CN213092166U - Perimeter signal module, docking station and autonomous operation system - Google Patents

Abstract

The invention relates to a perimeter signal module comprising: a wire configured to be disposed along a perimeter and to form a loop of wire including N series connections at the perimeter, where N is an integer no less than 2; the two ends of the lead can be electrically connected with the signal generating device, the signal generating device can load current signals to the lead to generate magnetic signals near the lead, and the current directions in the N lead rings are the same, so that the disadvantage of large current to electrical equipment can be avoided. The invention also relates to a docking station and an autonomous operating system with the perimeter signal module.

Description

Perimeter signal module, docking station and autonomous operation system

Technical Field

The present invention relates to a perimeter signal module, and more particularly, to a perimeter signal module suitable for restricting movement of an autonomous operating device within or outside a given perimeter. The invention also relates to a docking station and an autonomous operating system with the perimeter signal module.

Background

Solutions are known for defining an autonomous working machine movement area by providing closed energized conductors along the perimeter of a predetermined area. On the one hand, it is desirable that the autonomous working apparatus autonomously moves within a movable area enclosed by the outer periphery. On the other hand, it is desirable that the autonomous working apparatus does not enter a specific area within the movable area, or approach or even collide against a specific object within the movable area at high speed, for example, it is desirable that the autonomous working apparatus does not enter or collide against a pool, a flower bed, a bush, an irrigation sprinkler, etc. within the movable area, or it is desirable that the autonomous working apparatus does not collide against a stop station in an operating state. In order to meet the requirements, wires are required to be arranged on the periphery of the movable area to form an outer peripheral wire, wires are laid on the periphery of the specific area or the periphery of the specific object to form an inner peripheral wire, and the outer peripheral wire and the inner peripheral wire are connected with the signal generating device. In some embodiments, the outer perimeter conductor and the inner perimeter conductor are the same continuous conductor, typically a "closed region" and an "isolated region" are enclosed by one conductor as in CN 102890509A. In some solutions, the outer peripheral wire and at least part of the inner peripheral wire are separately and independently arranged, typically as in CN110162055A, in the charging station base, independently arranged around the ring. For the outer and inner perimeter conductors, a sufficiently large current is necessary to generate a sufficiently strong magnetic field signal. However, a large current is disadvantageous for electrical equipment such as a signal generating device.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a perimeter signal module capable of solving the above technical problem.

To solve the above technical problem, a specific embodiment of the present invention provides a perimeter signal module, including: a wire configured to be disposed along a perimeter and to form a loop of wire including N series connections at the perimeter, where N is an integer no less than 2; the two ends of the lead can be electrically connected with the signal generating device, the signal generating device can load current signals to the lead to generate magnetic signals near the lead, the current directions in the N lead rings are the same, the disadvantage of large current to electrical equipment can be avoided, and meanwhile, the energy utilization efficiency is improved.

Preferably, in the N conductor loops, the enclosed regions of any two conductor loops substantially overlap.

Preferably, the conductor is configured as a single wire. Further preferably, the signal generating device includes a 1 st interface and a 2 nd interface, the 1 st interface is configured to electrically connect the first end of the wire with the signal generating device, and the 2 nd interface is configured to electrically connect the second end of the wire loop with the signal generating device.

Preferably, the conductor is configured as a complex wire. Further preferably, the conductive wire is configured as a twisted wire, a thermoplastic type parallel wire or a sheathed wire. Further preferably, the lead includes N cores, which are respectively denoted as an ith core, where N is an integer not less than 2 and i ═ 1, 2.., N, and the ith core includes an ith first terminal lug and an ith second terminal lug; the signal generating device comprises a 1 st interface and a 2 nd interface, wherein the 1 st interface is constructed to be electrically connected with a 1 st terminal connector, and the 2 nd interface is constructed to be electrically connected with an Nth second terminal connector; and when any i satisfies the condition that i is more than or equal to 2 and less than or equal to N-1, the ith A-end connector lug is in short circuit with the ith-1 second-end connector lug, and the ith B-end connector lug is in short circuit with the (i + 1) th A-end connector lug.

Preferably, when any i satisfies 2 ≤ i ≤ N-1, the ith terminal block and the ith-1 second terminal block, and/or the ith second terminal block and the (i + 1) th first terminal block are connected by direct or wire connectors.

Preferably, the lead includes N cores, which are denoted as an ith core, where N is an integer not less than 2 and i ═ 1, 2.. times.n, and the ith core includes an ith first-end connector lug and an ith second-end connector lug; the signal generating device comprises 2N interfaces, and when any integer k is more than or equal to 0 and less than or equal to N-2, the N-k interface is in short circuit with the N + k +1 interface; the ith A terminal lug can be electrically connected with the 2i-1 interface, the ith B terminal lug can be electrically connected with the 2i interface, wherein the 1 st interface is constructed to be electrically connected with the 1 st A terminal lug, and the 2N interface is constructed to be electrically connected with the Nth B terminal lug.

In order to solve the above technical problem, an embodiment of the present invention further provides a docking station, including the above perimeter signal module.

In order to solve the above technical problem, an embodiment of the present invention further provides an autonomous operating system, including the above perimeter signal module, and further including an autonomous operating device, where the autonomous operating device includes a control module and at least one electromagnetic signal sensor, the electromagnetic signal sensor is configured to detect the magnetic signal, and the control module controls an operating state of the autonomous operating device according to the magnetic signal.

Preferably, the control module is configured to control the autonomous working apparatus to change a walking state when the magnetic signal satisfies a first preset condition.

Preferably, the autonomous working apparatus is configured to move within a preset first area; the wires are configured to be disposed along a perimeter of the preset first area.

Preferably, the autonomous working apparatus is configured to move outside a preset second area; the wire is configured to be disposed along a perimeter of or within the preset second area.

Preferably, the autonomous operating system further includes a docking station, at least a partial area covered by the docking station being configured as the second area; the docking station includes a second housing configured to have an interior cavity configured to receive the signal generating device.

Preferably, the autonomous operating device is configured to move within a preset first area and outside a preset second area; the autonomous operating system comprises two perimeter signal modules, wherein the two perimeter signal modules are defined as a first perimeter signal module and a second perimeter signal module; the first peripheral signal module comprises a first lead and a first signal generating device, the first lead is configured to be arranged at the periphery of the preset first area, and two ends of the first lead can be electrically connected with the first signal generating device; the second peripheral signal module comprises a second lead and a second signal generating device, the second lead is configured to be arranged in the periphery of the preset second area or in the preset second area, and two ends of the second lead can be electrically connected with the second signal generating device.

Drawings

FIG. 1 is a schematic diagram of a perimeter signal module and an autonomous operating system having the same according to an embodiment of the invention.

FIG. 2 is a schematic view of a perimeter signal module of another embodiment of the present invention, wherein the conductors are configured as a single wire.

Fig. 3 is a schematic view of a perimeter signal module according to another embodiment of the present invention, wherein the conductor is configured as a complex wire having 2 cores.

Fig. 4 is a schematic diagram of a perimeter signal module according to another embodiment of the present invention, wherein the conductor is configured as a complex wire having 3 cores.

FIG. 5 is a diagram of a docking station for an autonomous operating system in accordance with an embodiment of the present invention.

FIG. 6 is an exploded view of a docking station for an autonomous operating system in accordance with an embodiment of the present invention.

Fig. 7 is an enlarged view of a portion a of fig. 6.

Detailed Description

The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.

It is to be understood that the terms "first," "second," and the like in the description of the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the embodiments of the present invention, unless otherwise explicitly stated or limited, the terms "connected" and "connected" should be interpreted broadly, e.g., as a fixed connection, a movable connection, a detachable connection, or an integral connection; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In particular embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or the first and second features being in contact, not directly, but via another feature therebetween.

In particular embodiments of the present invention, the term "plurality" means two or more unless explicitly stated or limited otherwise.

Referring to fig. 1, the present embodiment provides an autonomous operating system including an autonomous operating device 1, a docking station 2, and a perimeter. The drawings are not to scale in order to more clearly show the technical solution of the present invention.

The autonomous working apparatus 1 is, in particular, a robot which can autonomously move within a predetermined area and perform a specific work, typically, an intelligent sweeper/cleaner which performs a cleaning work, or an intelligent mower which performs a mowing work, or the like. The specific job is particularly a job for processing the work surface and changing the state of the work surface. The present invention will be described in detail with reference to an intelligent lawn mower as an example. The autonomous working apparatus 1 can autonomously walk on the surface of a working area, and can autonomously perform mowing work on the ground particularly as an intelligent mower. The autonomous operating device 1 at least comprises a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module and the like.

The main body mechanism generally includes a chassis and a housing, and the chassis is used for installing and accommodating functional mechanisms and functional modules such as a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The housing is typically configured to at least partially enclose the chassis, primarily to enhance the aesthetics and visibility of the autonomous working apparatus. In this embodiment, the housing is configured to be repositionable with respect to the chassis for translation and/or rotation under an external force, and further functions to sense an impact, lift, etc. event in conjunction with a suitable sensing module, such as a hall sensor, for example.

The moving mechanism is configured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, and generally includes a wheel type moving mechanism, a crawler type or semi-crawler type moving mechanism, a walking type moving mechanism, and the like. In this embodiment, the movement mechanism is a wheeled movement mechanism comprising at least one drive wheel 122 and at least one travel prime mover 124. Travel prime mover 124 is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that uses another type of energy source to generate power. In the present embodiment, it is preferable to provide a left driving wheel 122L, a left traveling prime mover 124L that drives the left driving wheel 122L, a right driving wheel 122R, and a right traveling prime mover 124R that drives the right driving wheel 122R. In this embodiment, the straight travel of the autonomous working machine is realized by the equidirectional and constant-speed rotation of the left and right drive wheels, and the steering travel is realized by the equidirectional differential or opposite-direction rotation of the left and right drive wheels. In other embodiments, the movement mechanism may further comprise a steering mechanism independent of the drive wheel and a steering prime mover independent of the walking prime mover. In this implementation, the movement mechanism further comprises at least one driven wheel, typically configured as a universal wheel, the driving wheel and the driven wheel being located at the front and rear ends of the autonomous working apparatus, respectively.

The work mechanism is configured for performing a specific work task and includes a work piece and a work prime mover 14 for driving the work piece in operation. Illustratively, for an intelligent sweeper/cleaner, the workpiece includes a roller brush, a dust collection pipe, a dust collection chamber, and the like; for an intelligent mower, the working member comprises a cutting blade or a cutting cutter disc, and further comprises other components for optimizing or adjusting the mowing effect, such as a height adjusting mechanism for adjusting the mowing height. Work prime mover 14 is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that uses another type of energy source to generate power. In other embodiments, the working prime mover and the walking prime mover are configured as the same prime mover.

The energy module 16 is configured to provide energy for various operations of the autonomous working apparatus 1. In this embodiment, the energy module 16 includes a battery, preferably a rechargeable battery, and a charging connection structure, preferably a charging electrode, which may be exposed outside the autonomous working apparatus.

The detection module is configured as at least one sensor sensing an environmental parameter of the autonomous working apparatus 1 or an operating parameter of itself. Typically, the detection module may comprise sensors associated with the definition of the working area, of various types, for example magnetic induction, impact, ultrasound, infrared, radio, etc., the type of sensor being adapted to the position and number of the corresponding signal generating means. The detection module may also include positioning navigation related sensors such as GPS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, and the like. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, battery pack temperature sensors, etc. The detection module may also include sensors associated with the external environment, such as an ambient temperature sensor, an ambient humidity sensor, a light sensor, a rain sensor, and the like.

The interactive module is configured at least for receiving control instruction information input by a user, emitting information required to be perceived by the user, communicating with other systems or devices to transmit and receive information, and the like. In the present embodiment, the interactive module includes an input device provided on the autonomous working apparatus 1, for receiving control instruction information input by a user, typically, such as a control panel, an emergency stop key, and the like; the interactive module further comprises a display screen, an indicator light and/or a buzzer which are arranged on the autonomous operating device 1, and the user can perceive information through light emitting or sound production. In other embodiments, the interaction module includes a communication module provided on the autonomous working apparatus 1 and a terminal apparatus independent from the autonomous working apparatus 1, such as a mobile phone, a computer, a web server, and the like, and control instruction information or other information of the user may be input on the terminal apparatus and reach the autonomous working apparatus 1 via the wired or wireless communication module.

The control module 18 typically includes at least one processor and at least one non-volatile memory, in which a pre-written computer program or set of instructions is stored, according to which the processor controls the execution of movements, work, etc. of the autonomous working apparatus 1. Further, the control module can also control and adjust the corresponding behavior of the autonomous working device, modify parameters in the memory, and the like according to the signal of the detection module and/or the user control instruction.

The perimeter is used to define a work area of the robotic system, and generally includes an outer perimeter and an inner perimeter. The autonomous working apparatus 1 is defined to move and work within the outer perimeter, outside the inner perimeter, or between the outer perimeter and the inner perimeter. The perimeter may be physical, typically such as a wall, fence, railing, etc.; the perimeter may also be virtual, typically as a virtual perimeter signal emitted by perimeter signal generating means, usually an electromagnetic or optical signal, or a virtual perimeter set in an electronic map, formed for example by two-or three-dimensional coordinates, for autonomous working machines 1 provided with positioning means (such as GPS, etc.). In the present embodiment, the perimeter is configured as a closed electrical conductor that is electrically connected to a first signal generating device 42, the first signal generating device 42 typically being disposed within the docking station 2. Accordingly, at least one electromagnetic signal sensor 11 is provided on the autonomous working apparatus 1. Specifically, in the present embodiment, the autonomous working apparatus 1 is provided with two electromagnetic signal sensors 11, and the electromagnetic signal sensors 11 are preferably inductors.

Said docking station 2 is generally configured on or within a perimeter for the autonomous working apparatus 1 to be docked, in particular to be able to supply energy to the autonomous working apparatus 1 docked at the docking station. In the present embodiment, the docking station 2 generally includes a first seat 22 extending mainly in a horizontal direction and a second seat 24 extending mainly in a vertical direction. The first base 22 is configured substantially in a flat plate shape for carrying the moving mechanism of the autonomous working apparatus 1 when the autonomous working apparatus 1 is parked at the docking station 2. The second housing 24 is configured to have an interior cavity for receiving the signal generating device and a charging module, the charging module including a charging control module and a charging interface, wherein the energy module 16 can be charged when the charging interface is electrically connected to the energy module 16. In the present embodiment, the first signal generating device 42 and the charging control module are integrated on one circuit board.

In this embodiment, the autonomous operating system includes at least one perimeter signal module, and in particular, in the embodiment shown in fig. 1, the autonomous operating system includes two perimeter signal modules, which are respectively a first perimeter signal module and a second perimeter signal module. In other embodiments, the autonomous operating system may also include only the first ambient signal module. In order to describe the technical solution of the present invention more briefly and clearly, in the claims and the specification of the present invention, the same features of the second peripheral signal module as those of the first peripheral signal module are described as "peripheral signal module" or "first peripheral signal module".

The autonomous operating device 1 is configured to move within a preset first area, a perimeter of which is an outer perimeter, and the preset first area is a closed area. The first ambient signal module includes a first conductor 32 and a first signal generating device 42. The first conductive line 32 is configured to be disposed along the outer perimeter and to include N formed at the outer perimeter₁A first conductor loop connected in series, wherein N₁Is an integer of 2 or more. In the embodiment shown in FIG. 1, N₁The two first conductor loops substantially overlap, that is, any one of the first conductor loops can be regarded as an outer perimeter alone, and the two outer perimeters formed by the two first conductor loops overlap, and those skilled in the art will understand that in an actual setting, the overlap cannot be strictly defined as an absolute overlap, but rather as an overlap within an allowable error range. The first wire 32 has two ends electrically connected to a first signal generator 42, and the first signal generator 42 is configured to apply a current signal to the first wire 32A first magnetic signal is generated near a conductive line 32. The direction and magnitude of the current in these first conductor loops are the same. The same direction of current flow as described herein means in N₁In the first conductor loop, the current flows in the clockwise direction or in the counterclockwise direction. Defining the effective length of a wire as the length of that wire as part of the perimeter of the enclosed area, the effective length of the first wire 32 is then substantially equal to N of the perimeter of the enclosed area₁And (4) doubling. In the embodiment shown in fig. 1 in particular, the effective length of the first wire 32 is substantially equal to twice the circumference of the outer perimeter. By adopting the wiring mode, the magnetic field superposition generated by the electrified lead at any point on the periphery is enhanced, the requirement of magnetic field signal intensity can be met by using smaller current, on one hand, the adverse effect on electrical equipment caused by large current is avoided, and on the other hand, the electric heating loss of the lead can be reduced. The autonomous working apparatus 1 is configured such that the electromagnetic signal sensor 11 thereof detects a first magnetic signal, and the control module 18 thereof determines a relative positional relationship between the autonomous working apparatus 1 and the outer periphery according to the first magnetic signal, and then controls the operating state of the autonomous working apparatus 1 according to the relative positional relationship, and in particular controls the autonomous working apparatus 1 to change the walking state when the first magnetic signal satisfies a first preset condition. Specifically, the preset first area may be referred to as a work area within which the autonomous working apparatus 1 is restricted by the first wire 32 to perform work, and is illustratively moved substantially in a straight line. When the electromagnetic signal sensor 11 crosses the outer periphery from inside the working area to outside the working area, a specific change occurs in a signal output to the control module 18, and the control module 18 determines that the autonomous operating device 1 is going to go out of the boundary according to the specific change, and then controls the autonomous operating device 1 to change a walking state (typically, turning, decelerating, stopping moving, or backing off) so as to avoid going out of the boundary. Further, based on a certain functional relationship between the strength of the first magnetic signal and the distance from the electromagnetic signal sensor 11 to the first wire 32, for example, a typical functional relationship is given in patent document CN105009014A (especially fig. 4 of the specification), the control module 18 may be configured to determine the autonomous working device 1 and the first wire 32 according to the strength of the first magnetic signalA distance between the wires 32, when the distance from the autonomous working apparatus 1 to the first wire 32 is less than or equal to a threshold value, the moving speed of the autonomous working apparatus 1 is reduced. In some specific cases, when the first magnetic signal satisfies the first preset condition, the autonomous working apparatus 1 is controlled to increase the moving speed.

Referring to fig. 2, the first wire 32 is configured as a single wire. In the present description and claims, the single wire means a wire that is suitable essentially as a single wire, with only one connector lug per terminal; specifically, the single wire has only a single-strand wire core, or the single wire has a plurality of strand wire cores, but these wire cores are not insulated from each other at the terminals. The single wire includes not only a complete conductor without a terminal between two terminals, but also a conductor with at least one terminal between two terminals. When the first line 32 is designed as a single line, the two terminals of the first line 32 are designated as a terminal a and a terminal B, and the first signal generating device 42 is correspondingly configured to have two interfaces, designated as a 1 st interface p₁And 2 nd interface p₂At this time, the 1 st interface p of the first signal generating device₁A 2 nd interface p of the first signal generating device electrically connected with the first end A of the first wire 32₂Configured to be electrically connected to the second terminal B of the first wire 32, and the first wire 32 is integrally wound around the circumference by two turns.

Referring to fig. 1, 3 and 4, the first conductive line 32 is configured as a complex line. In the description and claims of the present invention, the complex wire means a wire used substantially as a multiplex wire having a plurality of terminals per terminal; specifically, the compound wire has a plurality of wire cores insulated from each other, and it can be understood that the compound wire is formed by arranging a plurality of single wires insulated from each other in parallel. Common commercial cable types of multi-wire include twisted wire (typically, twisted pair wires formed by twisting a pair of metallic wires insulated from each other), thermoplastic parallel wire (typically, SPT-1/SPT-2/SPT-3 wires), or sheathed wire, etc. Of course, the multi-wire can be easily manufactured by using a plurality of single wires, for example, by arranging two single wires in parallel.

When the first conductive line 32 is constructedIs composed of N₁In the case of a compound wire formed by a wire core, the first end A of the first conductor 32 includes N₁A terminal B of the first conductor 32 includes N opposite to the A₁A total of 2N of connector lugs₁A connector lug. The N is₁The line cores are respectively marked as the ith line core, wherein i is 1,2₁The ith wire core comprises an ith first-end connector lug A_iAnd ith terminal B_i. The first signal generating device 42 is correspondingly configured with two interfaces, which are designated as interface 1 p₁And 2 nd interface p₂At this time, the 1 st interface p of the first signal generating device 42₁1 st first terminal connector A configured to connect with first conductor 32₁Electrically connected to the 2 nd interface p of the first signal generating device 42₂Nth structured to be connected to the first conductive line 32₁Terminal B connector lug B_NElectrically connected and satisfies 2 ≦ i ≦ (N) for any of the i₁1) the ith A-end connector A_iAnd the i-1 th second terminal connector lug B_i-1Short-circuit, i-th second terminal connector B_iAnd the (i + 1) th end connector lug A_i+1And (6) short-circuiting. Shown in FIG. 2 is N₁Preferred embodiment of 2. In the solution shown in fig. 3, the short circuit is implemented by connecting the 2 nd terminal connector A₂And the 1 st end connector B₁Directly (for example by screwing or welding) or by means of a connector whose resistance is negligible at a minimum. To further facilitate assembly, referring to fig. 1 and 4, the shorting is accomplished by the first signal generating device 42 being further configured to have a number of 2N₁An interface, k is more than or equal to 0 and less than or equal to N for any integer k₁At 2, N₁-k interface with Nth interface₁The + k +1 interfaces are directly connected through a short-circuit lead 402, and an ith A-end connector lug A_iInterface p with 2i-1_2i-1Electrically connected with the ith second-end connector B_iInterface p with 2i_2iElectrically connected, wherein the 1 st interface p₁Is structured to be connected with the 1 st first end connector A₁Electrical connection, 2N₁Interface p_2N1Is constructed to be compatible with the Nth₁Terminal B connector lug B_NAnd (6) electrically connecting. Wherein shown in FIG. 1Is N₁Preferred embodiment of 2, shown in fig. 4 is N₁Preferred embodiment of 3. Under the teaching of the above technical solution, a person skilled in the art can select a suitable connector to connect the connector lug of the first wire 32 and the interface of the first signal generating device 42, and since the number of connector lugs and interfaces is large in some embodiments, the person skilled in the art can further select a connector with a foolproof function in order to facilitate connection and prevent wrong connection.

The autonomous working apparatus 1 may be further configured to move outside a preset second area, the preset second area being a closed area and the preset second area being at least partially disposed within the preset first area, a perimeter of the preset second area being an inner perimeter. The preset second area may be a forbidden area that prohibits the autonomous operating device from entering or approaching. The second ambient signal module includes a second wire 34 and a second signal generating device 44. Second conductive line 34 is configured to be disposed along the inner periphery and formed to include N at the inner periphery₂A second conductor loop connected in series, wherein N₂Is an integer of not less than 2. In the embodiment shown in FIG. 1, N₂＝N₁The two second conductor loops substantially overlap each other, that is, any one of the second conductor loops can be regarded as one inner periphery alone, and the two inner peripheries formed by the two second conductor loops substantially overlap each other. Both ends of the second conductive line 34 are configured to be electrically connected to a second signal generating device 44, and the second signal generating device 44 is configured to apply a current signal to the second conductive line 34 to generate a second magnetic signal near the second conductive line 34. Because the two second wire loops are connected in series, the current direction in the second wire loops is the same. The current direction as referred to herein means that the current flows in the clockwise direction or in the counterclockwise direction in the second wire loop. As previously defined with respect to the effective length of the conductors, the effective length of the second conductor 34 is substantially equal to N of the circumference of the inner perimeter₂And (4) doubling. In the embodiment shown in fig. 1 in particular, the effective length of the second wire 34 is substantially equal to twice the circumference of the inner perimeter. Autonomous systemThe working device 1 is further configured such that its electromagnetic signal sensor 11 detects a second magnetic signal, and its control module 18 determines the relative position of the autonomous working device 1 with respect to the inner perimeter from the second magnetic signal, and in turn controls the operating state of the autonomous working device 1 according to this relative position. In some embodiments, the obstacle and the specific area around the obstacle in the working area may be configured as an exclusion zone, that is, the second wire 34 is configured at the periphery of the obstacle (such as a pool, a bush, a flower bed, etc.) in the working area, the obstacle is enclosed, and the autonomous working apparatus 1 is limited by the second wire 34 to perform work outside the exclusion zone, and is exemplarily moved substantially in a straight line. When the electromagnetic signal sensor 11 crosses the inner periphery from within the working area to enter the forbidden zone, a specific change occurs in a signal output to the control module 18, and the control module 18 determines that the autonomous operating device 1 is about to enter the forbidden zone according to the specific change, and then controls the autonomous operating device 1 to turn and/or reverse to avoid the out-of-bounds. Further, based on a certain functional relationship between the strength of the second magnetic signal and the distance from the electromagnetic signal sensor 11 to the second wire 34, the control module 18 may be configured to determine the distance between the autonomous working apparatus 1 and the second wire 34 according to the strength of the second magnetic signal, and reduce the moving speed of the autonomous working apparatus 1 when the distance between the autonomous working apparatus 1 and the second wire 34 is less than or equal to a threshold value. The second wire 34 can be configured as a single wire or a multiple wire, and the interface of the second signal generating device 44 is adapted to the second wire 34, which is similar to the first peripheral signal module and will not be described in detail.

In the present embodiment, since the docking station 2 is located at least partially within the work area, it is not desirable for the autonomous working apparatus 1 to collide with the docking station 2 when the autonomous working apparatus 1 is in the working state. At least a partial area covered by the docking station 2 is configured as a forbidden zone when the autonomous working apparatus 1 is in an operating state; when the autonomous working apparatus 2 is in a non-operating state, for example, in a return state or a parked state, the docking station 2 is not set as a forbidden zone. Typically, the first conductor 32 requires the customer to lay it after purchasing the product, depending on the actual work site conditions, while the second conductor 34 is pre-installed on the docking station 2. In some embodiments, as shown in fig. 1, the second wires 34 are pre-assembled on the bottom surface of the first housing 22. In the present embodiment, as shown in fig. 5 to 7, the second lead 34 is pre-mounted on the bottom surface of the second housing 24. Specifically, the second seat 24 is detachably connected to the first seat 22, and the second seat 24 has a second seat housing 240. The bottom of the second seat housing 240 is provided with a wire groove 242, the wire groove 242 is annular, and a plurality of wire clamps 2420 are arranged in the wire groove 242. Second housing 24 is provided with an outer perimeter wire interface 246 and an inner perimeter wire interface 248, wherein outer perimeter wire interface 246 is generally exposed outside second housing shell 240 for user to connect or disconnect wires by himself, and inner perimeter wire interface 248 is generally disposed inside second housing shell 240 for production personnel to connect or disconnect wires before assembling or for maintenance personnel to disconnect. Correspondingly, a threading hole 244 is further formed in the second housing 240 for allowing two ends of the second wire 34 to enter the inner cavity of the second housing 24 for connecting with the second signal generating device 44. When the autonomous working apparatus 1 is in the working state, the second signal generating device 44 loads a signal to the second wire 34, and performs a deceleration and/or steering action when the autonomous working apparatus 1 approaches the second wire 34. When the autonomous working apparatus 1 is in a traveling state along the outer periphery (i.e., the first wire 32), the second signal generating device 44 loads a signal to the second wire 34, and when the autonomous working apparatus 1 approaches the second wire 34, it can recognize that the docking station 2 has been approached, and prepare for other actions such as charging docking.

In some embodiments, the first signal generating device 42 and the second signal generating device 44 are configured to be integrated on the same circuit board. In some embodiments, the first signal generating device 42 and the second signal generating device 44 are configured on different circuit boards that are independent of each other. In some embodiments, the charging control module and the first signal generating device 42 and/or the second signal generating device 44 are configured to be integrated on the same circuit board. In some embodiments, the charging control module and the first signal generating device and/or the second signal generating device are respectively arranged on different circuit boards independent of each other.

It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims (11)

1. A perimeter signal module, comprising:

a wire configured to be disposed along a perimeter and to form a loop of wire including N series connections at the perimeter, where N is an integer no less than 2;

the two ends of the conducting wire can be electrically connected with the signal generating device, the signal generating device can load a current signal to the conducting wire so as to generate a magnetic signal near the conducting wire, and the current directions in the N conducting wire rings are the same.

2. The perimeter signal module of claim 1 wherein, in N of said conductor loops, the area enclosed by any two of said conductor loops substantially overlaps.

3. The perimeter signal module of claim 1 wherein the conductive wire is configured as a single wire; the signal generating device comprises a 1 st interface and a 2 nd interface, wherein the 1 st interface is constructed to be capable of electrically connecting the first end of the lead with the signal generating device, and the 2 nd interface is constructed to be capable of electrically connecting the second end of the lead loop with the signal generating device.

4. The perimeter signal module of claim 1 wherein said conductive lines are configured as complex lines.

5. The perimeter signal module of claim 4, wherein the wires include N wire cores, the wire cores being respectively identified as an ith wire core, where N is an integer no less than 2 and i is 1, 2.

The signal generating device comprises a 1 st interface and a 2 nd interface, wherein the 1 st interface is constructed to be electrically connected with a 1 st terminal connector, and the 2 nd interface is constructed to be electrically connected with an Nth second terminal connector;

and when any i satisfies the condition that i is more than or equal to 2 and less than or equal to N-1, the ith A-end connector lug is in short circuit with the ith-1 second-end connector lug, and the ith B-end connector lug is in short circuit with the (i + 1) th A-end connector lug.

6. The perimeter signal module of claim 5, wherein for any i satisfies 2 ≤ i ≤ N-1, the i-th first-end connector and the i-1-th second-end connector and/or the i-th second-end connector and the i + 1-th first-end connector are connected by direct or wire connectors.

7. The perimeter signal module of claim 4, wherein the wires include N wires, denoted as an ith wire, where N is an integer no less than 2 and i is 1, 2.

The signal generating device comprises 2N interfaces, and when any integer k is more than or equal to 0 and less than or equal to N-2, the N-k interface is in short circuit with the N + k +1 interface;

the ith A terminal lug can be electrically connected with the 2i-1 interface, the ith B terminal lug can be electrically connected with the 2i interface, wherein the 1 st interface is constructed to be electrically connected with the 1 st A terminal lug, and the 2N interface is constructed to be electrically connected with the Nth B terminal lug.

8. A docking station comprising a perimeter signal module as claimed in any one of claims 1 to 7.

9. An autonomous operating system comprising a perimeter signal module according to any of claims 1 to 7, further comprising an autonomous operating device comprising a control module and at least one electromagnetic signal sensor configured to detect the magnetic signal, the control module controlling an operating state of the autonomous operating device in accordance with the magnetic signal.

10. The autonomous operating system of claim 9, wherein the control module is configured to control the autonomous operating device to change a walking state when the magnetic signal satisfies a first preset condition

The autonomous working device is configured to move within a preset first area; the wires are configured to be disposed along a perimeter of the preset first area;

the autonomous working device is configured to move outside a preset second area; the wire is configured to be disposed along a perimeter of or within the preset second area; the autonomous operating system further includes a docking station, at least a partial area covered by the docking station being configured as the second area; the docking station includes a second housing configured to have an interior cavity configured to receive the signal generating device.

11. The autonomous operating system of claim 9, wherein the autonomous operating device is configured to move within a preset first zone and outside a preset second zone;

the autonomous operating system comprises two perimeter signal modules, wherein the two perimeter signal modules are defined as a first perimeter signal module and a second perimeter signal module;

the first peripheral signal module comprises a first lead and a first signal generating device, the first lead is configured to be arranged at the periphery of the preset first area, and two ends of the first lead can be electrically connected with the first signal generating device; the second peripheral signal module comprises a second lead and a second signal generating device, the second lead is configured to be arranged in the periphery of the preset second area or in the preset second area, and two ends of the second lead can be electrically connected with the second signal generating device.

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