Base station switching method for lawn mower, lawn mower and multi-base station working system

Abstract

The application provides a base station switching method of a mower, a mower and a multi-base station working system. According to the number of common view satellites of the mower and each base station in a working area, it is determined that the mower enters a cross-dominant area in the working area. A base station that is used for positioning before the mower enters the cross-dominant area is determined as a first base station, and a second base station is determined according to the number of common view satellites of the mower and each candidate base station after the mower enters the cross-dominant area. A first trajectory is determined according to a coordinate point of the mower in the cross-dominant area based on the first base station, and a second trajectory is determined according to a coordinate point of the mower based on the second base station. The mower is switched from the first base station to the second base station according to the first trajectory and the second trajectory. By setting multiple base stations, the number of common view satellites between the mower and the base station is used for base station switching, so that the number of common view satellites between the mower and the base station can realize reliable RTK positioning, the mower can keep accurate positioning, and the working effect is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, and in particular to a base station switching method of a mower, the mower and a multi-base station working system. BACKGROUND

[0002] The mower usually realizes the fast and high-precision positioning function through the synchronous satellite observation data of the base station and the mower based on the RTK carrier phase difference technology.

[0003] Most of the application scenarios of the mower will exist the residence or other buildings directly shielding the satellite signal. When the mower is in different positions of the shielding source, the number of visible satellites will have a very big difference due to the shielding of the shielding source, and part of the users will not be able to erect the base station of the mower at a high place due to various reasons, and even can only place the base station in a corner, so that the satellite visible position of the base station will also be greatly limited. Due to the above reasons, the number of common visible satellites of the mower and the base station is insufficient to realize the reliable RTK positioning during the working process of the mower, so that the positioning of the mower is inaccurate, and the working effect of the mower is affected. SUMMARY

[0004] In view of the above problems, the present application is proposed, which provides a base station switching method of a mower, the mower and a multi-base station working system to at least solve the above problems.

[0005] The present application provides a base station switching method of a mower, which determines that the mower enters a cross-dominant area in a working area according to the number of common visible satellites of the mower and each base station in the working area, wherein the working area of the mower at least includes a plurality of sub-areas, one base station is arranged in each sub-area, and the sub-area includes the cross-dominant area, wherein the cross-dominant area refers to an area in which the number of common visible satellites of the mower and all base stations is less than a preset number.

[0006] The base station that determines the positioning of the mower before entering the cross-dominant area is a first base station, and a second base station is determined according to the number of common visible satellites of the mower and each candidate base station after entering the cross-dominant area, wherein the candidate base station is other base station except the first base station.

[0007] In the cross-dominant area, a first trajectory of the mower is determined according to the coordinate point positioned based on the first base station, and a second trajectory of the mower is determined according to the coordinate point positioned based on the second base station.

[0008] According to the first trajectory and the second trajectory, the mower is switched from the first base station to the second base station.

[0009] Optionally, the determining the coordinate points of the mower positioned based on the first base station as the first trajectory and the coordinate points of the mower positioned based on the second base station as the second trajectory in the cross-dominant area comprises: if the first number of common visible satellites between the mower and the first base station is less than the first threshold, obtaining a second number of common visible satellites between the mower and the second base station; if the first number of common visible satellites is less than a second threshold and the second number of common visible satellites is greater than the second threshold, wherein the second threshold is less than the first threshold. The coordinate points of the mower positioned based on the first base station are obtained as the first trajectory of the mower, and the coordinate points of the mower positioned based on the second base station are obtained as the second trajectory of the mower, respectively.

[0010] Optionally, the obtaining the coordinate points of the mower positioned based on the first base station as the first trajectory and the coordinate points of the mower positioned based on the second base station as the second trajectory of the mower, respectively, comprises: determining a first target position of the mower at which the first number of common visible satellites between the mower and the first base station is greater than a third threshold, and a second target position of the mower at which the second number of common visible satellites between the mower and the second base station is greater than the third threshold, respectively, wherein the third threshold is less than the first threshold and greater than the second threshold. The coordinate points of the mower positioned based on the first base station between the first target position and the second target position are obtained as the first trajectory, and the coordinate points of the mower positioned based on the second base station between the first target position and the second target position are obtained as the second trajectory.

[0011] Optionally, the obtaining the coordinate points of the mower positioned based on the first base station as the first trajectory and the coordinate points of the mower positioned based on the second base station as the second trajectory of the mower, respectively, comprises: collecting the coordinate points of the mower according to a preset frequency; determining the coordinate point of the mower positioned based on the first base station as a starting point of the first trajectory and the coordinate point of the mower positioned based on the second base station as a starting point of the second trajectory when the first number of common visible satellites is less than or equal to the first threshold; and determining the coordinate point of the mower positioned based on the first base station as an ending point of the first trajectory and the coordinate point of the mower positioned based on the second base station as an ending point of the second trajectory when the first number of common visible satellites is less than or equal to the second threshold.

[0012] Optionally, the method further comprises: if the first number of common visible satellites is less than the second threshold and the second number of common visible satellites is less than the second threshold, positioning the mower according to the body sensor of the mower; and if the second number of common visible satellites is greater than the second threshold, obtaining the coordinate points of the mower positioned by the body sensor of the mower as the first trajectory.

[0013] Optionally, the obtaining the coordinate points of the mower positioned by the body sensor of the mower as the first trajectory if the second number of common visible satellites is greater than the second threshold comprises: if the second number of common visible satellites is greater than the second threshold, obtaining the coordinate points of the mower positioned by the body sensor of the mower until the second number of common visible satellites is greater than the first threshold; and obtaining the coordinate points positioned by the body sensor of the mower as the first trajectory.

[0014] Optionally, switching the mower from the first base station to the second base station according to the first trajectory and the second trajectory comprises: determining a coordinate transformation matrix according to the first trajectory and the second trajectory, wherein the coordinate transformation matrix is used to convert coordinates of the mower positioned based on the first base station into coordinates positioned based on the second base station; and switching the mower from the first base station to the second base station according to the coordinate transformation matrix.

[0015] Optionally, determining the second base station according to the number of common visible satellites between the mower and each candidate base station after the mower enters the cross-dominant area comprises: obtaining a candidate number of common visible satellites between the mower and at least one candidate base station; and selecting the base station with the largest candidate number of common visible satellites as the second base station.

[0016] The application provides a base station switching method for a mower. If a first number of common visible satellites between the mower and a first base station is less than a first threshold value, a second number of common visible satellites between the mower and a second base station is obtained. If the first number of common visible satellites is less than a second threshold value and the second number of common visible satellites is greater than the second threshold value, wherein the second threshold value is less than the first threshold value, a first trajectory of the mower is determined based on coordinate points of a target position of the first base station, and a second trajectory of the mower is determined based on coordinate points of a target position of the second base station. The mower is switched from the first base station to the second base station according to the first trajectory and the second trajectory.

[0017] Optionally, obtaining the second number of common visible satellites between the mower and the second base station comprises: obtaining a candidate number of common visible satellites between the mower and at least one candidate base station, wherein the candidate base station refers to other base stations other than the first base station; and selecting the largest number of candidate common visible satellites as the second number of common visible satellites between the mower and the second base station.

[0018] Optionally, determining the first trajectory of the mower based on the coordinate points of the target position of the first base station and determining the second trajectory of the mower based on the coordinate points of the target position of the second base station respectively comprises: determining that the coordinate points of the mower with the first number of common visible satellites greater than a third threshold value and the second number of common visible satellites greater than the third threshold value are the target position, wherein the third threshold value is less than the first threshold value and greater than the second threshold value.

[0019] Optionally, the method further comprises: if the first number of common visible satellites is less than the second threshold value and the second number of common visible satellites is less than the second threshold value, causing the mower to be positioned according to the operation of the body sensor; and if the second number of common visible satellites is greater than the second threshold value, taking the trajectory positioned by the body sensor of the mower as the first trajectory of the mower based on the first base station.

[0020] Optionally, the determining the first trajectory of the mower based on the coordinate point of the target position of the first base station and the determining the second trajectory of the mower based on the coordinate point of the target position of the second base station respectively comprises: collecting the coordinate point of the mower according to a preset frequency; when the first number of the first common view satellites is less than or equal to the first threshold, determining the coordinate point of the target position of the mower positioned based on the first base station as the starting point of the first trajectory and the coordinate point of the target position of the mower positioned based on the first base station as the starting point of the second trajectory; and when the first number of the first common view satellites is less than or equal to the second threshold, determining the coordinate point of the target position of the mower positioned based on the first base station as the ending point of the first trajectory and the coordinate point of the target position of the mower positioned based on the second base station as the ending point of the second trajectory.

[0021] The application provides a base station switching device of a mower, comprising a collecting module, a base station determining module, a trajectory determining module and a first switching module. The collecting module is configured to determine that the mower enters a cross-dominant area in a working area according to the number of common view satellites between the mower and each base station in the working area. The working area comprises at least a plurality of sub-areas, and one base station is arranged in each sub-area. The sub-areas comprise the cross-dominant area. The cross-dominant area refers to an area in which the number of common view satellites between the mower and all base stations is less than a preset number. The base station determining module is configured to determine a first base station for positioning before the mower enters the cross-dominant area, and determine a second base station according to the number of common view satellites between the mower and each candidate base station after the mower enters the cross-dominant area. The candidate base station refers to each base station except the first base station. The trajectory determining module is configured to determine a first trajectory according to the coordinate point of the target position of the mower positioned based on the first base station in the cross-dominant area, and determine a second trajectory according to the coordinate point of the target position of the mower positioned based on the second base station. The first switching module is configured to switch the mower from the first base station to the second base station according to the first trajectory and the second trajectory.

[0022] The application provides a base station switching device of a mower, comprising a common view satellite acquisition module, a trajectory acquisition module and a second switching module. The common view satellite acquisition module is configured to obtain the number of second common view satellites between the mower and a second base station if the number of first common view satellites between the mower and a first base station is less than a first threshold. The trajectory acquisition module is configured to determine a first trajectory of the mower based on the coordinate point of the target position of the first base station and determine a second trajectory of the mower based on the coordinate point of the target position of the second base station if the number of first common view satellites is less than a second threshold and the number of second common view satellites is greater than the second threshold. The second switching module is configured to switch the mower from the first base station to the second base station according to the first trajectory and the second trajectory. The second threshold is less than the first threshold.

[0023] According to another aspect of the application, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are used to make a computer execute the method of the above aspect.

[0024] According to another aspect of the present application, a lawn mower is provided, comprising: a machine body, a cutter head and a drive wheel; one or more processors; and a memory storing a program; wherein the program comprises instructions that, when executed by the processor, cause the processor to perform the method of the above aspect.

[0025] According to another aspect of the present application, a multi-base station working system is provided, comprising: a lawn mower and a plurality of base stations, the lawn mower being configured to obtain a working area map of the lawn mower, the working area map comprising at least one occlusion source, and the working area being divided into a plurality of sub-areas based on the position of the occlusion source; one of the base stations being arranged in each of the sub-areas, each sub-area comprising an absolute advantage area and a cross advantage area, the absolute advantage area being an area in which the lawn mower has a number of common visible satellites with only one base station that is greater than or equal to a preset number, and the cross advantage area being an area in which the lawn mower has a number of common visible satellites with all base stations that is less than the preset number; and the lawn mower performing the switching between the base stations in the cross advantage area to perform the mowing work in the working area by executing the method of the above aspect.

[0026] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors; and a memory storing a program; wherein the program comprises instructions that, when executed by the processor, cause the processor to perform the method of the above aspect.

[0027] The base station switching method, the lawn mower and the multi-base station working system provided by the present application determine the cross advantage area in which the lawn mower enters in the working area according to the number of common visible satellites between the lawn mower and each base station in the working area, wherein the working area of the lawn mower comprises at least a plurality of sub-areas, one base station is arranged in each sub-area, and the cross advantage area is included in the sub-areas. The cross advantage area is an area in which the lawn mower has a number of common visible satellites with all base stations that is less than a preset number. The base station in which the lawn mower is positioned before entering the cross advantage area is determined as the first base station, and the second base station is determined according to the number of common visible satellites between the lawn mower and each candidate base station after the lawn mower enters the cross advantage area, wherein the candidate base station is each base station except the first base station. In the cross advantage area, the first trajectory of the lawn mower is determined according to the coordinate point positioned based on the first base station, and the second trajectory of the lawn mower is determined according to the coordinate point positioned based on the second base station. The lawn mower is switched from the first base station to the second base station according to the first trajectory and the second trajectory. By arranging a plurality of base stations and switching the base stations according to the number of common visible satellites between the lawn mower and the base stations, the number of common visible satellites between the lawn mower and the base stations can be reliably realized for RTK positioning, so that the positioning of the lawn mower is accurate during the working process, and a better working effect is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0029] Figure 1 Flowchart of the base station switching method of the lawn mower according to an example embodiment of the present application;

[0030] Figure 2 Flowchart of the base station switching method of the lawn mower according to another example embodiment of the present application;

[0031] Figure 3 Flowchart of the base station switching method of the lawn mower according to another example embodiment of the present application;

[0032] Figure 4 Flowchart of the base station switching method of the lawn mower according to another example embodiment of the present application;

[0033] Figures 5A to 5C Application scenario diagram of the base station switching method of the lawn mower according to an example embodiment of the present application;

[0034] Figure 6 Structural block diagram of the base station switching method of the lawn mower according to an example embodiment of the present application;

[0035] Figure 7 Structural block diagram of the electronic device of the lawn mower according to an example embodiment of the present application;

[0036] Figure 8 Flowchart of the base station switching method of the lawn mower according to another example embodiment of the present application;

[0037] Figure 9 Flowchart of the base station switching method of the lawn mower according to another example embodiment of the present application.

[0038] Explanation of reference signs:

[0039] 600, base station switching device of the lawn mower; 601, acquisition module; 602, calculation module; 603, switching module; 700, electronic device; 701, calculation unit; 702, ROM; 703, RAM; 704, bus; 705, input and output interface; 706, input unit; 707, output unit; 708, storage unit; 709, communication unit. DETAILED DESCRIPTION

[0040] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0041] For the convenience of understanding, before the specific embodiments of the present application are described in detail, the application scenarios of the base station switching method of the mower, the mower and the multi-base station working method of the present application are exemplarily described.

[0042] For example, Figure 5A A top view of a working scene of a mower, an occlusion source divides the entire working scene of the mower into three areas, and one base station can be arranged near each area. The mower has not enough number of common visible satellites at most working points in each area and other base stations except the base station of the area, and the RTK positioning of these working points can only rely on the base station of the area, so these areas belong to the absolute advantage areas of the base station, such as the first base station absolute advantage area, the second base station absolute advantage area and the third base station absolute advantage area in the figure.

[0043] In addition, each of the three areas has an intersection advantage area with the other two areas. When the mower enters the intersection advantage area from the absolute advantage area, the number of common visible satellites of the mower with the first base station and the second base station will change. In order to realize reliable RTK positioning, the base station switching can be completed by the base station switching method of the mower of the present application.

[0044] Referring to Figure 5B In one case, the occlusion source in the working scene of the mower divides its working area into two parts, such as the front yard and the back yard of a courtyard, and the first base station and the second base station are arranged in the two parts respectively. The following exemplary embodiments of the present application are described for the above application scenario.

[0045] It should be noted that the base station switching method of the mower of the present application can be applied not only to the mower but also to other mobile robots with base stations, so as to realize the switching of the mobile robots between multiple base stations. The present application only takes the mower as an example for description, and does not limit the application range and application scenario of the method of the present application.

[0046] The specific embodiments of the present application will be described in detail in conjunction with the accompanying drawings.

[0047] Figure 1 The flowchart of the base station switching method of the mower of the exemplary embodiments of the present application is shown in the figure, and the present embodiment mainly includes the following steps:

[0048] S101, if the first number of common view satellites between the mower and the first base station is less than the first threshold value, obtaining a second number of common view satellites between the mower and the second base station.

[0049] In some implementations of the present application, with reference to Figure 5B , the first threshold value is used to determine whether the mower enters the cross-dominant area of the first base station and the second base station. For example, the mower runs in the absolute dominant area of the first base station, and it is determined whether the first number of common view satellites between the mower and the first base station is less than the first threshold value. If so, it indicates that the mower enters the cross-dominant area of the first base station and the second base station, and then the second number of common view satellites between the mower and the second base station is obtained.

[0050] Specifically, the first threshold value can be obtained by experiment.

[0051] The embodiments of the present application determine whether the mower enters the cross-dominant area of the first base station and the second base station from the absolute dominant area of the first base station by the first number of common view satellites between the mower and the first base station being less than the first threshold value. The second number of common view satellites between the mower and the second base station is obtained only when the mower enters the cross-dominant area. When the first number of common view satellites between the mower and the first base station is greater than or equal to the first threshold value, the mower still runs in the absolute dominant area of the first base station, and there is no need to obtain the second number of common view satellites between the mower and the second base station, and the mower does not need to perform base station switching.

[0052] S102, if the first number of common view satellites is less than the second threshold value and the second number of common view satellites is greater than the second threshold value, obtaining a first trajectory of the mower based on the first base station and a second trajectory of the mower based on the second base station, respectively.

[0053] In some implementations of the present application, with reference to Figure 5B , the second threshold value is used to determine whether the mower is about to leave the cross-dominant area of the first base station and the second base station. For example, after the mower enters the cross-dominant area of the first base station and the second base station through step S101, the first number of common view satellites and the second number of common view satellites are obtained simultaneously, and then a first trajectory of the mower based on the first base station and a second trajectory of the mower based on the second base station can be generated, respectively. Since the second threshold value is less than the first threshold value, when the first number of common view satellites is less than the second threshold value and the second number of common view satellites is greater than the second threshold value, it indicates that the mower is about to leave the cross-dominant area of the first base station and the second base station. As shown in Figure 5C , the first trajectory of the mower based on the first base station and the second trajectory of the mower based on the second base station are obtained.

[0054] Specifically, step S102 includes:

[0055] Step S1021, acquiring the coordinate points of the mower according to a preset frequency.

[0056] Step S1022, determining the coordinate point with the first number of common visible satellites less than or equal to the first threshold value as the starting point of the first trajectory and the second trajectory.

[0057] Step S1023, determining the coordinate point with the first number of common visible satellites less than or equal to the second threshold value as the ending point of the first trajectory and the second trajectory.

[0058] For example, referring to Figure 5C , the mower acquires its coordinate points according to a preset frequency, for example, 10 coordinate points are acquired every 1 second, and the coordinate point with the first number of common visible satellites less than or equal to the first threshold value is the coordinate point when the mower enters the cross-dominant area. The coordinate point based on the first base station and the coordinate point based on the second base station are respectively taken as the starting points of the first trajectory and the second trajectory. Similarly, the coordinate point with the first number of common visible satellites less than or equal to the second threshold value is the coordinate point when the mower leaves the cross-dominant area. The coordinate point based on the first base station and the coordinate point based on the second base station are respectively taken as the ending points of the first trajectory and the second trajectory, and all the coordinate points between the starting point and the ending point are obtained to obtain the first trajectory and the second trajectory.

[0059] Through the above implementation manner, the number of coordinate points of the first trajectory and the second trajectory can be acquired as needed, and the starting point and the ending point of the first trajectory and the second trajectory can be accurately acquired, which is convenient for subsequent calculation of the coordinate transformation matrix.

[0060] S103, determining the coordinate transformation matrix of the mower from the first base station to the second base station according to the first trajectory and the second trajectory.

[0061] For example, referring to Figure 5CThe first trajectory and the second trajectory can be randomly sampled with multiple pairs of coordinate points, for example, 5 pairs of coordinate points can be selected. The multiple pairs of coordinate points refer to the coordinate points corresponding to each other in the first trajectory and the second trajectory. The 5 pairs of coordinate points can be subtracted in the coordinate system to obtain 5 sets of coordinate transformation matrices t between the first base station and the second base station. The average of the 5 sets of coordinate transformation matrices t is calculated as the best estimation coordinate transformation matrix t of this time. The coordinate points on the second trajectory are converted to the first trajectory by using the best estimation coordinate transformation matrix t, and the number n of coordinate points with errors within a certain range and the standard deviation std of the corresponding errors of the corresponding coordinate points on the first trajectory are counted. The best estimation coordinate transformation matrix t, the number n of coordinate points, and the standard deviation std of the errors are recorded. The above steps are repeated until the number of iterations exceeds a preset threshold. The best estimation coordinate transformation matrix t in the record data with the maximum n is selected from the iteration records to determine the coordinate transformation matrix for switching the lawn mower from the first base station to the second base station. If the n of the multiple sets of record data is the same, the best estimation coordinate transformation matrix t in the record data with the minimum standard deviation std of the errors is selected to determine the coordinate transformation matrix for switching the lawn mower from the first base station to the second base station.

[0062] According to the above embodiment, multiple best estimation coordinate transformation matrices t are calculated, and one set of best estimation coordinate transformation matrix t meeting the above requirements is selected as the coordinate transformation matrix for switching the lawn mower from the first base station to the second base station, so that the error of the coordinate transformation matrix is smaller and the accuracy is higher, thereby making the trajectory of the switched lawn mower more accurate.

[0063] S104, switching the lawn mower from the first base station to the second base station according to the coordinate transformation matrix.

[0064] Exemplarily, the coordinate value of the lawn mower in the second base station is converted into the coordinate value of the lawn mower in the first base station according to the coordinate transformation matrix determined in the above step S104, so that the trajectory of the lawn mower can be unified after the lawn mower enters the absolute advantage area of the second base station, thereby completing the switching of the lawn mower from the first base station to the second base station.

[0065] In summary, the embodiment of the present application sets multiple base stations, and switches the base stations according to the number of common visible satellites between the lawn mower and the base stations, so as to ensure that the number of common visible satellites between the lawn mower and the base stations can realize reliable RTK positioning, so that the lawn mower can maintain accurate positioning during work to achieve better work effect.

[0066] Figure 2 The flowchart of the base station switching method of the lawn mower of another exemplary embodiment of the present application is shown. The embodiment mainly shows the specific implementation of the above step S101. As shown in the figure, the embodiment mainly includes the following steps:

[0067] S201, obtain a candidate number of common view satellites between the mower and at least one candidate base station.

[0068] Specifically, the candidate base station is a base station other than the first base station.

[0069] S202, select the maximum number of candidate common view satellite numbers as a second common view satellite number between the mower and the second base station.

[0070] Exemplarily, with reference to Figure 5A When the mower enters the intersection advantage area of the first base station and the second base station, the number of common view satellites between the mower and the base station other than the first base station is monitored, for example, when the mower enters the intersection advantage area of the first base station and the candidate second base station, the other base station can be the candidate second base station and the candidate third base station. The base station with the largest number of common view satellites is selected as the second base station, that is, the candidate second base station is selected as the second base station, so as to obtain the second common view satellite number between the mower and the second base station.

[0071] The second base station is selected by the number of common view satellites in this embodiment, which can ensure that the number of common view satellites between the mower and the selected base station is sufficient to realize reliable RTK positioning, thereby improving the accuracy of coordinate transformation between the first base station and the second base station.

[0072] Figure 3 The flowchart of the base station switching method of the mower of another exemplary embodiment of the present application is shown. This embodiment mainly shows the specific implementation scheme of obtaining the first trajectory of the mower based on the first base station and the second trajectory of the mower based on the second base station when the first common view satellite number is less than the second threshold value and the second common view satellite number is greater than the second threshold value in step S102. As shown in the figure, this embodiment mainly includes the following steps:

[0073] S301, determine the target position of the mower whose first common view satellite number is greater than the third threshold value and whose second common view satellite number is greater than the third threshold value.

[0074] S302, obtain the coordinate point of the target position based on the first base station as the first trajectory, and obtain the coordinate point of the target position based on the second base station as the second trajectory.

[0075] Specifically, with reference to Figure 5C, the third threshold value is used for judging the target position a and the target position b. The coordinate point (i.e. the coordinate point between the target position a and the target position b) based on which the first number of common view satellites of the first base station is greater than the third threshold value and the second number of common view satellites is greater than the third threshold value is selected as the first trajectory of the mower. Similarly, the coordinate point (i.e. the coordinate point between the target position a and the target position b) based on which the first number of common view satellites of the second base station is greater than the third threshold value and the second number of common view satellites is greater than the third threshold value is selected as the second trajectory of the mower.

[0076] By selecting the coordinate point between the target position a and the target position b as the first trajectory and the second trajectory, the first number of common view satellites and the second number of common view satellites All The smaller coordinate point further reduces the error of calculating the coordinate transformation matrix, and improves the accuracy of the coordinate transformation between the first base station and the second base station.

[0077] Figure 4 A flowchart of a base station switching method of a mower of another exemplary embodiment of the present application is shown. The embodiment mainly shows the specific implementation of step S102 described above. As shown in the figure, the embodiment mainly includes the following steps:

[0078] S401, if the first number of common view satellites is less than the second threshold value and the second number of common view satellites is less than the second threshold value, the mower is caused to run according to the body sensor.

[0079] S402, if the second number of common view satellites is greater than the second threshold value, the trajectory recorded by the body sensor of the mower is taken as the first trajectory based on the first base station.

[0080] Specifically, when the coordinate point based on which the first number of common view satellites is greater than the second threshold value and the second number of common view satellites is greater than the second threshold value cannot be obtained, the coordinate point of the mower recorded by the body sensor of the mower is taken as the first trajectory until the coordinate point based on which the second number of common view satellites is greater than the second threshold value is obtained.

[0081] Exemplarily, the body sensor of the mower can be an inertial measurement unit, a visual sensor, a laser radar, etc., which is not limited in the present application.

[0082] By recording the coordinate point by the body sensor of the mower as the first trajectory, the embodiment can avoid the situation that when the overlapping area of the cross advantage area is too small or even there is no cross advantage area, there is a coordinate point based on which the first number of common view satellites is less than the second threshold value and the second number of common view satellites is also less than the second threshold value, so that the calculation of the coordinate transformation matrix between the first base station and the second base station cannot be performed.

[0083] Figure 8A flowchart of a base station switching method of a mower is shown, which shows another example embodiment of the application. The embodiment provides a base station switching method of a mower, comprising:

[0084] S801, determining that the mower enters a cross-dominant area in the working area according to the number of common visible satellites between the mower and each base station in the working area.

[0085] Wherein, the working area of the mower comprises at least a plurality of sub-areas, and each sub-area is arranged with a base station, and the sub-area includes a cross-dominant area, wherein the cross-dominant area refers to an area where the number of common visible satellites between the mower and all base stations is less than a preset number.

[0086] S802, determining that the base station where the mower is positioned before entering the cross-dominant area is the first base station, and determining the second base station according to the number of common visible satellites between the mower and each candidate base station after the mower enters the cross-dominant area.

[0087] Wherein, the candidate base station is other base station in addition to the first base station.

[0088] S803, in the cross-dominant area, determining the first trajectory of the mower according to the coordinate point positioned based on the first base station, and determining the second trajectory of the mower based on the coordinate point positioned based on the second base station.

[0089] S804, switching the mower from the first base station to the second base station according to the first trajectory and the second trajectory.

[0090] Optionally, determining the coordinate point positioned by the mower based on the first base station in the cross-dominant area as the first trajectory, and the coordinate point positioned by the mower based on the second base station as the second trajectory, comprises: if the first number of common visible satellites between the mower and the first base station is less than a first threshold, obtaining the second number of common visible satellites between the mower and the second base station; if the first number of common visible satellites is less than a second threshold, and the second number of common visible satellites is greater than the second threshold, wherein the second threshold is less than the first threshold. Respectively obtaining the coordinate point positioned by the mower based on the first base station as the first trajectory of the mower, and the coordinate point positioned by the mower based on the second base station as the second trajectory of the mower.

[0091] Optionally, obtaining the coordinate points based on the first base station positioning as the first trajectory of the mower and the coordinate points based on the second base station positioning as the second trajectory of the mower respectively comprises: determining the first target position of the mower at which the first number of common visible satellites between the mower and the first base station is greater than a third threshold, and the second target position of the mower at which the second number of common visible satellites between the mower and the second base station is greater than the third threshold, wherein the third threshold is less than the first threshold and greater than the second threshold. The coordinate points of the mower based on the first base station positioning between the first target position and the second target position are obtained as the first trajectory, and the coordinate points of the mower based on the second base station positioning are obtained as the second trajectory.

[0092] Optionally, obtaining the coordinate points based on the first base station positioning as the first trajectory of the mower and the coordinate points based on the second base station positioning as the second trajectory of the mower respectively comprises: collecting the coordinate points of the mower according to a preset frequency; determining the starting point of the coordinate points of the mower based on the first base station positioning as the first trajectory and the starting point of the coordinate points of the mower based on the second base station positioning as the second trajectory when the first number of common visible satellites is less than or equal to the first threshold; and determining the ending point of the coordinate points of the mower based on the first base station positioning as the first trajectory and the ending point of the coordinate points of the mower based on the second base station positioning as the second trajectory when the first number of common visible satellites is less than or equal to the second threshold.

[0093] Optionally, the method further comprises: if the first number of common visible satellites is less than the second threshold and the second number of common visible satellites is less than the second threshold, positioning the mower according to the body sensor of the mower; and if the second number of common visible satellites is greater than the second threshold, taking the coordinate points positioned by the body sensor of the mower as the first trajectory.

[0094] Optionally, if the second number of common visible satellites is greater than the second threshold, taking the coordinate points positioned by the body sensor of the mower as the first trajectory comprises: if the second number of common visible satellites is greater than the second threshold, obtaining the coordinate points positioned by the body sensor of the mower until the second number of common visible satellites is greater than the first threshold; and taking the coordinate points positioned by the body sensor as the first trajectory.

[0095] Optionally, switching the mower from the first base station to the second base station according to the first trajectory and the second trajectory comprises: determining a coordinate transformation matrix according to the first trajectory and the second trajectory, wherein the coordinate transformation matrix is used to convert the coordinates of the mower based on the first base station positioning into coordinates based on the second base station positioning; and switching the mower from the first base station to the second base station according to the coordinate transformation matrix.

[0096] Optionally, the second base station is determined according to the number of common view satellites between the lawn mower and each candidate base station after the lawn mower enters the intersection advantage area, and the method comprises: obtaining the number of candidate common view satellites between the lawn mower and at least one candidate base station; and selecting the base station with the largest number of candidate common view satellites between the lawn mower and the base station as the second base station.

[0097] Figure 9 A flowchart of a base station switching method of a lawn mower is shown, which shows another example embodiment of the application. The embodiment provides a base station switching method of a lawn mower, which comprises:

[0098] S901, if the first number of common view satellites between the lawn mower and the first base station is less than the first threshold value, obtaining the second number of common view satellites between the lawn mower and the second base station.

[0099] S902, if the first number of common view satellites is less than the second threshold value and the second number of common view satellites is greater than the second threshold value, respectively obtaining the first trajectory of the lawn mower based on the coordinate point of the target position of the first base station and the second trajectory of the lawn mower based on the coordinate point of the target position of the second base station.

[0100] Wherein, the second threshold value is less than the first threshold value.

[0101] S903, according to the first trajectory and the second trajectory, switching the lawn mower from the first base station to the second base station.

[0102] Optionally, obtaining the second number of common view satellites between the lawn mower and the second base station comprises: obtaining the number of candidate common view satellites between the lawn mower and at least one candidate base station, wherein the candidate base station refers to other base stations other than the first base station; and selecting the largest number of candidate common view satellites as the second number of common view satellites between the lawn mower and the second base station.

[0103] Optionally, respectively determining the first trajectory of the lawn mower based on the coordinate point of the target position of the first base station and the second trajectory of the lawn mower based on the coordinate point of the target position of the second base station comprises: determining the coordinate point of the lawn mower with the first number of common view satellites greater than a third threshold value and the second number of common view satellites greater than the third threshold value as the target position, wherein the third threshold value is less than the first threshold value and greater than the second threshold value.

[0104] Optionally, the method further comprises: if the first number of common view satellites is less than the second threshold value and the second number of common view satellites is less than the second threshold value, positioning the lawn mower according to the running of the vehicle body sensor; and if the second number of common view satellites is greater than the second threshold value, taking the trajectory of the vehicle body sensor of the lawn mower as the first trajectory of the lawn mower based on the first base station.

[0105] Optionally, the determining the first trajectory of the mower based on the coordinate point of the target position of the first base station and the determining the second trajectory of the mower based on the coordinate point of the target position of the second base station respectively comprises: collecting the coordinate point of the mower according to a preset frequency; when the first number of the first common view satellites is less than or equal to the first threshold value, determining the coordinate point of the target position of the mower positioned based on the first base station as the starting point of the first trajectory and the coordinate point of the target position of the mower positioned based on the first base station as the starting point of the second trajectory; and when the first number of the first common view satellites is less than or equal to the second threshold value, determining the coordinate point of the target position of the mower positioned based on the first base station as the ending point of the first trajectory and the coordinate point of the target position of the mower positioned based on the second base station as the ending point of the second trajectory.

[0106] The embodiment provides a base station switching device for a mower, which comprises a collection module, a base station determination module, a trajectory determination module and a first switching module. The collection module is configured to determine that the mower enters a cross-dominant area in a working area according to the number of common view satellites between the mower and each base station in the working area. The working area comprises at least a plurality of sub-areas, and one base station is arranged in each sub-area. The sub-areas comprise the cross-dominant area. The cross-dominant area refers to an area in which the number of common view satellites between the mower and all base stations is less than a preset number. The base station determination module is configured to determine a first base station for positioning before the mower enters the cross-dominant area, and determine a second base station according to the number of common view satellites between the mower and each candidate base station after the mower enters the cross-dominant area. The candidate base station refers to each base station except the first base station. The trajectory determination module is configured to determine a first trajectory according to the coordinate point of the target position of the mower positioned based on the first base station in the cross-dominant area, and determine a second trajectory according to the coordinate point of the target position of the mower positioned based on the second base station. The first switching module is configured to switch the mower from the first base station to the second base station according to the first trajectory and the second trajectory.

[0107] The embodiment provides a base station switching device for a mower, which comprises a common view satellite acquisition module, a trajectory acquisition module and a second switching module. The common view satellite acquisition module is configured to acquire the number of second common view satellites between the mower and a second base station if the number of first common view satellites between the mower and a first base station is less than a first threshold value. The trajectory acquisition module is configured to determine a first trajectory of the mower based on the coordinate point of the target position of the first base station and determine a second trajectory of the mower based on the coordinate point of the target position of the second base station if the number of first common view satellites is less than a second threshold value and the number of second common view satellites is greater than the second threshold value. The second switching module is configured to switch the mower from the first base station to the second base station according to the first trajectory and the second trajectory. The second threshold value is less than the first threshold value.

[0108] Figure 6 The structure block diagram of the base station switching device for the mower of the exemplary embodiment of the present application.

[0109] The base station switching device 600 of the lawn mower of the embodiment can be loaded in the lawn mower, and the lawn mower can be suitable for performing the base station switching task of the lawn mower.

[0110] As shown in the figure, the base station switching device 600 of the lawn mower of the embodiment mainly comprises a collection module 601, a calculation module 602 and a switching module 603.

[0111] The collection module 601 is configured to: if a first number of common view satellites between the lawn mower and a first base station is less than a first threshold value, obtain a second number of common view satellites between the lawn mower and a second base station; and if the first number of common view satellites is less than a second threshold value and the second number of common view satellites is greater than the second threshold value, respectively obtain a first trajectory of the lawn mower based on the first base station and a second trajectory of the lawn mower based on the second base station.

[0112] The calculation module 602 is configured to determine a coordinate transformation matrix of the lawn mower from the first base station to the second base station according to the first trajectory and the second trajectory.

[0113] The switching module 603 is configured to switch the lawn mower from the first base station to the second base station according to the coordinate transformation matrix, and the second threshold value is less than the first threshold value.

[0114] Optionally, the collection module 601 comprises an acquisition unit and a selection unit, the acquisition unit is configured to obtain a candidate number of common view satellites between the lawn mower and at least one candidate base station, and the candidate base station is a base station other than the first base station; and the selection unit is configured to select a maximum number of the candidate number of common view satellites as the second number of common view satellites between the lawn mower and the second base station.

[0115] Optionally, the acquisition unit is further configured to: determine a target position of the lawn mower with the first number of common view satellites greater than a third threshold value and the second number of common view satellites greater than the third threshold value; obtain a coordinate point of the target position based on the first base station as the first trajectory, and obtain a coordinate point of the target position based on the second base station as the second trajectory, and the third threshold value is less than the first threshold value and greater than the second threshold value.

[0116] In addition, the base station switching device 600 of the lawn mower of the embodiment can also be used to implement other steps in the foregoing base station switching method embodiments of the lawn mower, and has the beneficial effects of the corresponding method step embodiments, which will not be described here.

[0117] The exemplary embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to make a computer execute the method of the embodiments of the present application.

[0118] The exemplary embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor of a computer, causes the computer to perform the method of any of the embodiments of the present application.

[0119] The exemplary embodiments of the present application also provide a mower comprising a body, a cutterhead and a drive wheel; one or more processors; and a memory storing a program; wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method of any of the embodiments of the present application.

[0120] The exemplary embodiments of the present application also provide a multi-base station working system comprising a mower and a plurality of base stations, the mower being configured to obtain a map of a working area of the mower, the working area map comprising at least one occlusion source, and divide the working area into a plurality of sub-areas based on a position of the occlusion source; and the plurality of base stations being arranged in the plurality of sub-areas respectively, each of the sub-areas comprising an absolute advantage area and a cross advantage area, the absolute advantage area being an area in which the mower has a number of common visible satellites with only one base station being greater than or equal to a preset number, and the cross advantage area being an area in which the mower has a number of common visible satellites with all the base stations being less than the preset number; and the mower being configured to perform the method of any of the above embodiments to switch between the base stations in the cross advantage area to perform a mowing work in the working area.

[0121] For example, referring to Figure 5A , in the multi-base station working system, there are two occlusion sources in the working area of the mower, and the area division subsystem can divide the working area into three sub-areas according to the positions of the occlusion sources, and one base station, such as a first base station, a candidate second base station and a candidate third base station, can be arranged in each sub-area, each sub-area can include an absolute advantage area and a cross advantage area, the preset number can be the minimum number of common visible satellites that can achieve reliable RTK positioning, the absolute advantage area refers to an area in which the mower has a number of common visible satellites with only one base station being greater than or equal to the preset number, i.e., in the absolute advantage area, the mower can only achieve reliable RTK positioning with one base station, and cannot achieve reliable RTK positioning with other base stations; the cross advantage area refers to an area in which the mower has a number of common visible satellites with all the base stations being less than the preset number, i.e., in the cross advantage area, the mower cannot achieve reliable RTK positioning with all the base stations; and the mower can switch between the above three base stations in the cross advantage area to perform a mowing work in the working area by performing the method of any of the above embodiments.

[0122] For example, the mower starts from the absolute advantage area of the first base station, and uses the base station switching method of the mower in each of the above embodiments to switch the mower from the first base station to the candidate second base station in the intersection advantage area, so that the mower enters the absolute advantage area of the candidate second base station to work; similarly, the mower is switched from the candidate second base station to the candidate third base station by using the base station switching method of the mower in each of the above embodiments, so that the mower enters the absolute advantage area of the candidate third base station to work. This embodiment can realize mutual switching between the first base station, the candidate second base station, and the candidate third base station. In addition, this embodiment is only illustrative and does not limit the number of occlusion sources, the number of base stations, and the number of sub-areas.

[0123] The exemplary embodiments of the present application also provide an electronic device, comprising: one or more processors; and a memory storing programs; wherein the programs comprise instructions which, when executed by the processors, cause the processors to perform the method of the embodiments of the present application.

[0124] Reference Figure 7 The structure block diagram of the electronic device 700 which can be a server or a client of the present application will now be described, which is an example of a hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent a variety of forms of digital electronic computing devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent a variety of forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections, and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present application described and / or claimed in this document.

[0125] As shown in Figure 7 The electronic device 700 includes a computing unit 701 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0126] The various components in the electronic device 700 are connected to the I / O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 can be any type of device that can input information to the electronic device 700, and can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the electronic device. The output unit 707 can be any type of device that can present information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 704 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 709 allows the electronic device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0127] The computing unit 701 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the pool cleaning method of the foregoing embodiments can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 can be configured to perform the pool cleaning method by any other appropriate means, such as by means of firmware.

[0128] Program code for carrying out the methods of the present application can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions / operations specified in the flow charts and / or block diagrams to be implemented. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0129] In the context of this application, a machine-readable medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine- readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0130] As used in this application, the terms "machine-readable medium" and "computer- readable medium" refer to any computer program product, apparatus and / or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal that can be used to provide machine instructions and / or data to a programmable processor.

[0131] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0132] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0133] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0134] It should be noted that, in the description of the present application, the terms "first", "second" are only used for the convenience of describing different components or names, and cannot be understood as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0135] 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 in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0136] It should be noted that, although the specific embodiments of the present application are described in detail with reference to the accompanying drawings, it should not be understood as limiting the scope of protection of the present application. Various modifications and variations of the embodiments within the scope of the claims described herein are still within the scope of protection of the present application without creative labor.

[0137] The examples of the embodiments of the present application are intended to simply illustrate the technical features of the embodiments of the present application, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present application, and are not improper limitations of the embodiments of the present application.

[0138] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for base station handover for a lawnmower, characterized in that, include: Based on the number of satellites in common view between the lawnmower and each base station in the work area, the cross-dominance area in which the lawnmower enters the work area is determined. The work area includes at least a number of sub-areas, and one base station is arranged in each sub-area. The sub-area includes the cross-dominance area, which refers to the area where the number of satellites in common view between the lawnmower and all the base stations is less than a preset number. The first base station is determined to be the base station that performs positioning before the lawnmower enters the cross-dominance area, and the second base station is determined based on the number of co-viewing satellites of the lawnmower and each candidate base station after the lawnmower enters the cross-dominance area. The candidate base stations are the other base stations among the base stations besides the first base station. The coordinates of the lawnmower located by the first base station within the area of ​​intersection dominance are obtained, and a first trajectory is determined based on the coordinates; the coordinates of the lawnmower located by the second base station within the area of ​​intersection dominance are obtained, and a second trajectory is determined based on the coordinates. Based on the first trajectory and the second trajectory, the lawnmower is switched from the first base station to the second base station.

2. The method according to claim 1, characterized in that, The steps of obtaining the coordinates of the lawnmower located based on the first base station within the area of ​​overlapping dominance, and determining a first trajectory based on these coordinates; and obtaining the coordinates of the lawnmower located based on the second base station within the area of ​​overlapping dominance, and determining a second trajectory based on these coordinates, include: If the number of first shared-view satellites between the lawnmower and the first base station is less than a first threshold, then the number of second shared-view satellites between the lawnmower and the second base station is obtained. If the number of the first shared-view satellites is less than the second threshold and the number of the second shared-view satellites is greater than the second threshold, then the coordinate points based on the positioning of the first base station are obtained as the first trajectory of the lawnmower, and the coordinate points based on the positioning of the second base station are obtained as the second trajectory of the lawnmower, wherein the second threshold is less than the first threshold.

3. The method according to claim 2, characterized in that, The step of obtaining coordinates based on the first base station positioning as the first trajectory of the lawnmower and coordinates based on the second base station positioning as the second trajectory of the lawnmower includes: The first target position of the lawnmower is determined when the number of first shared-view satellites is greater than a third threshold, and the second target position of the lawnmower is determined when the number of second shared-view satellites is greater than the third threshold, wherein the third threshold is less than the first threshold and greater than the second threshold; The coordinates between the first target location and the second target location, based on the positioning of the first base station, are obtained as a first trajectory, and the coordinates based on the positioning of the second base station are obtained as a second trajectory.

4. The method according to claim 2, characterized in that, The step of obtaining coordinates based on the first base station positioning as the first trajectory of the lawnmower and coordinates based on the second base station positioning as the second trajectory of the lawnmower includes: The coordinates of the lawnmower are collected according to a preset frequency; When the number of the first shared-view satellites is less than or equal to the first threshold, the coordinate point located by the first base station is taken as the starting point of the first trajectory, and the coordinate point located by the second base station is taken as the starting point of the second trajectory. When the number of the first co-viewing satellites is less than or equal to the second threshold, the coordinate point located by the first base station is taken as the end point of the first trajectory, and the coordinate point located by the second base station is taken as the end point of the second trajectory.

5. The method according to claim 3, characterized in that, The method further includes: If the number of the first shared-view satellites is less than the second threshold, and the number of the second shared-view satellites is less than the second threshold, the lawnmower is instructed to operate based on the lawnmower's body sensors. If the number of the second common-view satellites is greater than the second threshold, then the coordinates of the lawnmower's body sensor will be used as the first trajectory.

6. The method according to claim 5, characterized in that, If the number of the second shared-view satellites is greater than the second threshold, then the coordinates located by the lawnmower's body sensor are used as the first trajectory, including: If the number of the second common-view satellites is greater than the second threshold, obtain the coordinates of the lawnmower located by the vehicle body sensor until the number of the second common-view satellites is greater than the first threshold; The coordinates located by the vehicle body sensor are used as the first trajectory.

7. The method according to claim 1, characterized in that, The step of switching the lawnmower from the first base station to the second base station based on the first trajectory and the second trajectory includes: Based on the first trajectory and the second trajectory, a coordinate transformation matrix is ​​determined, which is used to convert the coordinates of the lawnmower based on the first base station positioning into coordinates based on the second base station positioning; According to the coordinate transformation matrix, the lawnmower is switched from the first base station to the second base station.

8. The method according to claim 1, characterized in that, The step of determining the second base station based on the number of co-view satellites with each candidate base station after the lawnmower enters the cross-dominance area includes: The number of candidate co-view satellites between the lawnmower and at least one candidate base station is obtained. The base station with the largest number of candidate co-viewing satellites between itself and the lawnmower is selected as the second base station.

9. A method for base station handover for a lawnmower, characterized in that, The method includes: If the number of first shared-view satellites between the lawnmower and the first base station is less than the first threshold, then the number of second shared-view satellites between the lawnmower and the second base station is obtained. If the number of the first shared-view satellites is less than the second threshold and the number of the second shared-view satellites is greater than the second threshold, then the coordinates of the target location based on the first base station are obtained, and the first trajectory of the lawnmower is determined based on the coordinates; and the coordinates of the target location based on the second base station are obtained, and the second trajectory of the lawnmower is determined based on the coordinates. Based on the first trajectory and the second trajectory, the lawnmower is switched from the first base station to the second base station, and the second threshold is less than the first threshold.

10. The method according to claim 9, characterized in that, The process of obtaining the number of second shared-view satellites between the lawnmower and the second base station includes: The number of candidate co-viewing satellites between the lawnmower and at least one candidate base station is obtained, wherein the candidate base station is another base station besides the first base station; The maximum number of candidate shared-view satellites is selected as the second shared-view satellite number between the lawnmower and the second base station.

11. The method according to claim 9 or 10, characterized in that, The coordinates of the target location based on the first base station are obtained, and the first trajectory of the lawnmower is determined based on the coordinates. And obtaining the coordinates of the target location based on the second base station, and determining the second trajectory of the lawnmower based on the coordinates, including: The target location of the lawnmower is determined to be where the number of first shared-view satellites is greater than a third threshold and the number of second shared-view satellites is greater than the third threshold, wherein the third threshold is less than the first threshold and greater than the second threshold.

12. The method according to claim 11, characterized in that, The method further includes: If the number of the first shared-view satellites is less than the second threshold, and the number of the second shared-view satellites is less than the second threshold, then the lawnmower is instructed to operate based on the vehicle's sensors. If the number of the second co-viewing satellites is greater than the second threshold, then the trajectory of the lawnmower's body sensor is taken as the first trajectory based on the first base station.

13. The method according to claim 9, characterized in that, The coordinates of the target location based on the first base station are obtained, and the first trajectory of the lawnmower is determined based on the coordinates. And obtaining the coordinates of the target location based on the second base station, and determining the second trajectory of the lawnmower based on the coordinates, including: The coordinates of the lawnmower are collected according to a preset frequency; The coordinates of the first target location where the number of the first shared-view satellites is less than or equal to the first threshold are determined as the starting point of the first trajectory and the second trajectory; The coordinates of the first target location where the number of the first co-viewed satellites is less than or equal to the second threshold are determined as the endpoints of the first trajectory and the second trajectory.

14. A base station switching device for a lawnmower, characterized in that, include: The acquisition module is used to determine the cross-dominance area in the working area where the lawnmower enters, based on the number of satellites in common view between the lawnmower and each base station in the working area. The working area includes at least a number of sub-areas, and one base station is arranged in each sub-area. The sub-area includes the cross-dominance area, which refers to the area where the number of satellites in common view between the lawnmower and all the base stations is less than a preset number. The base station determination module is used to determine a first base station for positioning before the lawnmower enters the cross-dominance area, and to determine a second base station based on the number of co-viewing satellites of the lawnmower and each candidate base station after the lawnmower enters the cross-dominance area, wherein the candidate base stations are other base stations besides the first base station among the base stations. The trajectory determination module is used to obtain the coordinates of the lawnmower based on the first base station in the area of ​​intersection dominance, and determine a first trajectory based on the coordinates; and to obtain the coordinates of the lawnmower based on the second base station in the area of ​​intersection dominance, and determine a second trajectory based on the coordinates. The first switching module is used to switch the lawnmower from the first base station to the second base station according to the first trajectory and the second trajectory.

15. A base station switching device for a lawnmower, characterized in that, include: A common-view satellite acquisition module is used to obtain the second common-view satellite number between the lawnmower and the second base station if the number of first common-view satellites between the lawnmower and the first base station is less than a first threshold. The trajectory acquisition module is used to obtain the coordinates of the target location based on the first base station if the number of the first co-viewing satellites is less than the second threshold and the number of the second co-viewing satellites is greater than the second threshold, and to determine the first trajectory of the lawnmower based on the coordinates. And obtain the coordinates of the target location based on the second base station, and determine the second trajectory of the lawnmower based on the coordinates; The second switching module is used to switch the lawnmower from the first base station to the second base station according to the first trajectory and the second trajectory, wherein the second threshold is less than the first threshold.

16. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-13.

17. A lawnmower, characterized in that, include: Machine body, cutter head, and drive wheel; One or more processors; as well as Memory for stored programs; The program includes instructions that, when executed by the processor, cause the processor to perform the method of any one of claims 1-13.

18. A multi-base station operating system, characterized in that, include: Lawn mowers and multiple base stations; The lawnmower is used to acquire a map of its working area, the working area map including at least one occlusion source, and the working area is divided into multiple sub-areas based on the location of the occlusion source; A base station is deployed in each of the multiple sub-regions. The sub-regions include an absolute dominance region and a cross-dominance region. The absolute dominance region refers to the region where the lawnmower shares a view with only one of the base stations with a number greater than or equal to a preset number. The cross-dominance region refers to the region where the lawnmower shares a view with all the base stations with a number less than a preset number. The lawnmower performs lawnmowing work in the work area by switching between the base stations in the cross-dominance area by executing the method of any one of claims 1-13.

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