy storage unit 14 is configured to be E watt-hours, and the autonomous operating system 100 satisfies at least one of the following formulas:

[0487] 1.2≤E / (P1+P2)≤12;

[0488] 1.2≤t1≤12.

[0489] In the above embodiment, the energy storage unit 14 has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh, the rated power P2 of the mobile motor 102 is greater than or equal to 100W and less than or equal to 1100W, and the rated power of the working motor 101P1 is greater than or equal to 100W and less than or equal to 2000W, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12, and 1.2≤t1≤12. This embodiment, by specifying the value range of the total energy (E) of the energy storage unit 14, the rated power (P1) of the working motor 101, and the rated power (P2) of the mobile motor 102, limits the working time (t1=E / (P1+P2)) to within the range of 1.2 to 12 hours, which not only adapts to the working endurance requirements of different scenarios, but also avoids efficiency waste or equipment damage caused by the imbalance of energy storage and power configuration. E / (P1+P2)≤12 indicates that t1≤12h. This formula limit avoids over-configuration of energy storage, restricts the redundancy of E, eliminates the need for ultra-large capacity batteries (e.g., 5000Wh or more) to pursue ultra-long endurance, reduces equipment weight, lowers the load and energy consumption of the mobile motor 102, and saves battery procurement costs. E / (P1+P2)≥1.2h indicates that t1≥1.2h. This formula avoids power configuration imbalance, ensuring that the motor power is not too high, which would lead to rapid depletion of energy storage and avoid the inefficient scenario of "charging for 1 hour and working for 30 minutes." Conversely, too low a power configuration would result in an excessively long t1, leading to insufficient working capacity of the automatic lawnmower 10.

[0490] As an example, E = 1000Wh, P1 = 300W (small cutting blade drive), P2 = 200W (flat ground movement drive); working time t1 = 1000 / (300+200) = 2h.

[0491] As an example, E = 2000Wh, P1 = 500W (medium cutting width blade drive), P2 = 400W (slight slope adaptation); working time t1 = 2000 / (500+400) ≈ 2.22h.

[0492] As an example, E = 3000Wh, P1 = 1500W (wide cutting blade drive), P2 = 1000W (complex terrain / long-distance movement drive); working time t1 = 3000 / (1500+1000) = 1.2h.

[0493] As an example, E = 3000Wh, P1 = 400W (high-efficiency energy-saving cutting motor), P2 = 100W (low-power mobile motor 102); working time t1 = 3000 / (400+100) = 6h.

[0494] As an example, E = 2400Wh (compatible with 72V / 33.3Ah lithium battery, medium capacity, weight about 16kg), P1 = 200W (energy-saving narrow-width cutting motor, compatible with lawn height ≤15cm), P2 = 100W (low-power flat-ground moving motor 102, speed ≤1m / s); working time t1 = 2400 / (200+100) = 8h.

[0495] As an example, E = 2500Wh (60V / 41.7Ah lithium battery, high energy density, weighing about 17kg), P1 = 150W (ultra-energy-saving cutting motor, adjustable blade speed), P2 = 100W (low-noise mobile motor 102, suitable for residential area operation); working time t1 = 2500 / (150+100) = 10h.

[0496] As an example, E = 3000Wh (72V / 41.7Ah lithium battery, large capacity design, weight about 20kg), P1 = 150W (high-efficiency energy-saving motor, supporting continuous operation under low load), P2 = 100W (low-speed high-torque mobile motor 102, suitable for slight slope ≤15°); working time t1 = 3000 / (150+100) = 12h.

[0497] In the above embodiment, the energy storage unit 14 has a power greater than or equal to 1000Wh and less than or equal to 3000Wh, the automatic lawnmower 10 moves at a speed greater than or equal to 3600m / h and less than or equal to 10800m / h when working in the working area, and the diameter of the covered area is greater than or equal to 8 inches and less than or equal to 80 inches, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12, and 1.2≤t1≤12. The relationship between the diameter of the covered area (d, working width) and P1 is as follows: the larger d is, the greater the force on the cutting blade and the higher the speed requirement, and P1 needs to be increased accordingly (e.g., d=8 inches is suitable for P1=100W, d=80 inches is suitable for P1=2000W). The relationship between the moving speed (V1) and P2 is as follows: the higher V1 is, the greater the power demand of the moving component 12 to overcome ground resistance and propel the equipment forward, and P2 needs to be increased accordingly (e.g., V1 = 3600 m / h adapts to P2 = 100W, V1 = 10800 m / h adapts to P2 = 1100W). Multi-parameter collaborative constraints: E (1000 to 3000Wh), V1, and d must jointly satisfy t1 = E / (P1 + P2) ∈ [1.2, 12]h to ensure a balance between range and efficiency.

[0498] As an example, E = 1000Wh, d = 8 inches (0.203m), V1 = 3600m / h (1m / s), P1 = 100W (low power consumption for narrow blades), P2 = 100W (low power consumption for low-speed movement); working time t1 = 1000 / (100+100) = 5h.

[0499] As an example, E = 2000Wh, d = 25 inches (0.635m), V1 = 7200m / h (2m / s), P1 = 500W (medium-width blade adapter), P2 = 400W (medium-speed moving power); working time t1 = 2000 / (500+400) ≈ 2.22h.

[0500] As an example, E = 2500Wh, d = 40 inches (1.016m), V1 = 9000m / h (2.5m / s), P1 = 1000W (high power for wide blades), P2 = 750W (power for high-speed movement); working time t1 = 2500 / (1000+750) ≈ 1.43h.

[0501] As an example, E = 3000Wh, d = 60 inches (1.524m), V1 = 10800m / h (3m / s), compatible with P1 = 1500W (high power for ultra-wide blades), P2 = 1000W (high power for high-speed movement); working time t1 = 3000 / (1500+1000) = 1.2h.

[0502] As an example, E = 3000Wh, d = 30 inches (0.762m), V1 = 5400m / h (1.5m / s), compatible with P1 = 400W (medium-width energy-saving blade), P2 = 300W (medium-speed low-power movement); working time t1 = 3000 / (400+300) ≈ 4.29h.

[0503] As an example, E = 2400Wh, d = 16 inches (0.406m), V1 = 3600m / h (1m / s), compatible with P1 = 150W (narrow-width energy-saving blade), P2 = 100W (low-speed movement); working time t1 = 2400 / (150+100) = 9.6h.

[0504] In some embodiments, the total energy stored in the energy storage unit 14 is configured to be E watt-hours, and the autonomous operating system 100 satisfies at least one of the following formulas:

[0505] 0.16≤E / P charge≤2;

[0506] 0.16≤t2≤2.

[0507] In the above embodiments, the energy storage unit 14 has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging power Pcharge of the charging station 20 is greater than or equal to 400W and less than or equal to 6250W, such that E and Pcharge are in the following relationship: 0.16 ≤ E / Pcharge ≤ 2, and 0.16 ≤ t2 ≤ 2. The charging time (t2) is a key indicator affecting the continuity of the autonomous working system 100: if t2 is too short (<0.16 hours, about 10 minutes), the charging power will be too high (Pcharge = E / t2), and the large current surge will easily cause lithium battery polarization and bulging, shortening the battery life; if t2 is too long (>2 hours), it will occupy too much effective working time, especially in commercial high-frequency cycle scenarios, frequent long-term charging will significantly reduce the overall working efficiency. Therefore, this embodiment quantifies the value range of E (1000 to 3000Wh) and P-charging (400 to 6250W) to ensure that t2 remains stable between 0.16 and 2 hours, balancing charging efficiency and equipment safety. In a further embodiment, the energy storage unit 14 has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging power P-charging of the charging station 20 is greater than or equal to 400W and less than or equal to 3300W, such that E and P-charging are satisfied with the following relationship: 0.303 ≤ E / P-charging ≤ 2, and 0.303 ≤ t2 ≤ 2. P-charging = 400 to 3300W complies with the safety power limits of household and commercial electrical equipment, avoiding the risk of electric shock and fire caused by high-voltage and high-current charging.

[0508] As an example, E = 1000Wh, P_charge = 6250W, and the charging time t2 = 1000 / 6250 = 0.16h.

[0509] As an example, E = 1000Wh, P_charge = 3300W, and the charging time t2 = 1000 / 3300 ≈ 0.303h.

[0510] As an example, E = 1000Wh, P_charge = 2500W, and charging time t2 = 1000 / 2500 = 0.4h.

[0511] As an example, E = 1500Wh, P_charge = 2500W, and charging time t2 = 1500 / 2500 = 0.6h.

[0512] As an example, E = 2000Wh, P_charge = 2500W, and the charging time t2 = 2000 / 2500 = 0.8h.

[0513] As an example, E = 2000Wh, P_charge = 2000W, and charging time t2 = 2000 / 2000 = 1.0h.

[0514] As an example, E = 2400Wh, P_charge = 2000W, and charging time t2 = 2400 / 2000 = 1.2h.

[0515] As an example, E = 3000Wh, P_charge = 1875W, and charging time t2 = 3000 / 1875 = 1.6h.

[0516] As an example, E = 3000Wh, P_charge = 1500W, and charging time t2 = 3000 / 1500 = 2.0h.

[0517] In some embodiments, L and V2 satisfy the following relationship: 0.016≤L / V2≤0.5.

[0518] In the above embodiment, the moving speed V2 of the automatic lawnmower 10 between the charging station 20 and the interruption position is greater than or equal to 3600 m / h and less than or equal to 10800 m / h, and the travel distance L between the automatic lawnmower 10 and the charging station 20 and the interruption position is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016 ≤ L / V2 ≤ 0.5. The return time t3 is the key to the continuity of the automatic lawnmower 10's operation. If the return time t3, which is a non-operational time consumption, is too short (<0.016h ≈ 1 minute), it will lead to V2 being too high (exceeding the 10800 m / h safety threshold) or L being too short (losing practical significance); if the return time t3 is too long (>0.5h = 30 minutes), it will occupy too much effective operation time, especially in commercial high-frequency cycle scenarios, frequent long return times will significantly reduce overall efficiency. Therefore, this embodiment ensures that t3 remains stable between 0.016 and 0.5 hours by quantifying the value range of L and V2, thus balancing homing efficiency, equipment safety, and scenario adaptability.

[0519] As an example, L = 60m, V2 = 3750m / h, and the homing time t3 = 60 / 3750 = 0.016h.

[0520] As an example, L = 300m, V2 = 3750m / h, and the homing time t3 = 300 / 3750 = 0.08h.

[0521] As an example, L = 720m, V2 = 4800m / h (1.33m / s), and the homing time t3 = 720 / 4800 = 0.15h.

[0522] As an example, L = 1200m, V2 = 6000m / h (1.67m / s), and the homing time t3 = 1200 / 6000 = 0.2h.

[0523] As an example, L = 2250m, V2 = 9000m / h (2.5m / s), and the homing time t3 = 2250 / 9000 = 0.25h.

[0524] As an example, L = 2700m, V2 = 9000m / h (2.5m / s), and the homing time t3 = 2700 / 9000 = 0.3h.

[0525] As an example, L = 3600m, V2 = 9000m / h (2.5m / s), and the homing time t3 = 3600 / 9000 = 0.4h.

[0526] As an example, L = 5000m, V2 = 10000m / h, and the homing time t3 = 5000 / 10000 = 0.5h.

[0527] In the above embodiment, the rated power P2 of the mobile motor 102 is greater than or equal to 150W and less than or equal to 1100W. The travel distance L between the automatic lawnmower 10 and the charging station 20 and the interruption position is greater than or equal to 50m and less than or equal to 5000m, such that L and V2 satisfy the following relationship: 0.016≤L / V2≤0.5. The rated power P2 of the mobile motor 102 directly determines the upper limit of the homing speed V2. The larger P2 is, the stronger the motor output power and the higher the homing speed that can be supported, avoiding overload and heat generation problems caused by "low-power motor driving high-speed movement". L (50 to 5000m) and P2 (150 to 1100W) must both satisfy 0.016≤L / V2≤0.5h, and V2 must match P2 to ensure a triple balance of homing efficiency, motor load, and scene adaptation.

[0528] As an example, L = 60m, P2 = 150W, adaptor V2 = 3750m / h, homing time t3 = 60 / 3750 = 0.016h.

[0529] As an example, L = 240m, P2 = 200W, adaptor V2 = 4800m / h, homing time t3 = 240 / 4800 = 0.05h.

[0530] As an example, L = 540m, P2 = 300W, adaptor V2 = 5400m / h, homing time t3 = 540 / 5400 = 0.1h.

[0531] As an example, L = 900m, P2 = 450W, adaptor V2 = 6000m / h, homing time t3 = 900 / 6000 = 0.15h.

[0532] As an example, L = 1440m, P2 = 600W, adaptor V2 = 7200m / h, homing time t3 = 1440 / 7200 = 0.2h.

[0533] As an example, L = 2000m, P2 = 750W, adaptor V2 = 8000m / h, homing time t3 = 2000 / 8000 = 0.25h.

[0534] As an example, L = 3150m, P2 = 900W, adaptor V2 = 9000m / h, homing time t3 = 3150 / 9000 = 0.35h.

[0535] As an example, L = 4275m, P2 = 1000W, adaptor V2 = 9500m / h, homing time t3 = 4275 / 9500 = 0.45h.

[0536] As an example, L = 5000m, P2 = 1100W, adaptation V2 = 10000m / h, and homing time t3 = 5000 / 10000 = 0.5h.

[0537] As an extension of any of the above embodiments, in some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥150W. As an example, P1+P2≥150W and P1+P2≤3300W.

[0538] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥200W. As an example, P1+P2≥200W and P1+P2≤3300W.

[0539] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥300W. As an example, P1+P2≥300W and P1+P2≤3300W.

[0540] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥350W. As an example, P1+P2≥350W and P1+P2≤3300W.

[0541] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥600W. As an example, P1+P2≥600W and P1+P2≤3300W.

[0542] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥900W. As an example, P1+P2≥900W and P1+P2≤3300W.

[0543] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≥1200W. As an example, P1+P2≥1200W and P1+P2≤3300W.

[0544] In some embodiments, the rated power P1 of the working motor 101 and the rated power P2 of the moving motor 102 satisfy: P1+P2≤3300W.

[0545] As an extension of any of the above embodiments, in some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 100W. As an example, P1 is greater than or equal to 100W and less than or equal to 2000W.

[0546] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 400W. As an example, P1 is greater than or equal to 400W and less than or equal to 2000W.

[0547] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 600W. As an example, P1 is greater than or equal to 600W and less than or equal to 2000W.

[0548] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 800W. As an example, P1 is greater than or equal to 800W and less than or equal to 2000W.

[0549] In some embodiments, the rated power P1 of the working motor 101 is greater than or equal to 1200W. As an example, P1 is greater than or equal to 1200W and less than or equal to 2000W.

[0550] In some embodiments, the rated power P1 of the working motor 101 is less than or equal to 2000W.

[0551] As an extension of any of the above embodiments, in some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 100W. As an example, P2 is greater than or equal to 100W and less than or equal to 1100W.

[0552] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 150W. As an example, P2 is greater than or equal to 150W and less than or equal to 1100W.

[0553] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 200W. As an example, P2 is greater than or equal to 200W and less than or equal to 1100W.

[0554] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 300W. As an example, P2 is greater than or equal to 300W and less than or equal to 1100W.

[0555] In some embodiments, the rated power P2 of the mobile motor 102 is greater than or equal to 400W. As an example, P2 is greater than or equal to 400W and less than or equal to 1100W.

[0556] In some embodiments, the rated power P2 of the mobile motor 102 is less than or equal to 1100W.

[0557] In the above embodiment, the sum of the rated power P1 (100W≤P1≤2000W) of the working motor 101 and the rated power P2 (100W≤P2≤1100W) of the moving motor 102 is limited to 150W≤P1+P2≤3300W, and the power configuration is strongly related to the actual operation requirements: P1 needs to be matched with the moving speed and cutting speed: when the moving speed V1 is low (1 to 2m / s), the cutting speed requirement is 3000 to 4000r / min, and P1 is adapted to 100 to 800W, which satisfies the power of grass stem cutting and avoids power redundancy; when V1 increases to 3 to 5m / s, the cutting speed needs to be increased to 4000 to 5500r / min, and P1 needs to be increased to 800 to 2000W to ensure that the grass stems are fully cut under high-speed movement and avoid the situation of "not being able to cut grass". Matching P2 with walking speed and climbing ability: If only low-speed walking (V1 = 1-2 m / s) is required for leveling the lawn, P2 is suitable for 100 to 400W to meet basic mobility needs; if high-speed walking (V1 = 3 to 5 m / s) or climbing ability of less than 15° is required, P2 needs to be increased to 400 to 1100W to avoid insufficient power to "drive the lawnmower uphill"; the lower limit of 150W for P1+P2 ensures that the equipment has at least basic operation and mobility capabilities, and the upper limit of 3300W avoids excessive power redundancy (such as a high-power motor that exceeds actual needs will not only increase costs, but also increase energy consumption).

[0558] As an extension of any of the above embodiments, in some embodiments, the charging power Pcharge is greater than or equal to 400W. As one example, Pcharge is greater than or equal to 400W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 400W and less than or equal to 3000W. As another example, Pcharge is greater than or equal to 400W and less than or equal to 2500W. As yet another example, Pcharge is greater than or equal to 400W and less than or equal to 1800W. Considering that the US power grid limits charging power to below 3300W, the standard voltage of US mains electricity is 110V, and the fusing current of most sockets is 15A, most sockets can only withstand a power of no more than 1800W. Therefore, in this example, Pcharge is less than or equal to 1800W.

[0559] In some embodiments, the charging power Pcharge is greater than or equal to 500W. As an example, Pcharge is greater than or equal to 500W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 500W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 500W and less than or equal to 2500W.

[0560] In some embodiments, the charging power Pcharge is greater than or equal to 600W. As an example, Pcharge is greater than or equal to 600W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 600W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 600W and less than or equal to 2500W.

[0561] In some embodiments, the charging power Pcharge is greater than or equal to 700W. As an example, Pcharge is greater than or equal to 700W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 700W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 700W and less than or equal to 2500W.

[0562] In some embodiments, the charging power Pcharge is greater than or equal to 800W. As an example, Pcharge is greater than or equal to 800W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 800W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 800W and less than or equal to 2500W.

[0563] In some embodiments, the charging power Pcharge is greater than or equal to 1000W. As an example, Pcharge is greater than or equal to 1000W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 1000W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 1000W and less than or equal to 2500W.

[0564] In some embodiments, the charging power Pcharge is greater than or equal to 1100W. As an example, Pcharge is greater than or equal to 1100W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 1100W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 1100W and less than or equal to 2500W.

[0565] In some embodiments, the charging power Pcharge is greater than or equal to 1200W. As an example, Pcharge is greater than or equal to 1200W and less than or equal to 3300W. As another example, Pcharge is greater than or equal to 1200W and less than or equal to 3000W. As yet another example, Pcharge is greater than or equal to 1200W and less than or equal to 2500W.

[0566] In some embodiments, the charging power Pcharge is less than or equal to 3300W. As an example, the charging power Pcharge is less than or equal to 3000W. As another example, the charging power Pcharge is less than or equal to 2500W.

[0567] As an extension of any of the above embodiments, in some embodiments, the working width of the working component 11 is configured as d. The working component cuts to form a coverage area during operation, and the maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d. The first controller 13 controls the moving motor 102 so that the autonomous mobile robot moves at a speed of V1 when working in the work area. The working width d and the moving speed V1 satisfy: d*V1 ≥ 0.2 square meters / second. It can be understood that d*V1 represents the area of ​​grass mowing by the automatic lawnmower 10 per unit time, reflecting the working efficiency of the automatic lawnmower 10.

[0568] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.2 square meters / second.

[0569] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.4 square meters / second.

[0570] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.5 square meters / second.

[0571] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥0.7 square meters / second.

[0572] In some embodiments, the working width d and the moving speed V1 satisfy: d*V1≥1 square meter / second.

[0573] As an extension of any of the above embodiments, in some embodiments, the first controller 13 is configured to control the mobile motor 102, such that the autonomous mobile robot moves at a speed of V1 when working in the work area; wherein the moving speed V1 is greater than 1 m / s. As an example, the moving speed V1 is greater than or equal to 1 m / s and less than or equal to 5 m / s. As an example, the moving speed V1 is greater than or equal to 1 m / s and less than or equal to 3 m / s. As an example, the moving speed V1 is greater than or equal to 1 m / s and less than or equal to 2.5 m / s.

[0574] In some embodiments, the movement speed V1 is greater than or equal to 1.2 m / s. As an example, the movement speed V1 is greater than or equal to 1.2 m / s and less than or equal to 5 m / s. As an example, the movement speed V1 is greater than or equal to 1.2 m / s and less than or equal to 3 m / s. As an example, the movement speed V1 is greater than or equal to 1.2 m / s and less than or equal to 2.5 m / s.

[0575] In some embodiments, the movement speed V1 is greater than or equal to 1.5 m / s. As an example, the movement speed V1 is greater than or equal to 1.5 m / s and less than or equal to 5 m / s. As an example, the movement speed V1 is greater than or equal to 1.5 m / s and less than or equal to 3 m / s. As an example, the movement speed V1 is greater than or equal to 1.5 m / s and less than or equal to 2.5 m / s.

[0576] In some embodiments, the movement speed V1 is greater than or equal to 2 m / s. As an example, the movement speed V1 is greater than or equal to 2 m / s and less than or equal to 5 m / s. As an example, the movement speed V1 is greater than or equal to 2 m / s and less than or equal to 3 m / s. As an example, the movement speed V1 is greater than or equal to 2 m / s and less than or equal to 2.5 m / s.

[0577] In some embodiments, the movement speed V1 is less than or equal to 5 m / s. As an example, the movement speed V1 is less than or equal to 3 m / s. As another example, the movement speed V1 is less than or equal to 2.5 m / s.

[0578] In the above embodiment, the first controller 13 of the automatic lawnmower 10 precisely controls the output power of the moving motor 102 to limit the moving speed V1 within the working area to a range greater than or equal to 1 m / s (i.e., 3600 m / h) and less than or equal to 5 m / s (i.e., 18000 m / h). Simultaneously, it combines a vision sensor (such as a monocular / dual-lens camera) to achieve obstacle avoidance. The obstacle avoidance capability of the vision sensor is limited by the image acquisition frame rate and recognition delay. If V1 exceeds 5 m / s, the lawnmower will move more than 1 meter within a 0.2-second delay, potentially leading to untimely obstacle avoidance. A V1 greater than or equal to 1 m / s avoids excessively low operating efficiency. In this embodiment, the range of 1 to 5 m / s ensures both reliable obstacle avoidance by the vision sensor and the operating efficiency of the automatic lawnmower 10.

[0579] If users require higher operational efficiency (such as for larger commercial lawns), a lidar sensor can be added to this embodiment: the lidar has an obstacle avoidance response delay of only 0.05 seconds and a detection distance of up to 5 meters, at which point V1 can be safely increased to 6 to 8 m / s; and the speed range of this embodiment serves as a "basic configuration", which not only meets user needs but also reserves hardware upgrade space for high-end scenarios, thereby improving the market compatibility of the product.

[0580] In a further embodiment, the cutting quality (stubble smoothness) of the automatic lawnmower 10 is strongly correlated with the "moving speed V1" and the "cutting speed n of the blade driven by the working motor 101": when V1 increases, the time it takes for the grass stems to pass through the cutting area is shortened, and the cutting speed n needs to be increased simultaneously to ensure that the grass stems are completely cut; however, excessively high n will increase safety risks (such as being hit by flying stones or being struck by sticks). Therefore, the matching rule between V1 and n in this embodiment is:

[0581] V1 = 1.5 to 3 m / s (medium and low speed): cutting speed n = 3000 to 4000 r / min. At this speed, the grass stem passes through at a moderate speed. The low speed can prevent the stones from being thrown away at high speed, while meeting the impact energy limit of the safety regulation "stick impact test" (impact energy ≤ 5J).

[0582] V1 = 3 to 4 m / s (medium to high speed): cutting speed n = 4000 to 5000 r / min, synchronously increasing the speed to ensure cutting quality, while limiting the distance of the stone flying out to ≤1m by "blade guard curvature optimization" (guard opening angle ≤30°);

[0583] V1 = 4 to 5 m / s (high speed): cutting speed n = 5000 to 5500 r / min (not exceeding the safety threshold of 5500 r / min), and at the same time, a "stone detection sensor" (reusing a vision sensor to identify hard objects) is added. When a stone is detected, n is temporarily reduced to 3000 r / min to avoid dangerous ejection.

[0584] As an extension of any of the above embodiments, in some embodiments, the working width of the working component 11 is configured as d. The working component cuts to form a coverage area during operation, and the maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d, wherein the working width d is greater than or equal to 8 inches. As an example, the working width d is greater than or equal to 8 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 8 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 8 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 8 inches and less than or equal to 30 inches.

[0585] In some embodiments, the working width d is greater than or equal to 9 inches. As an example, the working width d is greater than or equal to 9 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 9 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 9 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 9 inches and less than or equal to 30 inches.

[0586] In some embodiments, the working width d is greater than or equal to 14 inches. As an example, the working width d is greater than or equal to 14 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 14 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 14 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 14 inches and less than or equal to 30 inches.

[0587] In some embodiments, the working width d is greater than or equal to 20 inches. As an example, the working width d is greater than or equal to 20 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 20 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 20 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 20 inches and less than or equal to 30 inches.

[0588] In some embodiments, the working width d is greater than or equal to 23 inches. As an example, the working width d is greater than or equal to 23 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 23 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 23 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 23 inches and less than or equal to 30 inches.

[0589] In some embodiments, the working width d is greater than or equal to 24 inches. As an example, the working width d is greater than or equal to 24 inches and less than or equal to 80 inches. As another example, the working width d is greater than or equal to 24 inches and less than or equal to 60 inches. As an example, the working width d is greater than or equal to 24 inches and less than or equal to 40 inches. As an example, the working width d is greater than or equal to 24 inches and less than or equal to 30 inches.

[0590] In some embodiments, the working width d is less than or equal to 80 inches. As an example, the working width d is less than or equal to 60 inches. As another example, the working width d is less than or equal to 40 inches. As yet another example, the working width d is less than or equal to 30 inches.

[0591] In the above embodiments, the value of the working width d is positively correlated with the cost of the automatic lawnmower 10: the larger the working width d, the higher the design and manufacturing cost of the working component 11. A larger working width d requires the working component 11 to use longer, high-strength alloy blades, a thicker drive shaft, and a higher-power working motor 101, leading to an increase in the overall cost of the working component 11. Simultaneously, the increased difficulty in transporting, installing, and maintaining the larger working component 11 further indirectly increases the overall cost of the product. Therefore, it is necessary to reasonably control the working width d to control the cost of the automatic lawnmower 10. As an extension of any of the above embodiments, in some embodiments, the constant η is greater than or equal to 0.5. It is understood that the constant η characterizes the effective coverage rate of the automatic lawnmower 10; the larger η is, the higher the effective coverage rate of the automatic lawnmower 10, and the higher the mowing efficiency.

[0592] As an example, the constant η is greater than or equal to 0.7.

[0593] As an example, the constant η is greater than or equal to 0.8.

[0594] As an example, the constant η is greater than or equal to 0.9.

[0595] As an extension of any of the above embodiments, in some embodiments, the energy storage unit 14 has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh. For example, the energy storage unit 14 has a capacity of 1000Wh, 1100Wh, 1500Wh, 1700Wh, 1800Wh, 2000Wh, 2200Wh, 2500Wh, 2800Wh, 2900Wh, or 3000Wh.

[0596] As an extension of any of the above embodiments, in some embodiments, the distance traveled by the automatic lawnmower 10 from the interrupted position back to the charging station 20 is L / 2 meters, where L / 2 is greater than or equal to 50 meters. As an example, L / 2 is greater than or equal to 50 meters and less than or equal to 5000 meters. As another example, L / 2 is greater than or equal to 50 meters and less than or equal to 2000 meters.

[0597] In some embodiments, the distance traveled by the automatic lawnmower 10 from the interrupted position back to the charging station 20 is L / 2 meters, where L / 2 is less than or equal to 5000 meters. As an example, L / 2 is less than or equal to 2000 meters.

[0598] As an extension of any of the above embodiments, in some embodiments, the first controller 13 is configured to control the mobile motor 102 such that the autonomous mobile robot moves at a speed of V2 when traveling back and forth between the charging station 20 and the breakpoint position; wherein the moving speed V2 is greater than 1 m / s. As an example, the moving speed V2 is greater than or equal to 1 m / s and less than or equal to 5 m / s. As an example, the moving speed V2 is greater than or equal to 1 m / s and less than or equal to 3 m / s. As an example, the moving speed V2 is greater than or equal to 1 m / s and less than or equal to 2.5 m / s.

[0599] In some embodiments, the movement speed V2 is greater than or equal to 1.2 m / s. As an example, the movement speed V2 is greater than or equal to 1.2 m / s and less than or equal to 5 m / s. As an example, the movement speed V2 is greater than or equal to 1.2 m / s and less than or equal to 3 m / s. As an example, the movement speed V2 is greater than or equal to 1.2 m / s and less than or equal to 2.5 m / s.

[0600] In some embodiments, the movement speed V2 is greater than or equal to 1.5 m / s. As an example, the movement speed V2 is greater than or equal to 1.5 m / s and less than or equal to 5 m / s. As an example, the movement speed V2 is greater than or equal to 1.5 m / s and less than or equal to 3 m / s. As an example, the movement speed V2 is greater than or equal to 1.5 m / s and less than or equal to 2.5 m / s.

[0601] In some embodiments, the movement speed V2 is greater than or equal to 2 m / s. As an example, the movement speed V2 is greater than or equal to 2 m / s and less than or equal to 5 m / s. As an example, the movement speed V2 is greater than or equal to 2 m / s and less than or equal to 3 m / s. As an example, the movement speed V2 is greater than or equal to 2 m / s and less than or equal to 2.5 m / s.

[0602] In some embodiments, the movement speed V2 is less than or equal to 5 m / s. As an example, the movement speed V2 is less than or equal to 3 m / s. As another example, the movement speed V2 is less than or equal to 2.5 m / s.

[0603] To match the high charging power (e.g., charging power P_charging greater than or equal to 400W, specifically 500W, 600W, 700W, 800W, 1000W, 1100W, 1200W, 2000W, 2500W, and 3000W) in Embodiments 2 to 5 above, the charging voltage and / or charging current of charging station 20 can be increased. The selection of charging voltage and charging current can refer to Embodiment 1 above. To ensure the safety of charging station 20 when charging the automatic lawnmower 10 with high charging voltage and high current, the adopted scheme can also refer to Embodiment 1 above, and will not be elaborated upon here. In other words, Embodiments 2 to 5 can all be combined with Embodiment 1 to solve the problem of how to charge quickly and how to ensure charging safety while charging quickly.

[0604] In the above embodiment two, by reducing the charging time t2, the working time t1 of the automatic lawnmower 10 is made greater than the charging time t2. At the same time, the cutting ability is improved by increasing P1+P2, and / or increasing d*V1, and / or increasing V1, and / or increasing d. On this basis, in order to further achieve the goal of cutting an area of ​​more than 17,000 square meters within a predetermined time (12 hours), further measures can be taken. Please refer to embodiment three for the further measures taken, which will not be repeated here.

[0605] It should be understood that in the embodiments of this disclosure, the controller may include a processor, which may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, for executing related programs to implement the technical solutions provided in the embodiments of this disclosure.

[0606] The storage device (also referred to as memory) in the embodiments of this application may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the processor may also include non-volatile random access memory. For example, the processor may also store device type information.

[0607] In implementation, each step of the above method can be completed through integrated logic circuits in the hardware of the controller or through software instructions. The method for requesting uplink transmission resources disclosed in this embodiment can be directly implemented by a hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the controller reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0608] It should be understood that in the embodiments of this disclosure, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0609] It should be understood that in the embodiments of this disclosure, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0610] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0611] It should be understood that in the various embodiments of this disclosure, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0612] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0613] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0614] In addition, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0615] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can read or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0616] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An autonomous working system, characterized in that, include: Automatic lawnmowers, including: Chassis; An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower; A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the rated power of the working motor being configured to be P1 watts; A moving component and a moving motor, the moving component being connected to the moving motor and configured to drive the chassis to move by the moving motor; the rated power of the moving motor is configured to be P2 watts; A first controller is configured to control the working motor and the moving motor to control the operation and movement of the automatic lawnmower; The first controller is also configured to, when the remaining power of the energy storage unit meets a preset condition, control the automatic lawnmower to start returning to the charging station to charge the energy storage unit; when the power of the energy storage unit rises to a level greater than or equal to a preset working power level, control the automatic lawnmower to return to a preset position in the working area and start working again; the charging time from when the automatic lawnmower docks with the charging station and starts charging until the power of the energy storage unit rises to the preset working power level is t2; the working time from when the automatic lawnmower reaches the preset position in the working area and starts working until it starts returning to the charging station is t1. The autonomous working system also includes: The charging station is configured to dock with the automatic lawnmower to charge the energy storage unit, and its charging power is configured to be P charging watts; The autonomous working system shall satisfy at least one of the following formulas: 1:1 ≤ P_charge / (P1 + P2) ≤ 10:1; 1:1≤t1 / t2≤10:

1.

2. The autonomous working system according to claim 1, characterized in that, The autonomous working system shall satisfy at least one of the following formulas: 2:1 ≤ P_charge / (P1 + P2) ≤ 5:1; 2:1≤t1 / t2≤5:

1.

3. The autonomous working system according to claim 2, characterized in that, The autonomous working system shall satisfy at least one of the following formulas: 2:1 ≤ P_charge / (P1 + P2) ≤ 3:1; 2:1≤t1 / t2≤3:

1.

4. The autonomous working system according to any one of claims 1-3, characterized in that, The total energy stored in the energy storage unit is configured to be E watt-hours, and the autonomous operating system satisfies at least one of the following formulas: 1.2≤E / (P1+P2)≤12; 1.2≤t1≤12。 5. The autonomous working system according to claim 4, characterized in that, The energy storage unit has a power of 1000Wh and less than or equal to 3000Wh, the rated power of the mobile motor P2 is 100W and less than or equal to 1100W, and the rated power of the working motor P1 is 100W and less than or equal to 2000W, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12, and 1.2≤t1≤12.

6. The autonomous working system according to claim 4, characterized in that, The energy storage unit has a power of 1000Wh or more and 3000Wh or less. The automatic lawnmower moves at a speed of 3600m / h or more and 10800m / h or less when working in the work area. The diameter of the covered area is 8 inches or more and 80 inches or less. E, P1, and P2 satisfy the following relationships: 1.2 ≤ E / (P1+P2) ≤ 12, and 1.2 ≤ t1 ≤ 12.

7. The autonomous working system according to any one of the preceding claims, characterized in that, The total energy stored in the energy storage unit is configured to be E watt-hours, and the autonomous operating system satisfies at least one of the following formulas: 0.16≤E / P charge≤2; 0.16≤t2≤2。 8. The autonomous working system according to claim 7, characterized in that, The energy storage unit has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging power Pcharge of the charging station is greater than or equal to 400W and less than or equal to 6250W, such that E and Pcharge are in the following relationship: 0.16≤E / Pcharge≤2, and 0.16≤t2≤2.

9. The autonomous working system according to claim 7, characterized in that, The energy storage unit has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging power Pcharge of the charging station is greater than or equal to 400W and less than or equal to 6250W, such that E and Pcharge are in the following relationship: 0.16≤E / Pcharge≤2, and 0.16≤t2≤2.

10. The autonomous working system according to any one of the preceding claims, characterized in that, The total energy stored in the energy storage unit is configured as E watt-hours; The working width of the working component is configured to be d meters. When the working component is working, it cuts to form a coverage area. The maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d. The first controller is configured to control the moving motor such that the automatic lawnmower moves at a speed of V1 meters per hour when working in the work area, moves at a speed of V2 meters per hour when traveling back and forth between the charging station and the interruption position, and travels a distance of L meters between the charging station and the interruption position. The interruption position is the location where the automatic lawnmower stops working and returns to the charging station after the remaining power of the energy storage unit meets a preset condition. The first controller is also configured to, when the remaining power of the energy storage unit meets a preset condition, control the automatic lawnmower to start returning to the charging station to charge the energy storage unit; and when the power of the energy storage unit rises to a level greater than or equal to a preset working power level, control the automatic lawnmower to return to the working area and start continuing to work. Wherein, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship: (V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥17000 / 12, η is a constant greater than zero and less than or equal to 1, representing the effective coverage rate of the coverage area when the automatic lawnmower is working in the work area.

11. The autonomous working system according to claim 10, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: (V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥18000 / 12.

12. The autonomous working system according to claim 10, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: 17000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤100000 / 12.

13. The autonomous working system according to claim 12, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: 18000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤30000 / 12.

14. The autonomous working system according to claim 13, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: 19000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤30000 / 12.

15. The autonomous working system according to any one of the preceding claims, characterized in that, The total energy stored in the energy storage unit is configured as E watt-hours; The first controller is configured to control the moving motor such that the automatic lawnmower moves at a speed of V2 meters per hour between the charging station and the interruption position, and travels a distance of L meters between the charging station and the interruption position. The interruption position is when the remaining power of the energy storage unit meets a preset condition, at which point the automatic lawnmower stops working and returns to the charging station. The first controller is also configured to, when the remaining power of the energy storage unit meets a preset condition, control the automatic lawnmower to start returning to the charging station to charge the energy storage unit; and when the power of the energy storage unit rises to a level greater than or equal to a preset working power level, control the automatic lawnmower to return to the working area and start continuing to work. Wherein, L, E, Pcharge, V2, P1, and P2 satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤12.

16. The autonomous working system according to claim 15, characterized in that, L, E, P, V2, P1, and P2 satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤6.

17. The autonomous working system according to claim 16, characterized in that, L, E, P, V2, P1, and P2 satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤4.

18. The autonomous working system according to any one of the preceding claims, characterized in that... The total energy stored in the energy storage unit is configured as E watt-hours; The first controller is configured to control the moving motor such that the automatic lawnmower moves at a speed of V2 meters per hour between the charging station and the interruption position, and travels a distance of L meters between the charging station and the interruption position. The interruption position is when the remaining power of the energy storage unit meets a preset condition, at which point the automatic lawnmower stops working and returns to the charging station. The first controller is also configured to, when the remaining power of the energy storage unit meets a preset condition, control the automatic lawnmower to start returning to the charging station to charge the energy storage unit; and when the power of the energy storage unit rises to a level greater than or equal to a preset working power level, control the automatic lawnmower to return to the working area and start continuing to work. Among them, E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

5.

19. The autonomous working system according to claim 18, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

6.

20. The autonomous working system according to claim 19, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

7.

21. The autonomous working system according to any one of claims 18-20, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤0.

9.

22. An autonomous working system, characterized in that, include: Automatic lawnmowers, including: Chassis; An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower, and the total energy it can store is configured to be E watt-hours; The automatic lawnmower includes a working component and a working motor. The working component is connected to the working motor and configured to be driven by the working motor to perform working tasks. The working width of the working component is configured to be d meters. The working component cuts to form a coverage area during operation. The maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d. The rated power of the working motor is configured to be P1 watts. A moving component and a moving motor, the moving component being connected to the moving motor and configured to drive the chassis to move by the moving motor; the rated power of the moving motor is configured to be P2 watts; A first controller is configured to control the working motor and the moving motor to control the operation and movement of the automatic lawnmower. The first controller controls the moving motor so that the automatic lawnmower moves at a speed of V1 meters per hour when working in the working area, moves at a speed of V2 meters per hour when traveling back and forth between the charging station and the interruption position, and travels a distance of L meters between the charging station and the interruption position. The interruption position is when the remaining power of the energy storage unit meets a preset condition, at which point the automatic lawnmower stops working and returns to the charging station. The autonomous working system also includes: The charging station is configured to dock with the automatic lawnmower to charge the energy storage unit, and its charging power is configured to be P charging watts; The first controller is configured to control the automatic lawnmower to start returning to the charging station to charge the energy storage unit when the remaining power of the energy storage unit meets a preset condition; and to control the automatic lawnmower to return to the working area and start working again when the power of the energy storage unit rises to a level greater than or equal to a preset working power. Wherein, V1, d, E, η, Pcharge, V2, P1, P2, and L satisfy the following relationship: (V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥17000 / 12, η is a constant greater than zero and less than or equal to 1, representing the effective coverage rate of the coverage area when the automatic lawnmower is working in the work area.

23. The autonomous working system according to claim 22, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: (V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥18000 / 12.

24. The autonomous working system according to claim 22, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: 17000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤100000 / 12.

25. The autonomous working system according to claim 24, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: 18000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤30000 / 12.

26. The autonomous working system according to claim 25, characterized in that, V1, d, E, η, Pcharge, V2, P1, P2, L satisfy the following relationship: 19000 / 12≤(V1*d*E*η*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤30000 / 12.

27. The autonomous working system according to any one of claims 22-26, characterized in that, L, E, P, V2, P1, and P2 satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤12.

28. The autonomous working system according to claim 27, characterized in that, L, E, P, V2, P1, and P2 satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤6.

29. The autonomous working system according to claim 28, characterized in that, L, E, P, V2, P1, and P2 satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)Pcharge*V2)≤4.

30. The autonomous working system according to any one of claims 22-29, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

5.

31. The autonomous working system according to claim 30, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

6.

32. The autonomous working system according to claim 31, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

7.

33. The autonomous working system according to any one of claims 30-32, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤0.

9.

34. An autonomous working system, characterized in that, include: Automatic lawnmowers, including: Chassis; An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower; A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation; A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis; A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower; The autonomous working system also includes: A charging station is configured to dock with the automatic lawnmower to charge the energy storage unit; The first controller is configured to, when the remaining power of the energy storage unit meets a preset condition, control the automatic lawnmower to start returning to the charging station to charge the energy storage unit; when the power of the energy storage unit rises to a level greater than or equal to a preset working power level, control the automatic lawnmower to return to a preset position in the working area and start continuing to work. The configuration of the energy storage unit's power, the rated power of the working motor, and the rated power of the moving motor ensures that the working time of the automatic lawnmower is t1. The working time t1 is the time from when the automatic lawnmower reaches a preset position in the working area and starts working until it starts returning to the charging station. The configuration of the energy storage unit's power and the charging station's charging power ensures that the automatic lawnmower's charging time is t2, which is the time from when the automatic lawnmower connects to the charging station and starts charging until the energy storage unit's power rises to the preset working power. The rated power configuration of the mobile motor makes the return time of the automatic lawnmower t3. The return time includes the time for the automatic lawnmower to travel back and forth between the charging station and the interruption position. The interruption position is the position where the automatic lawnmower stops working and returns to the charging station after the remaining power of the energy storage unit meets the preset conditions. The working area completed by the automatic lawnmower in the working time t1 is S. The working area S = V1*t1*d*η, where V1 is the moving speed of the automatic lawnmower when working in the working area, d is the diameter of the covered area, and η is a constant greater than 0 and less than or equal to 1, representing the effective coverage rate of the covered area when the automatic lawnmower is working in the working area. The working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: S / (t1+t2+t3)≥17000 / 12.

35. The autonomous working system according to claim 34, characterized in that, The working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: S / (t1+t2+t3)≥18000 / 12.

36. The autonomous working system according to claim 34, characterized in that, The working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: 17000 / 12≤S / (t1+t2+t3)≤100000 / 12.

37. The autonomous working system according to claim 36, characterized in that, The working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: 18000 / 12≤S / (t1+t2+t3)≤30000 / 12.

38. The autonomous working system according to claim 37, characterized in that, The working area S, working time t1, charging time t2, and homing time t3 satisfy the following relationship: 19000 / 12≤S / (t1+t2+t3)≤30000 / 12.

39. An autonomous working system, characterized in that, include: Automatic lawnmowers, including: Chassis; An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower, and the total energy it can store is configured to be E watt-hours; A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the rated power of the working motor being configured to be P1 watts; A moving component and a moving motor, the moving component being connected to the moving motor and configured to drive the chassis to move by the moving motor; the rated power of the moving motor is configured to be P2 watts; A first controller is configured to control the working motor and the moving motor to control the operation and movement of the automatic lawnmower, wherein the first controller controls the moving motor such that the automatic lawnmower moves at a speed of V2 meters / hour between the charging station and the interruption position, and the distance traveled between the charging station and the interruption position is L meters. The interruption position is when the remaining power of the energy storage unit meets a preset condition, at which point the automatic lawnmower stops working and returns to the charging station. The autonomous working system also includes: The charging station is configured to dock with the automatic lawnmower to charge the energy storage unit, and its charging power is configured to be P charging watts; Among them, E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge) / ((P1+P2)*Pcharge*V2)≤12.

40. The autonomous working system according to claim 39, characterized in that, E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2 + E*(P1+P2)*V2 + L*(P1+P2)*Pcharge) / ((P1+P2)*Pcharge*V2)≤6.

41. The autonomous working system according to claim 40, characterized in that, E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2 + E*(P1+P2)*V2 + L*(P1+P2)*Pcharge) / ((P1+P2)*Pcharge*V2)≤4.

42. The autonomous working system according to any one of claims 39-41, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

5.

43. The autonomous working system according to claim 42, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

6.

44. The autonomous working system according to claim 43, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≥0.

7.

45. The autonomous working system according to any one of claims 42-44, characterized in that... E, Pcharge, V2, P1, P2, and L satisfy the following relationship: (E*Pcharge*V2) / (E*Pcharge*V2+E*(P1+P2)*V2+L*(P1+P2)*Pcharge)≤0.

9.

46. ​​The autonomous working system according to any one of claims 10-45, characterized in that, E, P1, and P2 satisfy the following relationship: 1.2 ≤ E / (P1+P2) ≤ 12.

47. The autonomous working system according to claim 46, characterized in that, The energy storage unit has a power of 1000Wh and less than or equal to 3000Wh, the mobile motor has a rated power of 100W and less than or equal to 1100W, and the working motor has a rated power of 100W and less than or equal to 2000W, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12.

48. The autonomous working system according to claim 46, characterized in that, The energy storage unit has a power of 1000Wh or less than 3000Wh, the automatic lawnmower moves at a speed of 3600m / h or less than 10800m / h when working in the work area, and the diameter of the covered area is 8 inches or less than 80 inches, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12.

49. The autonomous working system according to any one of claims 10-48, characterized in that, The following relationship exists between E and P being filled: 0.16 ≤ E / P filled ≤ 2.

50. The autonomous working system according to claim 49, characterized in that, The energy storage unit has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging power P_charge of the charging station is greater than or equal to 700W and less than or equal to 6250W, such that E and P_charge have the following relationship: 0.16≤E / P_charge≤2.

51. The autonomous working system according to any one of claims 10-50, characterized in that, L and V2 satisfy the following relationship: 0.016≤L / V2≤0.

5.

52. The autonomous working system according to claim 51, characterized in that, The automatic lawnmower's traveling speed V2 between the charging station and the interruption point is greater than or equal to 3600 m / h and less than or equal to 10800 m / h, and the distance traveled by the automatic lawnmower between the charging station and the interruption point is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016≤L / V2≤0.

5.

53. The autonomous working system according to claim 51, characterized in that, The rated power P2 of the mobile motor is greater than or equal to 150W and less than or equal to 1100W, and the distance traveled by the automatic lawnmower between the charging station and the interruption position is greater than or equal to 50m and less than or equal to 5000m, such that L and V2 satisfy the following relationship: 0.016≤L / V2≤0.

5.

54. The autonomous working system according to any one of claims 10-45, characterized in that, E, P1, and P2 satisfy the following relationship: 1.2 ≤ E / (P1+P2) ≤ 12; The following relationship exists between E and P being fully charged: 0.16 ≤ E / Pcharged ≤ 2; L and V2 satisfy the following relationship: 0.016≤L / V2≤0.

5.

55. The autonomous working system according to claim 54, characterized in that, The energy storage unit has a power E greater than or equal to 1000Wh and less than or equal to 3000Wh, the mobile motor has a rated power P2 greater than or equal to 150W and less than or equal to 1100W, and the working motor has a rated power P1 greater than or equal to 400W and less than or equal to 2000W, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12; The energy storage unit has a capacity E greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging station has a charging power P greater than or equal to 400W and less than or equal to 6250W, such that E and P are fully charged with the following relationship: 0.16≤E / P≤2. The automatic lawnmower's traveling speed V2 between the charging station and the interruption point is greater than or equal to 3600 m / h / s and less than or equal to 10800 m / h, and the distance L traveled by the automatic lawnmower between the charging station and the interruption point is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016≤L / V2≤0.

5.

56. The autonomous working system according to claim 54, characterized in that, The energy storage unit has a power E greater than or equal to 1000Wh and less than or equal to 3000Wh, the automatic lawnmower moves at a speed V1 greater than or equal to 3600m / h and less than or equal to 10800m / h when working in the work area, and the working width d is greater than or equal to 8 inches and less than or equal to 80 inches, such that E, P1, and P2 satisfy the following relationship: 1.2≤E / (P1+P2)≤12; The energy storage unit has a capacity greater than or equal to 1000Wh and less than or equal to 3000Wh, and the charging power P_charge of the charging station is greater than or equal to 400W and less than or equal to 6250W, such that E and P_charge have the following relationship: 0.16≤E / P_charge≤2. The automatic lawnmower's traveling speed V2 between the charging station and the interruption point is greater than or equal to 3600 m / h and less than or equal to 10800 m / h, and the distance L traveled between the charging station and the interruption point is greater than or equal to 50 m and less than or equal to 5000 m, such that L and V2 satisfy the following relationship: 0.016≤L / V2≤0.

5.

57. The autonomous working system according to any one of the preceding claims, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy: P1+P2≥150W.

58. The autonomous working system according to claim 57, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy: P1+P2≥200W.

59. The autonomous working system according to claim 58, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy: P1+P2≥300W.

60. The autonomous working system according to claim 59, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy: P1+P2≥350W.

61. The autonomous working system according to claim 60, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy: P1+P2≥600W.

62. The autonomous working system according to claim 61, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy: P1+P2≥900W.

63. The autonomous working system according to claim 62, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy: P1+P2≥1200W.

64. The autonomous working system according to any one of claims 57-63, characterized in that, The rated power P1 of the working motor and the rated power P2 of the moving motor satisfy the following condition: P1 + P2 ≤ 3300W.

65. The autonomous working system according to any one of the preceding claims, characterized in that, The rated power P1 of the working motor is greater than or equal to 100W.

66. The autonomous working system according to claim 65, characterized in that, The rated power P1 of the working motor is greater than or equal to 400W.

67. The autonomous working system according to claim 66, characterized in that, The rated power P1 of the working motor is greater than or equal to 600W.

68. The autonomous working system according to claim 67, characterized in that, The rated power P1 of the working motor is greater than or equal to 800W.

69. The autonomous working system according to claim 68, characterized in that, The rated power P1 of the working motor is greater than or equal to 1200W.

70. The autonomous working system according to any one of claims 64-68, characterized in that, The rated power P1 of the working motor is less than or equal to 2000W.

71. The autonomous working system according to any one of the preceding claims, characterized in that, The rated power P2 of the mobile motor is greater than or equal to 100W.

72. The autonomous working system according to claim 71, characterized in that, The rated power P2 of the mobile motor is greater than or equal to 150W.

73. The autonomous working system according to claim 72, characterized in that, The rated power P2 of the mobile motor is greater than or equal to 200W.

74. The autonomous working system according to claim 731, characterized in that, The rated power P2 of the mobile motor is greater than or equal to 300W.

75. The autonomous working system according to claim 74, characterized in that, The rated power P2 of the mobile motor is greater than or equal to 400W.

76. The autonomous working system according to any one of claims 71-75, characterized in that, The rated power P2 of the mobile motor is less than or equal to 1100W.

77. The autonomous working system according to any one of the preceding claims, characterized in that, The charging power P is greater than or equal to 400W.

78. The autonomous working system according to claim 77, characterized in that, The charging power P is greater than or equal to 500W.

79. The autonomous working system according to claim 78, characterized in that, The charging power P is greater than or equal to 600W.

80. The autonomous working system according to claim 79, characterized in that, The charging power P is greater than or equal to 700W.

81. The autonomous working system according to claim 80, characterized in that, The charging power P is greater than or equal to 800W.

82. The autonomous working system according to claim 81, characterized in that, The charging power P is greater than or equal to 1000W.

83. The autonomous working system according to claim 82, characterized in that, The charging power P is greater than or equal to 1100W.

84. The autonomous working system according to claim 83, characterized in that, The charging power P is greater than or equal to 1200W.

85. The autonomous working system according to any one of claims 77-84, characterized in that, The charging power P is less than or equal to 3300W.

86. The autonomous working system according to claim 85, characterized in that, The charging power P is less than or equal to 3000W.

87. The autonomous working system according to claim 86, characterized in that, The charging power P is less than or equal to 2500W.

88. The autonomous working system according to any one of the preceding claims, characterized in that, The working width of the working component is configured as d. When the working component is working, it cuts to form a coverage area. The maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d. The first controller controls the moving motor so that the automatic lawnmower moves at a speed of V1 when working in the working area. The working width d and the moving speed V1 satisfy: d*V1≥0.2 square meters / second.

89. The autonomous working system according to claim 88, characterized in that, The working width d and the moving speed V1 satisfy: d*V1≥0.2 square meters / second.

90. The autonomous working system according to claim 89, characterized in that, The working width d and the moving speed V1 satisfy: d*V1≥0.4 square meters / second.

91. The autonomous working system according to claim 90, characterized in that, The working width d and the moving speed V1 satisfy: d*V1≥0.5 square meters / second.

92. The autonomous working system according to claim 91, characterized in that, The working width d and the moving speed V1 satisfy: d*V1≥0.7 square meters / second.

93. The autonomous working system according to claim 92, characterized in that, The working width d and the moving speed V1 satisfy: d*V1≥1 square meter / second.

94. The autonomous working system according to any one of the preceding claims, characterized in that, The first controller is configured to control the moving motor such that the automatic lawnmower moves at a speed of V1 when working in the work area; wherein the moving speed V1 is greater than or equal to 1 meter / second.

95. The autonomous working system according to claim 94, characterized in that, The moving speed is V1 greater than or equal to 1.2 meters per second.

96. The autonomous working system according to claim 95, characterized in that, The moving speed is V1 greater than or equal to 1.5 m / s.

97. The autonomous working system according to claim 96, characterized in that, The moving speed is V1 greater than or equal to 2 meters per second.

98. The autonomous working system according to any one of claims 94-97, characterized in that, The moving speed is V1 less than or equal to 5 meters per second.

99. The autonomous working system according to claim 98, characterized in that, The moving speed is V1 less than or equal to 3 meters per second.

100. The autonomous working system according to claim 99, characterized in that, The moving speed is V1 less than or equal to 2.5 meters per second.

101. The autonomous working system according to any one of the preceding claims, characterized in that, The working width of the working component is configured as d. The working component cuts to form a coverage area during operation. The maximum width of the coverage area in the left-right direction of the automatic lawnmower is the working width d, wherein the working width d is greater than or equal to 8 inches.

102. The autonomous working system according to claim 101, characterized in that, The working width d is greater than or equal to 9 inches.

103. The autonomous working system according to claim 102, characterized in that, The working width d is greater than or equal to 14 inches.

104. The autonomous working system according to claim 103, characterized in that, The working width d is greater than or equal to 20 inches.

105. The autonomous working system according to claim 104, characterized in that, The working width d is greater than or equal to 23 inches.

106. The autonomous working system according to claim 105, characterized in that, The working width d is greater than or equal to 24 inches.

107. The autonomous working system according to any one of claims 101-106, characterized in that, The working width d is less than or equal to 80 inches.

108. The autonomous working system according to claim 107, characterized in that, The working width d is less than or equal to 60 inches.

109. The autonomous working system according to claim 108, characterized in that, The working width d is less than or equal to 40 inches.

110. The autonomous working system according to claim 109, characterized in that, The working width d is less than or equal to 30 inches.

111. The autonomous working system according to any one of claims 10-110, characterized in that, The constant η is greater than or equal to 0.

5.

112. The autonomous working system according to claim 111, characterized in that, The constant η is greater than or equal to 0.

7.

113. The autonomous working system according to claim 112, characterized in that, The constant η is greater than or equal to 0.

8.

114. The autonomous working system according to claim 113, characterized in that, The constant η is greater than or equal to 0.

9.

115. The autonomous working system according to any of the preceding claims, characterized in that, The automatic lawnmower includes an energy storage unit with a power of 1000Wh or more and 3000Wh or less.

116. The autonomous working system according to any one of claims 10-115, characterized in that, The distance the automatic lawnmower travels from the interrupted position back to the charging station is L / 2 meters, where L / 2 is greater than or equal to 50 meters.

117. The autonomous working system according to claim 116, characterized in that, The distance the automatic lawnmower travels from the interrupted position back to the charging station is L / 2 meters, where L / 2 is less than or equal to 5000 meters.

118. The autonomous working system according to claim 117, characterized in that, The distance the automatic lawnmower travels from the interrupted position back to the charging station is L / 2 meters, where L / 2 is less than or equal to 2000 meters.

119. The autonomous working system according to claims 10-118, characterized in that, The moving speed is V2 greater than 1 meter / second.

120. The autonomous working system according to claim 119, characterized in that, The moving speed is V2 greater than 1.2 meters per second.

121. The autonomous working system according to claim 120, characterized in that, The moving speed is V2 greater than 1.5 meters per second.

122. The autonomous working system according to claim 121, characterized in that, The moving speed is V2 greater than 2 meters per second.

123. The autonomous working system according to any one of claims 119-122, characterized in that, The moving speed is V2 less than 5 meters per second.

124. The autonomous working system according to claim 123, characterized in that, The moving speed is V2 less than 3 meters per second.

125. The autonomous working system according to claim 124, characterized in that, The moving speed is V2 less than 2.5 meters per second.

126. The autonomous working system according to any one of the above, characterized in that, The automatic lawnmower also includes: The first charging terminal is electrically connected to the energy storage unit; The charging station also includes: The first controller is further configured to control the automatic lawnmower to move and dock with the charging station, so that the first charging terminal and the second charging terminal are electrically connected. A second controller is configured to control the charging voltage output by the charging station to the second charging terminal to start or terminate the charging of the energy storage power source. During at least a portion of the charging process of the charging station charging the energy storage power source, the second controller controls the charging voltage output by the charging station to the second charging terminal to be a first voltage, wherein the first voltage is greater than or equal to 36V.

127. The autonomous working system according to claim 126, characterized in that, The working component includes a cutting blade.

128. The autonomous working system according to claim 126 or 127, characterized in that, The second controller is also configured to detect the docking status of the charging station and the automatic lawnmower, and in response to the docking status being in a protected state, control the charging station to output the first voltage; or, control the charging station to output a second voltage before outputting the first voltage, wherein the second voltage is less than 36V.

129. The autonomous working system according to claim 128, characterized in that, The first controller is configured to send an electrical signal to the first charging terminal, the electrical signal forming a loop after the first charging terminal and the second charging terminal are connected. In response to the formation of the loop, the second controller determines that the connection state between the charging station and the automatic lawnmower is in the protected state.

130. The autonomous working system according to claim 128, characterized in that, The moving component is configured to move the automatic lawnmower closer to the charging station. The charging station also includes at least a first position detector connected to the second controller. The first position detector is triggered to generate a trigger signal after the first charging terminal moves to a docking position that is stably docked with the second charging terminal. The second controller responds to the trigger signal to determine that the docking state of the charging station and the automatic lawnmower is in the protected state.

131. The autonomous working system according to claim 128, characterized in that, The mobile component is configured to move the automatic lawnmower closer to the charging station. The first controller is configured to send an electrical signal to the first charging terminal, the electrical signal forming a loop after the first charging terminal and the second charging terminal are connected; The charging station also includes a first position detector connected to the second controller. The first position detector is triggered to generate a trigger signal after the first charging terminal moves to a docking position where it is stably docked with the second charging terminal. The second controller, in response to the formation of the loop and the trigger signal, determines that the docking status of the charging station and the automatic lawnmower is in the protected state.

132. The autonomous working system according to any one of claims 128-131, characterized in that, The second controller, in response to the docking state being in the protected state, controls the charging station to output a first voltage, including: the controller controls the charging station to directly output the first voltage; or, the second controller controls the charging station to output the first voltage in response to an electrical signal from the automatic lawnmower.

133. The autonomous working system according to any one of claims 128-131, characterized in that, The second controller, in response to the docking state being in the protection state, controls the charging station to output a second voltage and then output the first voltage, including: the second controller controls the charging station to directly output the second voltage and then continue to directly output the first voltage.

134. The autonomous working system according to any one of claims 128-131, characterized in that, The second controller, in response to the docking state being in the protection state, controls the charging station to output a second voltage and then output the first voltage, including: After the second controller controls the charging station to directly output the second voltage, it controls the charging station to output the first voltage in response to the electrical signal from the automatic lawnmower.

135. The autonomous working system according to any one of claims 128-134, characterized in that, The second controller is also configured to control the output voltage of the charging station to be less than 36V or to control the output voltage of the charging station to be 0 in response to the docking state not being in the protected state.

136. The autonomous working system according to any one of claims 128-135, characterized in that, The first controller is configured to send an electrical signal to the first charging terminal, the electrical signal forming a loop after the first charging terminal and the second charging terminal are connected, and the first controller controls the automatic lawnmower to brake in response to the formation of the loop.

137. The autonomous working system according to any one of claims 130-136, characterized in that, The moving component is also configured to move the automatic lawnmower away from the charging station. When the first charging terminal leaves the stable docking position, the trigger signal generated by the first position detector disappears. In response to the disappearance of the trigger signal, the second controller controls the output voltage of the charging station to be 0, or reduces the output voltage of the charging station to less than 36V.

138. The autonomous working system according to any one of claims 130-136, characterized in that, The first position detector includes a Hall sensor configured to generate the trigger signal in response to a change in the magnetism of a magnetic element.

139. The autonomous working system according to claim 138, characterized in that, The charging station also includes a collision block and the magnetic component. The collision block is displaced by the collision of the automatic lawnmower. The magnetic component is connected to the collision block and moves under the influence of the collision block. The Hall sensor generates the trigger signal in response to the movement of the magnetic component.

140. The autonomous working system according to any one of claims 128-139, characterized in that, The automatic lawnmower includes a first housing, and the charging station includes a second housing. When the automatic lawnmower and the charging station are in the protected state, the first housing and the second housing cooperate to surround the outer periphery of the first charging terminal and the second charging terminal, forming a barrier channel. The barrier channel is a channel connecting the external environment and the first charging terminal and the second charging terminal. The size of the barrier channel meets the preset conditions to prevent the user's fingers in the external environment from touching the first charging terminal and the second charging terminal.

141. The autonomous working system according to claim 140, characterized in that, The side of the charging station where the second charging terminal is installed is defined as the front side of the charging station. When the automatic lawnmower and the charging station are successfully docked, the first housing and the second housing overlap in the front-rear direction of the charging station to form the barrier channel. The preset conditions include at least one of the following: The length of the barrier channel is greater than or equal to 80mm. The barrier channel includes a starting point and an ending point. The starting point is the outer edge of the first housing near the second housing, referred to as the first outer edge. Alternatively, the starting point is the outer edge of the second housing near the first housing, referred to as the second outer edge. The ending point is the surface of the second charging terminal. The maximum width of the cross-sectional area of ​​the barrier channel shall not exceed 12 mm.

142. The autonomous working system according to claim 140, characterized in that, When the automatic lawnmower and the charging station are successfully docked, the first housing and the second housing do not overlap in the front-to-back direction to form a gap, which serves as the barrier channel. The preset condition includes that the width of the gap does not exceed 12mm.

143. The autonomous working system according to claim 140, characterized in that, Define the side of the charging station where the second charging terminal is installed as the front. When the automatic lawnmower and the charging station are successfully docked, the first housing and the second housing overlap in the front-rear direction of the charging station to form a barrier channel. The preset condition includes that the length of the overlapping part of the barrier channel in the front-rear direction is greater than or equal to 80mm.

144. The autonomous working system according to any one of claims 128-143, characterized in that, The second housing includes a shield and a side protection member. The shield is located at least above the second charging terminal, and its projection along the height direction of the charging station at least partially overlaps with the second charging terminal. The side protection member is disposed on the left and right sides of the charging station, and its projection along the left and right upward direction of the charging station at least partially overlaps with the second charging terminal.

145. The autonomous working system according to any one of claims 128-144, characterized in that, The first housing houses the first charging terminal and has an opening at least facing the second charging terminal to allow the first charging terminal to dock with the second charging terminal. After the first charging terminal moves to a docking position where it is stably docked with the second charging terminal, the first housing houses at least a portion of the second charging terminal, and the second housing surrounds the outer periphery of the first housing.

146. The autonomous working system according to any one of claims 126-145, characterized in that, The charging station also includes a first waterproof cover, which is located above the second charging terminal. The projection of the first waterproof cover along the height direction of the charging station covers the second charging terminal, and in the horizontal direction, the edge of the first waterproof cover extends beyond the second charging terminal by at least 10 mm.

147. The autonomous working system according to claim 146, characterized in that, After the second charging terminal is connected to the first charging terminal, it has a distal end that is away from the first charging terminal and a proximal end that is close to the first charging terminal. The distal end is connected to a downwardly inclined water guide, and the end of the water guide near the proximal end is higher than the end near the distal end.

148. The autonomous working system according to any one of claims 126-147, characterized in that, The first voltage is greater than or equal to 48V.

149. The autonomous working system according to claim 148, characterized in that, The first voltage is greater than or equal to 60V.

150. The autonomous working system according to claim 148 or 149, characterized in that, The first voltage is less than or equal to 90V.

151. The autonomous working system according to claim 150, characterized in that, The first voltage does not exceed 72V.

152. The autonomous working system according to any one of claims 126-151, characterized in that, The charging current of the charging station is greater than or equal to 13A.

153. The autonomous working system according to claim 152, characterized in that, The charging current of the charging station is greater than or equal to 14A.

154. The autonomous working system according to claim 153, characterized in that, The charging current of the charging station is greater than or equal to 20A.

155. The autonomous working system according to claim 154, characterized in that, The charging current of the charging station is greater than or equal to 30A.

156. The autonomous working system according to any one of claims 152-155, characterized in that, The charging current of the charging station is less than or equal to 55A.

157. The autonomous working system according to claim 156, characterized in that, The charging current of the charging station is less than or equal to 40A.

158. The autonomous working system according to any one of the preceding claims, characterized in that, The automatic lawnmower also includes: At least one first charging terminal is electrically connected to the energy storage unit; The charging station includes: At least one second charging terminal, and the first controller is further configured to control the automatic lawnmower to move and dock with the charging station so that the first charging terminal and the second charging terminal are electrically connected; Each of the first charging terminals includes at least three contacts. When the first charging terminal and the second charging terminal are electrically connected, the at least three contacts contact the outer surface of the second charging terminal to form at least three contact surfaces, and the at least three contact surfaces are not coplanar.

159. The autonomous working system according to claim 158, characterized in that, The three contact surfaces are distributed circumferentially along the second charging terminal.

160. The autonomous working system according to claim 158, characterized in that, At least one of the at least three contact surfaces is distributed at an axial distance from the other contact surfaces along the second charging terminal.

161. The autonomous working system according to claim 158, characterized in that, At least one of the at least three contacts is configured to be movable in a first direction, and another is configured to be movable in a second direction.

162. The autonomous working system according to claim 161, characterized in that, One of the at least three contacts is configured to move in a vertical plane, and another is configured to move in a horizontal plane.

163. The autonomous working system according to claim 162, characterized in that, The amount of movement in the horizontal direction and the amount of movement in the vertical direction are greater than or equal to the maximum docking deviation of the automatic lawnmower.

164. An autonomous working system, characterized in that, Including automatic lawnmowers and charging stations, The automatic lawnmower includes: Chassis; An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower; A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation; A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis; A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower; The first charging terminal is electrically connected to the energy storage unit; The charging station includes: The first controller is further configured to control the automatic lawnmower to move and dock with the charging station, so that the first charging terminal and the second charging terminal are electrically connected. A second controller is configured to control the charging voltage output by the charging station to the second charging terminal to start or terminate the charging of the energy storage power source. During at least a portion of the charging process of the charging station charging the energy storage power source, the second controller controls the charging voltage output by the charging station to the second charging terminal to be a first voltage, wherein the first voltage is greater than or equal to 36V.

165. The autonomous working system according to claim 164, characterized in that, The working component includes a cutting blade.

166. The autonomous working system according to claim 164 or 165, characterized in that, The second controller is also configured to detect the docking status of the charging station and the automatic lawnmower, and in response to the docking status being in a protected state, control the charging station to output the first voltage; or, control the charging station to output a second voltage before outputting the first voltage, wherein the second voltage is less than 36V.

167. The autonomous working system according to claim 166, characterized in that, The first controller is configured to send an electrical signal to the first charging terminal, the electrical signal forming a loop after the first charging terminal and the second charging terminal are connected. In response to the formation of the loop, the second controller determines that the connection state between the charging station and the automatic lawnmower is in the protected state.

168. The autonomous working system according to claim 166, characterized in that, The moving component is configured to move the automatic lawnmower closer to the charging station. The charging station also includes at least a first position detector connected to the second controller. The first position detector is triggered to generate a trigger signal after the first charging terminal moves to a docking position that is stably docked with the second charging terminal. The second controller responds to the trigger signal to determine that the docking state of the charging station and the automatic lawnmower is in the protected state.

169. The autonomous working system according to claim 166, characterized in that, The mobile component is configured to move the automatic lawnmower closer to the charging station. The first controller is configured to send an electrical signal to the first charging terminal, the electrical signal forming a loop after the first charging terminal and the second charging terminal are connected; The charging station also includes a first position detector connected to the second controller. The first position detector is triggered to generate a trigger signal after the first charging terminal moves to a docking position where it is stably docked with the second charging terminal. The second controller, in response to the formation of the loop and the trigger signal, determines that the docking status of the charging station and the automatic lawnmower is in the protected state.

170. The autonomous working system according to any one of claims 166-169, characterized in that, The second controller, in response to the docking state being in the protected state, controls the charging station to output a first voltage, including: the controller controls the charging station to directly output the first voltage; or, the second controller controls the charging station to output the first voltage in response to an electrical signal from the automatic lawnmower.

171. The autonomous working system according to any one of claims 166-169, characterized in that, The second controller, in response to the docking state being in the protection state, controls the charging station to output a second voltage and then output the first voltage, including: the second controller controls the charging station to directly output the second voltage and then continue to directly output the first voltage.

172. The autonomous working system according to any one of claims 166-169, characterized in that, The second controller, in response to the docking state being in the protection state, controls the charging station to output a second voltage and then output the first voltage, including: After the second controller controls the charging station to directly output the second voltage, it controls the charging station to output the first voltage in response to the electrical signal from the automatic lawnmower.

173. The autonomous working system according to any one of claims 166-172, characterized in that, The second controller is also configured to control the output voltage of the charging station to be less than 36V or to control the output voltage of the charging station to be 0 in response to the docking state not being in the protected state.

174. The autonomous working system according to any one of claims 164-173, characterized in that, The first controller is configured to send an electrical signal to the first charging terminal, the electrical signal forming a loop after the first charging terminal and the second charging terminal are connected, and the first controller controls the automatic lawnmower to brake in response to the formation of the loop.

175. The autonomous working system according to claims 168-174, characterized in that, The moving component is also configured to move the automatic lawnmower away from the charging station. When the first charging terminal leaves the stable docking position, the trigger signal generated by the first position detector disappears. In response to the disappearance of the trigger signal, the second controller controls the output voltage of the charging station to be 0, or reduces the output voltage of the charging station to less than 36V.

176. The autonomous working system according to claim 168 or 175, characterized in that, The first position detector includes a Hall sensor configured to generate the trigger signal in response to a change in the magnetism of a magnetic element.

177. The autonomous working system according to claim 176, characterized in that, The charging station also includes a collision block and the magnetic component. The collision block is displaced by the collision of the automatic lawnmower. The magnetic component is connected to the collision block and moves under the influence of the collision block. The Hall sensor generates the trigger signal in response to the movement of the magnetic component.

178. The autonomous working system according to any one of claims 166-177, characterized in that, The automatic lawnmower includes a first housing, and the charging station includes a second housing. When the automatic lawnmower and the charging station are in the protected state, the first housing and the second housing cooperate to surround the outer periphery of the first charging terminal and the second charging terminal, forming a barrier channel. The barrier channel is a channel connecting the external environment and the first charging terminal and the second charging terminal. The size of the barrier channel meets the preset conditions to prevent the user's fingers in the external environment from touching the first charging terminal and the second charging terminal.

179. The autonomous working system according to claim 178, characterized in that, The side of the charging station where the second charging terminal is installed is defined as the front side of the charging station. When the automatic lawnmower and the charging station are successfully docked, the first housing and the second housing overlap in the front-rear direction of the charging station to form the barrier channel. The preset conditions include at least one of the following: the length of the barrier channel is greater than or equal to 80 mm, the barrier channel includes a starting point and an ending point, the starting point is the outer edge of the first housing near the second housing, referred to as the first outer edge; or, the starting point is the outer edge of the second housing near the first housing, referred to as the second outer edge, and the ending point is the surface of the second charging terminal. The maximum width of the cross-sectional area of ​​the barrier channel shall not exceed 12 mm.

180. The autonomous working system according to claim 178, characterized in that, When the automatic lawnmower and the charging station are successfully docked, the first housing and the second housing do not overlap in the front-to-back direction to form a gap, which serves as the barrier channel. The preset condition includes that the width of the gap does not exceed 12mm.

181. The autonomous working system according to claim 178, characterized in that, Define the side of the charging station where the second charging terminal is installed as the front. When the automatic lawnmower and the charging station are successfully docked, the first housing and the second housing overlap in the front-rear direction of the charging station to form the barrier channel. The preset condition includes that the length of the overlapping part of the barrier channel in the front-rear direction is greater than or equal to 80mm.

182. The autonomous working system according to any one of claims 164-181, characterized in that, The second housing includes a shield and a side protection member. The shield is located at least above the second charging terminal, and its projection along the height direction of the charging station at least partially overlaps with the second charging terminal. The side protection member is disposed on the left and right sides of the charging station, and its projection along the left and right upward direction of the charging station at least partially overlaps with the second charging terminal.

183. The autonomous working system according to any one of claims 164-182, characterized in that, The first housing houses the first charging terminal and has an opening at least facing the second charging terminal to allow the first charging terminal to dock with the second charging terminal. After the first charging terminal moves to a docking position where it is stably docked with the second charging terminal, the first housing houses at least a portion of the second charging terminal, and the second housing surrounds the outer periphery of the first housing.

184. The autonomous working system according to any one of claims 164-183, characterized in that, The charging station also includes a first waterproof cover, which is located above the second charging terminal. The projection of the first waterproof cover along the height direction of the charging station covers the second charging terminal, and in the horizontal direction, the edge of the first waterproof cover extends beyond the second charging terminal by at least 10 mm.

185. The autonomous working system according to claim 184, characterized in that, After the second charging terminal is connected to the first charging terminal, it has a distal end that is away from the first charging terminal and a proximal end that is close to the first charging terminal. The distal end is connected to a downwardly inclined water guide, and the end of the water guide near the proximal end is higher than the end near the distal end.

186. The autonomous working system according to any one of claims 164-185, characterized in that, The first voltage is greater than or equal to 48V.

187. The autonomous working system according to claim 186, characterized in that, The first voltage is greater than or equal to 60V.

188. The autonomous working system according to claim 186 or 187, characterized in that, The first voltage is less than or equal to 90V.

189. The autonomous working system according to claim 188, characterized in that, The first voltage does not exceed 72V.

190. The autonomous working system according to any one of claims 164-189, characterized in that, The charging current of the charging station is greater than or equal to 13A.

191. The autonomous working system according to claim 190, characterized in that, The charging current of the charging station is greater than or equal to 14A.

192. The autonomous working system according to claim 191, characterized in that, The charging current of the charging station is greater than or equal to 20A.

193. The autonomous working system according to claim 192, characterized in that, The charging current of the charging station is greater than or equal to 30A.

194. The autonomous working system according to any one of claims 190-193, characterized in that, The charging current of the charging station is less than or equal to 55A.

195. The autonomous working system according to claim 194, characterized in that, The charging current of the charging station is less than or equal to 40A.

196. An autonomous working system, characterized in that, Including automatic lawnmowers and charging stations, The automatic lawnmower includes: Chassis; An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower; A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation; A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis; A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower; At least one first charging terminal is electrically connected to the energy storage unit; The charging station includes: At least one second charging terminal, and the first controller is further configured to control the automatic lawnmower to move and dock with the charging station so that the first charging terminal and the second charging terminal are electrically connected; Each of the first charging terminals includes at least three contacts. When the first charging terminal and the second charging terminal are electrically connected, the at least three contacts contact the outer surface of the second charging terminal to form at least three contact surfaces, and the at least three contact surfaces are not coplanar.

197. The autonomous working system according to claim 196, characterized in that, The three contact surfaces are distributed circumferentially along the second charging terminal.

198. The autonomous working system according to claim 196, characterized in that, At least one of the at least three contact surfaces is distributed at an axial distance from the other contact surfaces along the second charging terminal.

199. The autonomous working system according to claim 196, characterized in that, At least one of the at least three contacts is configured to be movable in a first direction, and another is configured to be movable in a second direction.

200. The autonomous working system according to claim 199, characterized in that, One of the at least three contacts is configured to be movable in a horizontal plane and is configured to be movable in a vertical plane.

201. The autonomous working system according to claim 200, characterized in that, The amount of movement in the horizontal direction and the amount of movement in the vertical direction are greater than or equal to the maximum docking deviation of the automatic lawnmower.

202. An autonomous working system, characterized in that, Including automatic lawnmowers and charging stations, The automatic lawnmower includes: Chassis; An energy storage unit is configured to provide energy for the operation and movement of the automatic lawnmower; A working component and a working motor, the working component being connected to the working motor and configured to be driven by the working motor to perform a working task, the working component cutting to form a covering area during operation; A moving component and a moving motor, wherein the moving component is connected to the moving motor and is configured to be driven by the moving motor to move the chassis; A first controller, connected to the working motor and the moving motor, is configured to control the operation and movement of the automatic lawnmower; At least one first charging terminal is electrically connected to the energy storage unit; The charging station includes: At least one second charging terminal, and the first controller is further configured to control the automatic lawnmower to move and dock with the charging station so that the second charging terminal and the first charging terminal are electrically connected; Each second charging terminal includes at least three contacts. When the second charging terminal and the first charging terminal are electrically connected, the at least three contacts contact the outer surface of the first charging terminal to form at least three contact surfaces, and the at least three contact surfaces are not coplanar.

203. The autonomous working system according to claim 202, characterized in that, The three contact surfaces are distributed circumferentially along the first charging terminal.

204. The autonomous working system according to claim 202, characterized in that, At least one of the at least three contact surfaces is staggered with the other contact surfaces along the axial direction of the first charging terminal.

205. The autonomous working system according to claim 202, characterized in that, At least one of the at least three contacts is configured to be movable in a first direction, and another is configured to be movable in a second direction.

206. The autonomous working system according to claim 205, characterized in that, One of the at least three contacts is configured to be movable in a horizontal plane and is configured to be movable in a vertical plane.

207. The autonomous working system according to claim 206, characterized in that, The amount of movement in the horizontal direction and the amount of movement in the vertical direction are greater than or equal to the maximum docking deviation of the automatic lawnmower.

Images