CN216314005U

CN216314005U - Docking station, guidance device, and autonomous operation system

Info

Publication number: CN216314005U
Application number: CN202121944386.3U
Authority: CN
Inventors: 王启东; 周昶; 其他发明人请求不公开姓名
Original assignee: Shanghai Shanke Robot Co ltd
Current assignee: Shanghai Shanke Robot Co ltd
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2022-04-19
Anticipated expiration: 2031-08-17
Also published as: DE202022104632U1

Abstract

The invention provides a docking station which comprises a bottom plate, a charging end, a control module and a wire ring, wherein the wire ring is constructed to be laid on the bottom plate and electrically connected with the control module to form a closed loop, the control module is constructed to feed an electric signal to the wire ring, the wire ring comprises at least two bent parts, and any one bent part is constructed to be a round angle. The invention also provides a guiding device and an autonomous operating system.

Description

Docking station, guidance device, and autonomous operation system

Technical Field

The invention relates to the field of autonomous operation equipment, in particular to a docking station, a guiding device and an autonomous operation system.

Background

Various autonomous working apparatuses exist on the market at present, such as an autonomous working apparatus for mowing, an autonomous working apparatus for sweeping, an autonomous working apparatus for mopping, and the like. Taking a mowing autonomous working apparatus as an example, a main stream of mowing autonomous working apparatuses generally perform mowing work in a predetermined operating area in a mode of walking along a random or regular path. The predetermined operating area is typically defined by a boundary. While the autonomous working device is working, its docking station (beacon) continuously emits a boundary signal to the boundary, which generates an electromagnetic field around the boundary, and the autonomous working device captures the boundary signal by sensing the electromagnetic field to determine that it is located within its predetermined operating area. The parking station is further arranged near the boundary, the autonomous operation equipment moves along the boundary to enter the parking station according to the guidance of the boundary signal when the electric quantity is insufficient, in order to enable the autonomous operation equipment to accurately butt and charge the charging end in the parking station, a mechanical guide structure is arranged in the parking station, the mechanical guide structure and the boundary signal are matched to guide the autonomous operation equipment to move along a preset track in the parking station after the autonomous operation equipment enters the parking station, and the structure in the parking station is complex. In the prior art, an independent electrified lead is arranged on a base plate of a docking station to generate a guide signal to guide the self-contained operation equipment to be docked with the docking station. The current supply conductors provided on the base plate are usually configured in the form of conductor loops and thus have corners, and signal variations at the corners may cause deviation in traveling of the autonomous working apparatus, thereby greatly affecting the accuracy of docking of the autonomous working apparatus with the docking station.

Disclosure of Invention

The invention aims to provide a docking station capable of improving docking accuracy.

In order to solve the above technical problem, the docking station of the present invention includes a base plate, a charging terminal, a control module, and a wire loop, wherein the wire loop is configured to be laid on the base plate and electrically connected to the control module to form a closed loop, the control module is configured to feed an electrical signal to the wire loop, the wire loop includes at least two bending portions, and any one of the bending portions is configured as a rounded corner.

As a specific embodiment of the present invention, it is preferable that the wire loop is configured to include a pair of guide lines, the pair of guide lines being symmetrically disposed with respect to a center line and spaced apart from each other to form a space; each of the guide lines includes: a pair of electrically connected guide wire segments, the pair of guide wire segments being disposed opposite and spaced apart from each other, the direction in which the pair of guide wire segments are spaced apart being coincident with the direction in which the pair of guide wires are spaced apart.

As an embodiment of the present invention, when the control module feeds an electrical signal to the wire loop, the directions of currents in two adjacent wire segments in each of the guide lines are preferably opposite, and the directions of currents in two wire segments that are symmetrical with respect to the center line are preferably opposite.

As a specific embodiment of the present invention, it is preferable that the wire loop is configured to include at least a first wire loop and a second wire loop; the first wire loop is electrically connected with the control module to form a first closed loop; the second wire loop is electrically connected with the control module to form a second closed loop; the control module 40 is configured to feed a first electrical signal to the first wire loop and a second electrical signal to the second wire loop.

As a specific embodiment of the present invention, it is preferable that the first electrical signal and the second electrical signal are configured as electrical signals having the same frequency but different phases, or electrical signals having different frequencies.

As a specific embodiment of the present invention, it is preferable that any one of the bent portions is configured as a rounded corner having a radius of not less than 10 mm.

As a specific embodiment of the present invention, it is preferable that any one of the bent portions is configured as a rounded corner having a radius of not less than 5 mm.

As an embodiment of the present invention, it is preferable that the wire loop is configured to be fixed to a lower surface of the base plate or an upper surface of the base plate.

In order to solve the above technical problem, the present invention further provides a guiding device, including the above docking station; when the control module feeds an electric signal to the wire loop, a working magnetic field is generated near the wire loop; the autonomous operating device is provided with at least one sensor configured to detect the working magnetic field generated by the wire loop, the autonomous operating device adjusting a heading based on the detected working magnetic field.

In order to solve the above technical problem, the present invention further provides an autonomous operating system, including an autonomous operating device and the above guiding apparatus. Further, the autonomous working apparatus is configured as a mowing autonomous working apparatus.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic structural diagram of a guiding device according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of an autonomous working apparatus entering a charging apparatus having a guiding device according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of another guiding device according to an embodiment of the present invention.

FIG. 4 is a bottom view of a base plate according to an embodiment of the present invention.

FIG. 5 is a diagram illustrating an autonomous operating system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

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

Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings in order to more clearly understand the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

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

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

In the following description, for the purposes of clearly illustrating the structure and operation of the present invention, directional terms will be used, but terms such as "front", "rear", "left", "right", "outer", "inner", "outer", "inward", "upper", "lower", etc. should be construed as words of convenience and should not be construed as limiting terms.

The autonomous operation system includes: the system comprises a sensing device, a docking station with a charging end and an autonomous operating device, wherein at least one sensor is arranged on the autonomous operating device and is configured to detect whether the autonomous operating device approaches the sensing device or not. The sensing device may be an infrared sensor, a GPS locator, or a guidance device as set forth below. The sensing device can be arranged in the docking station or outside the docking station. If the sensing device is an infrared sensor, the sensing device is arranged outside the stop and can be only used for positioning, and the autonomous operating equipment senses that the autonomous operating equipment reaches the position near the stop. If the induction device is a guide device, the guide device and the docking station can form charging equipment, the guide device can be arranged in the docking station or outside the docking station, the guide device can be used for positioning, and when the autonomous operating equipment senses that the autonomous operating equipment reaches the vicinity of the docking station, the guide device can also be used as an air route guide device for guiding the autonomous operating equipment to enter the docking station according to a preset track to be in butt joint with a charging end or dock into the docking station.

The following description will be made in detail with reference to the accompanying drawings.

A first embodiment of the present invention relates to an autonomous operating system. Referring to fig. 1, 2, and 5, the direction indicated by an arrow W is a direction for the autonomous working apparatus 8 to enter into the docking station. In the other diagrams in the present embodiment, the direction indicated by the arrow W is taken as an example of the direction in which the autonomous working apparatus 8 enters the station. It will be appreciated that in practice, the autonomous working apparatus may also enter the docking station from other orientations. In the present embodiment, the autonomous working system will be described with reference to fig. 5, taking a mowing robot as an example.

The guiding device comprises a docking station comprising a base plate, a charging end, a control module 40 and a wire loop, wherein the wire loop is configured to be laid on the base plate and electrically connected with the control module 40 to form a closed loop, the control module 40 is configured to feed an electrical signal to the wire loop, and the wire loop comprises at least two bending parts. When the control module 40 feeds an electrical signal to the wire loop, an operating magnetic field is generated in the vicinity of the wire loop; the autonomous operating device is provided with at least one sensor configured to detect the working magnetic field generated by the wire loop, the autonomous operating device adjusting a heading based on the detected working magnetic field.

In the present embodiment, the wire loop is configured as a pair of

guide lines

2 and 3, the pair of

guide lines

2 and 3 may be disposed on the base plate 1 to be embedded in the base plate 1, and the base plate 1 has an effective docking area 41 and an ineffective docking area 42 connected to or adjacent to the effective docking area 41. A pair of

guide lines

2 and 3 are symmetrically disposed with respect to a center line L and spaced apart from each other to form a spacing region 4. In the present embodiment, the center line L coincides with the center axis of the base plate 1. In other embodiments, the centerline L is spaced parallel to the central axis of the base plate 1. The active docking area 41 is located in the spacer area 4 and the magnetic field formed in the active docking area 41 by the currents in the

guidance lines

2 and 3 is used to guide the autonomous working apparatus 8 to move and adjust the heading. The guiding device is electrified to generate a working magnetic field, the autonomous operating equipment 8 sequentially detects the non-working magnetic field and the working magnetic field generated by the guiding device when moving from the outside of the spacer 4 to the inside of the spacer 4 along the direction perpendicular to the central line L, and the direction of the working magnetic field is opposite to that of the non-working magnetic field. The working magnetic field is generated by the superposition of the magnetic fields generated by the

guide lines

2 and 3, and the region in which the working magnetic field is positioned comprises an effective butt joint area 41 and an ineffective butt joint area 42. Ideally, the range of the operating magnetic field overlaps with the range of the spacer region 4; in some cases the operating magnetic field may also be larger than the range in which the spacer region 4 is located. In the present embodiment, the range of the operating magnetic field is smaller than the range of the spacer 4, and the range of the operating magnetic field falls within the range of the spacer 4. In other embodiments, the range of the operating magnetic field may be adjusted by adjusting the distance between the

guide lines

2 and 3, the distance between the

guide line segments

21 and 22 described below, the distance between the

guide line segments

31 and 32 described below, and the like.

It will be appreciated that in other embodiments, the magnetic field generated in the inactive docking area 42 may also guide the autonomous working device, that is, the sensor on the autonomous working device 8 may be guided when sensing the magnetic field in the inactive docking area 42, and the machine may be guided as long as the detected magnetic field is the working magnetic field, and is not limited to the magnetic field in the active docking area 41.

The guide line 2 includes: a pair of electrically connected

lead wire segments

21 and 22, the

lead wire segments

21 and 22 being oppositely disposed and spaced from each other. The guide line 3 includes: a pair of electrically connected

lead wire segments

31 and 32, the

lead wire segments

31 and 32 being oppositely disposed and spaced from each other. The direction in which the

guide wire segments

21 and 22 are spaced apart coincides with the direction in which the

guide wire segments

31 and 32 are spaced apart. The current in the adjacent two

lead segments

21 and 22 in the lead wire 2 is in opposite directions, and the current in the adjacent two

lead segments

31 and 32 in the lead wire 3 is in opposite directions. The current flow in the two guide wire segments symmetrical with respect to the centre line L is in opposite directions, i.e. the guide wire segment 21 and the guide wire segment 31 are symmetrical with respect to the centre line L, the current flow in the guide wire segment 21 and the guide wire segment 31 is in opposite directions, the guide wire segment 22 and the guide wire segment 32 are symmetrical with respect to the centre line L, and the current flow in the guide wire segment 22 and the guide wire segment 32 is in opposite directions. It will be appreciated that the guide wire segments in one guide wire line may be 3, 4 or 5, but the current flow in two adjacent guide wire segments is in opposite directions. In other embodiments, the direction of the current in the guide wire segment 21 and the guide wire segment 31 may also be the same.

Further, the guide line segment 21 and the guide line segment 31 are inner side guide line segments closer to the center line L, and the guide line segment 22 and the guide line segment 32 are outer side guide line segments farther from the center line L. The autonomous working device 8 is provided with a pair of

sensors

81 and 82, and the

sensors

81 and 82 are used for detecting a working magnetic field generated in the guiding device and controlling the autonomous working device to adjust the heading according to the detected working magnetic field. When the pair of

sensors

81 and 82 are symmetrically disposed along the center line L, the distance between the sensor 82 and the guide line segment 32 and the guide line segment 31 on the same side as the center line L is C, respectively_oAnd C_i(ii) a The distance between the sensor and the guide line segment 22 and the guide line segment 21 which are positioned at the two sides of the central line L is respectively F_oAnd F_i(ii) a Wherein, C_i＜C_o≤F_i＜F_o；

Preferably, the first and second liquid crystal materials are,

alternatively to this, the first and second parts may,

alternatively to this, the first and second parts may,

preferably, the first and second liquid crystal materials are,

further, when the pair of

sensors

81 and 82 are located symmetrically along the center line, the sensor 82 is located at a distance D from the center line L₃，

Preferably, D₃＝45mm，C_i＝70mm，C_o＝100mm，F_i＝160mm，F_o190 mm. It should be understood that the corresponding distance relationship between the sensor 81 and the guide wire segment may also be the same as the sensor 82.

As can be seen from the above, since a pair of guide lines are provided, each guide line includes a pair of electrically connected guide line segments. When current is introduced into one guide line, the direction of the current passing through the guide line segment of the guide line is opposite, and a magnetic field is generated in the interval region. Similarly, when current is introduced into the other guide line, the direction of the current passing through the guide line segment of the guide line is opposite, and a magnetic field can be generated in the separation area to guide the autonomous operating equipment 8 to move and adjust the heading, so that the charging port of the autonomous operating equipment 8 can be smoothly butted with the charging end of the stop station. In addition, the guiding device is simple in structure, layout cannot be limited too much when the guiding device is applied to more environments, the autonomous operating equipment 8 is guided by the guiding device when course adjustment is carried out, course adjustment is accurate, and accurate positioning can be achieved without colliding other butt joint parts. In addition, the current directions in two guide lines which are symmetrical relative to the central line L in the two guide lines are opposite, so that the directions of the magnetic fields generated by the two guide lines in the interval area are the same, and a stable magnetic field is arranged in the interval area.

The guide means has a first end 11 and a second end 12 in the extension direction of the

guide lines

2 and 3. The guiding means comprises a first functional part 6 connected to the side of the

guiding lines

2 and 3 facing the first end 11 and a second functional part 7 connected to the side of the

guiding lines

2 and 3 facing the second end 12, the first and second

functional parts

6 and 7 configuring the guiding wire section 21, the guiding wire section 22, the guiding wire section 31, the guiding wire section 32 of the respective guiding line into an electrical circuit. The guide device comprises a first functional part 6 connected to the side of the guide wire 3 facing the first end 11 and a second functional part 7 connected to the side of the guide wire 3 facing the second end 12, the first and second

functional parts

6, 7 configuring a pair of

guide wire sections

31, 32 of each guide wire into an electrical circuit. In one embodiment, the component to be docked is arranged near the first functional part 6, and since the magnetic field generated by the first functional part 6 and the magnetic field generated by the

guide lines

2 and 3 are superposed with each other, the magnetic field characteristics which can be identified by the autonomous working equipment 8 are provided near the first functional part 6, and when the autonomous working equipment 8 moves to the vicinity of the first functional part 6 in the compartment, the autonomous working equipment 8 further reduces the speed, and the autonomous working equipment 8 is prevented from colliding with the component to be docked. Further, when the autonomous working machine 8 is operated outside the guidance device and senses the magnetic field generated by the first functional unit 6, the autonomous working machine 8 can avoid the collision.

In the embodiment shown in fig. 1, the first functional portion 6 includes two first functional portions 6a and 6b, one first functional portion 6a is electrically connected to one end of each of the

guide wire segments

21 and 22 facing the first end 11, the other first functional portion 6b is electrically connected to one end of each of the

guide wires

31 and 32 facing the first end 11, and the first functional portions 6a and 6b extend in the direction of the center line L and are electrically connected to the control module 40. The first functional portion 6a includes a pair of

first line segments

61a and 62a, the pair of

first line segments

61a and 62a are electrically connected to the pair of guiding

line segments

21 and 22, respectively, the

first line segments

61a and 62a are at least partially overlapped, and the directions of currents in the

first line segments

61a and 62a are opposite to each other, so as to cancel a magnetic field generated by the overlapped portion in the

first line segments

61a and 62a, thereby reducing or eliminating interference caused by the magnetic field induced to the first functional portion 6a by the autonomous operating device 8. Similarly, the first functional portion 6b includes first connecting

segments

61b and 62b connecting the pair of guiding

wire segments

31 and 32, the first connecting

segments

61b and 62b are at least partially overlapped, and the current in the

first segments

61b and 62b is in opposite directions, so as to cancel the magnetic field generated by the overlapped portion in the

first segments

61b and 62b, thereby reducing or eliminating the interference caused by the magnetic field induced to the first functional portion 6b by the autonomous operating device 8. It is understood that the

first line segments

61a and 62a may be arranged without overlapping, and the

first line segments

61b and 62b may be arranged without overlapping, that is, the first functional parts 6a and 6b may generate different magnetic field strengths when supplied with current by configuring different distances between a pair of the first line segments. The parts a and B circled in the first functional part 6 may generate magnetic field characteristics that are recognizable by the autonomous working machine 8. The non-overlapping of the

first line segments

61a and 62a in the first functional part 6 will also generate a magnetic field that can be induced by the autonomous working machine 8, as will the

first line segments

61b and 62 b. And the closer the autonomous operating device 8 is, the larger the magnetic field intensity generated by the first functional part 6 can be sensed, and when the sensed magnetic field intensity is equal to a preset value, the autonomous operating device 8 can be stopped or retracted.

The number of the second functional portions 7 is also two, and the second

functional portions

7a and 7b are respectively the second

functional portions

7a and 7b, the second

functional portions

7a and 7b are both the second connecting line segments, the second functional portion 7a is electrically connected with the ends of the

guide line segments

21 and 22 facing the second end 12, and the second functional portion 7b is electrically connected with the ends of the guide lines 31 and 32 facing the second end 12, so as to form an electric circuit as shown in the figure. Wherein the second

functional parts

7a and 7b are straight line segments, the connecting corners of the second functional part 7a and the

guide line segments

21 and 22 form sharp corners, in this embodiment substantially right angles, the connecting corners of the second functional part 7b and the

guide line segments

31 and 32 form sharp corners, in this embodiment substantially right angles, the second

functional parts

7a and 7b interfere with the magnetic field generated by the

guide lines

2 and 3 in the first region, and an invalid butt-joint region 42 is formed, i.e. an invalid butt-joint region 42 exists between the portion of the guide line 2 facing the second functional part 7a and the portion of the guide line 3 facing the second functional part 7 b. The magnetic field rule in the invalid docking area 42 cannot guide the autonomous working equipment 8, the space area 4 connected with the invalid docking area 42 is the valid docking area 41, the magnetic fields generated by the

guide lines

2 and 3 in the valid docking area 41 are far away from the second function part 7, so that the interference of the

second function parts

7a and 7b is avoided, the autonomous working equipment 8 can be guided by the formed regular magnetic field, and the autonomous working equipment 8 adjusts the moving track according to the detected magnetic field in the valid docking area 41 after detecting the magnetic field in the valid docking area 41.

In the embodiment shown in fig. 3, the second functional portion 7 is further modified. The second functional portions 7 are two and spaced apart from each other, and are respectively second functional portions 7e and 7f, the second functional portion 7e includes a pair of

second line segments

71e and 72e extending obliquely toward the center line L, the second line segment 71e is connected to the guide line segment 21, the second line segment 72e is connected to the guide line segment 22, the second functional portion 7f includes a pair of second line segments 71f and 72f extending obliquely toward the center line L, the second line segment 71f is connected to the guide line segment 21, the second line segment 72f is connected to the guide line segment 22, the

second line segments

71e and 72e are connected to end arc line segments, and the second line segments 71f and 72f are connected to end arc line segments. There is thus no sharp-angled transition in the state of connection of the second functional part 7e with the guide line 2 and also in the state of connection of the second functional part 7f with the guide line 3, and in the configuration shown in the figure, the range of the invalid docking area 42 is smaller and the range of the valid docking area 41 in the gap area is larger, which is more advantageous for the course adjustment of the robot 8. Further, the wire loop comprises at least two bends, exemplarily indicated as R in fig. 3₁～R₅Any one of the bent portions is configured as a rounded corner, as noted. In the present embodiment, any one of the bent portions is configured as a rounded corner having a radius of not less than 10 mm. Further preferably, any one of the bent portions is configured as a rounded corner having a radius of not less than 5 mm.

Fig. 4 shows a bottom view of the base plate 1 according to an embodiment of the present invention, wherein a wire groove 102 is provided on a lower surface of the base plate 1 for installing a wire loop. The shape of the wireway 102 defines the shape of the wire loop. Those skilled in the art can align the wire slot 102 according to actual needsThe shape is adjusted to meet the corresponding functional requirements. The raceway 102 includes at least two raceway bends, illustratively shown as R in FIG. 3₁～R₃And (5) marking. Any one of the wire groove bending parts is configured as a round angle. Since the shape of the wire loop is defined by the shape of the wire groove, the wire loop comprises at least two bends, any one of which is configured as a rounded corner. In the present embodiment, any one of the bent portions is configured as a rounded corner having a radius of not less than 10 mm. Further preferably, any one of the bent portions is configured as a rounded corner having a radius of not less than 5 mm. In other embodiments, the wire chase 102 may also be disposed on the upper surface of the backplane 1.

In some embodiments, referring to fig. 1, the wire loop is configured to include a first wire loop (i.e., a guide wire 2) and a second wire loop (i.e., a guide wire 3), the first wire loop being configured to electrically connect with the control module 40 to form a first closed loop; the second wire loop is configured to electrically connect with the control module 40 to form a second closed loop; the control module 40 is configured to feed a first electrical signal to the first wire loop and a second electrical signal to the second wire loop. The control module 40 may be configured as a single controller; it is also possible to construct the controllers as two relatively independent controllers, one of which feeds the electrical signal to the first conductor loop and the other of which feeds the electrical signal to the second conductor loop. In some embodiments, the first electrical signal is the same frequency but different in phase from the second point signal; in other embodiments, the first electrical signal has a different frequency than the second point signal; the autonomous working device is capable of distinguishing the first electrical signal from the second electrical signal.

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

1. A docking station comprising a base plate, a charging terminal, a controller and a wire loop, wherein the wire loop is configured to be laid on the base plate and electrically connected to the controller to form a closed loop, and the controller is configured to feed an electrical signal to the wire loop, characterized in that the wire loop comprises at least two bends, any one of which is configured as a rounded corner.

2. The docking station of claim 1, wherein said wire loop is configured to include a pair of guide wires symmetrically disposed about a center line and spaced apart from each other to form a spacer; each of the guide lines includes: a pair of electrically connected guide wire segments, the pair of guide wire segments being disposed opposite and spaced apart from each other, the direction in which the pair of guide wire segments are spaced apart being coincident with the direction in which the pair of guide wires are spaced apart.

3. The docking station of claim 2, wherein when said controller feeds an electrical signal to said wire loop, the direction of current flow in adjacent two of said wire segments in each of said guide lines is opposite, and the direction of current flow in two of said wire segments that are symmetric about said centerline is opposite.

4. The docking station of claim 1, wherein said wire loop is configured to include at least a first wire loop and a second wire loop; the first conductor loop is configured to be electrically connected with the controller to form a first closed loop; the second conductor loop is configured to be electrically connected with the controller to form a second closed loop; the controller is configured to feed a first electrical signal to the first wire loop and a second electrical signal to the second wire loop.

5. The docking station of claim 4, wherein said first electrical signal and said second electrical signal are configured as electrical signals of the same frequency but different phases, or electrical signals of different frequencies.

6. The docking station of claim 1, wherein any one of said folds is configured as a rounded corner having a radius of no less than 10 mm.

7. The docking station of claim 1, wherein any one of said folds is configured as a rounded corner having a radius of no less than 5 mm.

8. The docking station of claim 1, wherein said wire loop is configured to be secured to a lower surface of said base plate or an upper surface of said base plate.

9. A guide device comprising a docking station according to any one of claims 1 to 8; generating an operating magnetic field in the vicinity of said wire loop when said controller feeds an electrical signal to said wire loop; the autonomous operating device is provided with at least one sensor configured to detect the working magnetic field generated by the wire loop, the autonomous operating device adjusting a heading based on the detected working magnetic field.

10. An autonomous operating system comprising an autonomous operating device and a guiding apparatus according to claim 9.

11. The autonomous working system of claim 10, wherein the autonomous working apparatus is configured as a mowing autonomous working apparatus.