Working system of self-moving equipment, base station and base station offset detection method

Abstract

The invention discloses a working system of self-moving equipment, a base station and a base station offset detection method. The system comprises a self-moving device which autonomously walks and executes a work task; the first base station obtains the first satellite observation data, analyzes the first satellite observation data to generate first differential data and transmits the first differential data to the self-moving device; the second base station obtains second satellite observation data, analyzes the second satellite observation data to generate second differential data and transmits the second differential data to the self-moving device; wherein the self-moving device receives first differential data from a first base station and second differential data from a second base station, and calculates a difference parameter according to the first differential data and the second differential data; and under the condition that the difference parameter reaches the corresponding base station offset condition, judging that the first base station and / or the second base station deviates from the corresponding initial installation position, and sending a base station offset alarm.

Description

Technical Field

[0001] The present application relates to the technical field of electric tools, and in particular to a working system of a self-mobile device, a base station, and a method for detecting base station offset. Background Art

[0002] Self-moving devices, represented by lawn mowers, perform tasks such as mowing in a certain working area. Considering that satellite positioning systems such as GPS (Global Positioning System) are affected by factors such as weather and obstruction, and have limited positioning accuracy, the self-moving device constitutes a working system including a base station and adopts differential positioning to achieve its own positioning and navigation in the working area.

[0003] The base station in the working system will theoretically be fixed at the installation position after the initial installation. The self-mobile device receives the differential data transmitted by the base station to correct the satellite positioning error. Once the base station deviates from the initial installation position, the differential data it transmits will not help the self-mobile device correct the positioning error. Instead, it will cause the self-mobile device to obtain incorrect positioning results and have an adverse effect on its navigation and work tasks.

[0004] This section provides background information related to the present application which is not necessarily prior art. Summary of the invention

[0005] One object of the present application is to solve or at least alleviate part or all of the above problems. To this end, one object of the present application is to provide a working system of a mobile device, a base station and a method for detecting base station offset.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] A working system of a self-moving device comprises: a self-moving device configured to walk autonomously and perform work tasks; a first base station configured to obtain first satellite observation data, generate first differential data according to the analysis of the first satellite observation data and transmit the first differential data to the self-moving device; a second base station configured to obtain second satellite observation data, generate second differential data according to the analysis of the second satellite observation data and transmit the second differential data to the self-moving device; wherein the self-moving device is further configured to receive the first differential data from the first base station and the second differential data from the second base station, and calculate a differential parameter according to the first differential data and the second differential data; when the differential parameter meets the corresponding base station offset condition, it is determined that the first base station and / or the second base station deviate from the corresponding initial installation position, and a base station offset alarm is issued.

[0008] In some embodiments, the difference parameters include coordinate difference; the mobile device calculates the first differential positioning coordinates of the mobile device based on the first differential data, and calculates the second differential positioning coordinates of the mobile device based on the corresponding second differential data, and then determines the coordinate difference from the first differential positioning coordinates and the second differential positioning coordinates.

[0009] In some embodiments, a first coordinate difference is determined by the first differential positioning coordinates calculated by the mobile device at the first moment and the second differential positioning coordinates, and a second coordinate difference is determined by the first differential positioning coordinates calculated at the second moment and the second differential positioning coordinates; when the difference between the first coordinate difference and the second coordinate difference exceeds a coordinate difference threshold, it is determined that the first base station and / or the second base station deviates from the installation position.

[0010] In some embodiments, the difference parameters include heading; the mobile device calculates a first differential positioning coordinate of the mobile device based on the first differential data, and calculates a second differential positioning coordinate of the mobile device based on the corresponding second differential data, and then determines the heading by the first differential positioning coordinate and the second differential positioning coordinate.

[0011] In some embodiments, a first heading is determined by a first differential positioning coordinate and a second differential positioning coordinate calculated by a mobile device at a first moment, and a second heading is determined by a first differential positioning coordinate and a second differential positioning coordinate calculated at a second moment; when the difference between the first heading and the second heading exceeds a heading difference threshold, it is determined that the first base station and / or the second base station deviates from the installation position.

[0012] In some embodiments, the self-moving device includes an odometer and an inertial sensor; after determining that the first base station and / or the second base station deviates from the installation position, the self-moving device determines a first differential displacement corresponding to the first base station according to the first differential positioning coordinates at the third moment and the fourth moment, and determines a second differential displacement corresponding to the second base station according to the second differential positioning coordinates at the third moment and the fourth moment; the mileage data from the odometer and the inertial data from the inertial sensor are integrated to calculate the sensor displacement in the time period from the third moment to the fourth moment; when the difference between the first differential displacement and the sensor displacement exceeds a displacement difference threshold, it is determined that the first base station deviates from the installation position; when the difference between the second differential displacement and the sensor displacement exceeds a displacement difference threshold, it is determined that the second base station deviates from the installation position.

[0013] In some embodiments, after determining that the first base station deviates from the installation position, the mobile device determines the offset distance and offset direction of the first base station according to the difference between the first differential displacement and the sensor displacement.

[0014] In some embodiments, the first moment is the initial moment when the mobile device is powered on, and the second moment is the moment when the mobile device is working; when the mobile device includes a single radio station, the second moment is the static moment when the mobile device is working.

[0015] In some embodiments, the self-mobile device includes a single radio station; the self-mobile device uses the single radio station to receive the first differential data from the first base station and the second differential data from the second base station in turn when in a stationary state.

[0016] In some embodiments, the self-moving device includes one or more of a running wheel, a visual sensor, and an inertial sensor; the self-moving device determines that the self-moving device is in a stationary state when one or more of the following is achieved: the running wheel is stationary; the image currently captured by the visual sensor is stationary; the variance of the inertial data of the inertial sensor within a preset time length does not exceed the inertial variance threshold; the variance of the satellite positioning data within a preset time length does not exceed the positioning variance threshold.

[0017] In some embodiments, the self-mobile device includes dual radio stations; the self-mobile device uses the dual radio stations to simultaneously receive the first differential data from the first base station and the second differential data from the second base station in a stationary state or in a moving state.

[0018] In some embodiments, the base station offset condition is met when the offset distance between the first base station or the second base station and the corresponding installation location exceeds 10 cm.

[0019] In some embodiments, the first base station includes an acceleration sensor, which monitors the acceleration of the first base station. The first base station and / or the mobile device detects whether the first base station deviates from the installation position based on acceleration data monitored by the acceleration sensor.

[0020] In some embodiments, the system further comprises an alarm device; the alarm device is used to issue an alarm when the self-mobile device deviates from the installation position of the first base station and / or the second base station; the alarm device is an indicator light or a buzzer.

[0021] In some embodiments, the system also includes an external device; when the first base station and / or the second base station deviates from the installation position, the mobile device sends a base station deviation alarm to the external device, so that the external device issues an alarm in a visual manner based on the base station deviation alarm.

[0022] A method for detecting base station offset, wherein the method is applied to a working system of a self-mobile device, the system comprising the self-mobile device and at least two base stations; the method comprises: the self-mobile device receives first differential data from a first base station and second differential data from a second base station, and calculates a differential parameter based on the first differential data and the second differential data; when the differential parameter meets the corresponding base station offset condition, the self-mobile device determines that the first base station and / or the second base station deviates from the corresponding initial installation position, and issues a base station offset alarm.

[0023] A working system of a self-moving device comprises: a self-moving device configured to walk autonomously and perform work tasks; a base station configured to obtain satellite observation data, generate differential data according to the satellite observation data analysis and transmit the differential data to the self-moving device; wherein the base station comprises an acceleration sensor, the acceleration sensor is configured to monitor the acceleration of the base station, and the base station transmits the acceleration data to the self-moving device; the self-moving device comprises a controller, and the controller is configured to detect the offset condition between the base station and an initial installation position according to the acceleration data, and selectively issue a base station offset alarm according to the offset condition.

[0024] In some embodiments, the controller issues a base station deviation alarm when the variance of the acceleration data within a preset time period exceeds an acceleration variance threshold.

[0025] In some embodiments, the controller further determines an offset distance and an offset direction of the base station based on the acceleration data, and issues a base station offset alarm indicating the offset distance and the offset direction.

[0026] In some embodiments, the self-mobile device also includes a transceiver, and the system also includes an external device; the controller also determines the base station number of the base station when the variance exceeds the acceleration variance threshold, and transmits a base station offset alarm indicating the base station number to the external device through the transceiver.

[0027] In some embodiments, the acceleration sensor includes a single-axis accelerometer or a three-axis accelerometer.

[0028] A method for detecting base station offset, wherein the method is applied to a working system of a self-mobile device, the system comprises a self-mobile device and a base station, the base station comprises an acceleration sensor, and the self-mobile device comprises a controller; the method comprises: the acceleration sensor of the base station monitors the acceleration of the base station, and the base station transmits the acceleration data to the self-mobile device; the controller of the self-mobile device detects the offset condition between the base station and an initial installation position according to the acceleration data, and selectively issues a base station offset alarm according to the offset condition.

[0029] A base station comprises: a collection module configured to obtain satellite observation data at a current observation position; a sending module configured to send data to a self-mobile device; wherein the base station also comprises an acceleration sensor and a controller; the acceleration sensor is configured to monitor the acceleration of the base station; the controller is configured to detect the offset condition between the base station and an initial installation position according to the acceleration data monitored by the acceleration sensor, and selectively send a base station offset alarm to the self-mobile device through the sending module according to the offset condition.

[0030] In some embodiments, the controller issues a base station deviation alarm when the variance of the acceleration data within a preset time period exceeds an acceleration variance threshold.

[0031] In some embodiments, the transmission module includes a radio station.

[0032] A method for detecting base station offset, wherein the base station includes an acceleration sensor, a controller and a sending module; the method includes: the acceleration sensor of the base station monitors the acceleration of the base station; the controller of the base station detects the offset status between the base station and an initial installation position according to the acceleration data monitored by the acceleration sensor, and selectively sends a base station offset alarm to a mobile device through the sending module according to the offset status.

[0033] A working system of a self-moving device comprises: a self-moving device configured to walk autonomously and perform work tasks; the self-moving device comprises a controller, a sensor assembly and a differential positioning device; a base station configured to obtain satellite observation data, generate differential data according to the analysis of the satellite observation data and transmit the differential data to the self-moving device; wherein, during the movement of the self-moving device, the controller is configured to calculate the differential displacement of the self-moving device within a preset time length according to the output of the differential positioning device, and calculate the sensor displacement of the self-moving device within the preset time length according to the output of the sensor assembly; when the difference between the differential displacement and the sensor displacement is greater than the displacement difference threshold, a base station offset alarm is issued.

[0034] In some embodiments, the sensor assembly includes an odometer, and the controller calculates the sensor displacement based on mileage data from the odometer.

[0035] In some embodiments, the sensor assembly further includes an inertial sensor, and the controller fuses mileage data from the odometer and inertial data from the inertial sensor to calculate the sensor displacement.

[0036] In some embodiments, the sensor assembly includes a camera, and the controller calculates the sensor displacement based on visual odometry data from the camera.

[0037] In some embodiments, the controller calculates the offset distance and / or offset direction of the base station according to the difference between the differential displacement and the sensor displacement, and transmits the offset distance and / or offset direction of the base station when issuing a base station offset alarm.

[0038] In some embodiments, the self-equipped device further includes a transceiver, and the system further includes an external device; the controller further sends a base station offset alarm to the external device via the transceiver when the difference is greater than a displacement difference threshold.

[0039] A method for detecting base station offset, wherein the method is applied to a working system of a self-moving device, wherein the system includes a self-moving device and a base station, and the self-moving device includes a controller, a sensor component and a differential positioning device; the method includes: during the movement of the self-moving device, the controller calculates the differential displacement of the self-moving device within a preset time length according to the output of the differential positioning device, and calculates the sensor displacement of the self-moving device within the preset time length according to the output of the sensor component; when the difference between the differential displacement and the sensor displacement is greater than a displacement difference threshold, the controller issues a base station offset alarm.

[0040] The benefit of the present application lies in: realizing base station offset detection in a variety of different scenarios, effectively avoiding positioning and navigation errors of the self-mobile device within the working system of the self-mobile device due to base station offset, and improving the working accuracy and efficiency of the self-mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a perspective view of a self-moving device as an embodiment of the present application;

[0042] Figure 2 is a three-dimensional diagram of a base station as an embodiment of the present application;

[0043] Figure 3 yes Figure 2 The electrical control schematic diagram of the base station shown;

[0044] Figure 4 is a schematic diagram of a working system of a self-mobile device as an embodiment of the present application;

[0045] Figure 5 yes Figure 4 The electrical control schematic diagram of the self-moving device in the working system shown;

[0046] Figure 6 yes Figure 4 Another electrical control schematic diagram of the self-moving device in the working system shown;

[0047] Figure 7a yes Figure 4 A flowchart of base station offset detection based on coordinate difference in the working system shown;

[0048] Figure 7b yes Figure 4 Another flow chart of base station offset detection based on coordinate difference in the working system shown;

[0049] Figure 8a yes Figure 4 A flowchart of base station offset detection based on heading difference in the working system shown;

[0050] Figure 8b yes Figure 4 Another flow chart of base station offset detection based on heading difference in the working system shown;

[0051] Figure 9a yes Figure 4 A flowchart of base station offset detection based on sensor data in the working system shown;

[0052] Figure 9b yes Figure 4 Another flow chart of base station offset detection based on sensor data in the working system shown;

[0053] Fig.10 is a schematic diagram of a working system of a self-moving device as another embodiment of the present application;

[0054] Fig.11 yes Fig.10 The electrical control schematic diagram of the self-moving device in the working system shown;

[0055] Fig.12 yes Fig.10 The electrical control schematic diagram of the base station in the working system shown;

[0056] Fig.13 yes Fig.10 Another electrical control schematic diagram of a base station in the working system shown. DETAILED DESCRIPTION

[0057] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above drawings.

[0058] In this application, the terms "comprises", "includes", "has" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0059] In this application, the term "and / or" is a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects before and after are in an "and / or" relationship.

[0060] In the present application, the terms "connect", "combine", "couple", and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, direct connection refers to two parts or components being connected together without the need for an intermediate piece, and indirect connection refers to two parts or components being connected to at least one intermediate piece respectively, and the two parts or components being connected via the intermediate piece. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.

[0061] In the present application, it will be understood by those of ordinary skill in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerances caused by manufacturing, assembly, and use associated with a specific value, and the like. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0062] In this application, it will be understood by those skilled in the art that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0063] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, the bottom can include directly below, lower left, lower right, lower front, and lower back, etc.

[0064] In this application, the terms "controller", "processor", "central processing unit", "CPU", and "MCU" are interchangeable. When a unit "controller", "processor", "central processing unit", "CPU", or "MCU" is used to perform a specific function, unless otherwise specified, these functions can be performed by a single unit or multiple units.

[0065] In the present application, the terms “device”, “module” or “unit” may be implemented in the form of hardware or software to achieve specific functions.

[0066] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0067] The technical solution proposed in this application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0068] First, the system architecture of the self-mobile device working system proposed in this application and the related networking architecture are explained. The working system of the self-mobile device includes at least the self-mobile device and the base station. In addition to the working system, there is also a satellite positioning system represented by satellites. The self-mobile device and the base station both interact with the satellite to exchange satellite observation data to parse their own satellite positioning data and clarify their own positions. The self-mobile device and the base station also interact with differential data so that the self-mobile device can correct its own satellite positioning error based on the differential data transmitted by the base station. The number of self-mobile devices in the working system is one or more, and it will be described from the perspective of a single self-mobile device hereinafter, and each mobile device can execute the same solution; the number of base stations is also one or more, and the number of base stations in different embodiments hereinafter can vary. When described from the perspective of a single base station, each base station can execute the same solution.

[0069] Figure 1 A self-moving device 10 is shown as an embodiment in the present application. Figure 1The self-moving device 10 shown is a lawn mower robot 10. It is understandable that the technical solution described in the present application can also be applied to other types of self-moving devices 10 such as snow blowers, sweepers, etc. to meet the needs of different scenarios.

[0070] The mobile device 10 is configured to autonomously walk and perform work tasks. Figure 1 As shown, the self-moving device 10 may include a working component 110 and a walking component 120, wherein the working component 110 includes a functional part 111 and a working motor 112 driving the functional part 111; the walking component 120 includes a walking wheel 121 and a walking motor 122 driving the walking wheel 121. Taking the lawn mower robot 10 as an example, the working motor 112 drives the functional part 111, which is a blade, to rotate and implement cutting, and the walking motor 122 drives the walking wheel 121 to rotate and walk.

[0071] refer to Figure 5 , Figure 6 and Fig.11 The mobile device 10 may further include a controller 130 and a transceiver 140. The controller 130 includes a processor 131 such as an MCU (Microcontroller Unit), an ARM (Advanced Reduced Instruction Set Computing Machine), a DSP (Digital Signal Processor), and a memory 132 such as a ROM (Read-Only Memory), a RAM (Random Access Memory), a FLASH (FLASH EEPROM), and a combination thereof, which stores executable instructions of the processor 131. The controller 130 is configured to run various instructions to complete corresponding calculation and control operations. The transceiver 140 is configured to receive relevant data from the satellite 30 and the base station 20 for the controller 130 to perform corresponding processing. Still taking the lawn mower robot 10 as an example, the transceiver 140 can receive satellite observation data from the satellite 30 and differential data from the base station 20. The controller 130 will calculate the current position of the lawn mower robot 10 based on the satellite observation data and the differential data, and control the start and stop and speed of the walking motor 122 and the working motor 112, so that the lawn mower robot 10 can move on the specified track at a specified speed and correctly perform the cutting task in the specified area.

[0072] Figure 2The base station 20 as an embodiment of the present application is shown. The base station 20 is configured to obtain satellite observation data, and parse the obtained satellite observation data to generate corresponding differential data, and then transmit the differential data to the self-mobile device 10 for positioning correction. In differential positioning technology represented by RTK, after the base station 20, which is theoretically fixed at the initial installation position, receives the satellite observation data, it can calculate the differential data that can be used by the self-mobile device 10 to correct the satellite positioning error in combination with its own unchanged installation position.

[0073] refer to Figure 3 , Fig.12 and Fig.13 The base station 20 may include at least a collection module 210 and a sending module 220, wherein the collection module 210 is used to realize long-distance communication and is configured to obtain satellite observation data; and the sending module 220 is used to realize short-range communication within the working area and is configured to send differential data to the mobile device 10.

[0074] In order to clarify the relevant concepts in the technical solution, the terms are unified and explained. Continuing from the previous text, the self-mobile device 10 uses a transceiver 140 to realize data transmission and reception. The transceiver 140 includes a first receiving module 141 for long-distance communication with a satellite positioning system represented by a satellite 30 to obtain satellite observation data, and a second receiving module 142 for short-distance communication with a base station 20 in the working area to obtain differential data. In some embodiments, the first receiving module 141 is a satellite positioning receiver, and the second receiving module 142 is a unicast or broadcast radio station; in other embodiments, the first receiving module 141 and the second receiving module 142 actually belong to the same transceiver group in hardware. In some embodiments, the second receiving module 142 in the transceiver of the self-mobile device 10 is a radio station, and the number of radio stations configured for the same self-mobile device 10 can be one or more.

[0075] Correspondingly, the base station 20 uses the acquisition module 210 to communicate with the satellite 30 over long distances to obtain satellite observation data, and uses the sending module 220 to communicate with the mobile device 10 in the working area over short distances to transmit differential data thereto. In some embodiments, the acquisition module 210 is a satellite positioning receiver, and the sending module 220 is a radio station such as a unicast or broadcasting station; in other embodiments, the acquisition module 210 and the sending module 220 actually belong to the same transceiver group in terms of hardware.

[0076] The following specifically introduces a working system 100 of a self-equipped device, referring to Figure 4The working system 100 of the self-moving device includes at least one self-moving device 11 and two base stations 21: a first base station 21a and a second base station 21b. The first base station 21a is initially installed at a first installation position, and the first base station 21a obtains first satellite observation data indicating the first installation position, generates first differential data from the first satellite observation data and transmits it to the self-moving device 11; the second base station 21b is initially installed at a second installation position, and the second base station 21b obtains second satellite observation data indicating the second installation position, generates second differential data from the second satellite observation data and transmits it to the self-moving device 11.

[0077] It can be understood that the working system 100 may include multiple self-moving devices, each of which can receive the differential positioning data transmitted by the first and second base stations and perform self-positioning correction and base station offset detection; or, the working system 100 may include multiple self-moving devices and a greater number of base stations than two, and one self-moving device corresponds to two base stations to form a detection combination, and the self-moving device receives the differential data of the two base stations corresponding to it and detects whether the two base stations deviate from the installation position; other schemes derived from this will not be repeated.

[0078] After receiving the first differential data from the first base station 21a and the second differential data from the second base station 21b, the self-mobile device 11 will calculate the corresponding differential parameters based on the first differential data and the second differential data. In some examples, the self-mobile device 11 receives the first differential data and the second differential data corresponding to multiple moments and calculates the differential parameters corresponding to the multiple moments. In other examples, the self-mobile device 11 receives the first differential data and the second differential data at the same moment and calculates multiple types of differential parameters at the moment. In some other examples, the self-mobile device 11 combines the above two examples to calculate multiple different types of differential parameters corresponding to multiple moments.

[0079] It should be noted that the differential positioning implemented by the above-mentioned mobile device 11, the first base station 21a and the second base station 21b theoretically requires time synchronization and clock sharing, and the first satellite observation data, the second satellite observation data and the satellite positioning data to be described later described above have a time sequence correspondence during the processing. In the case where the first base station 21a and the second base station 21b receive satellite observation data and send differential data periodically, the relevant data transmission and reception cycle and the offset detection cycle should be synchronized.

[0080] In some embodiments, Figure 5As shown, a self-mobile device 11 is only equipped with a single radio station 142, and the single radio station 142 actually receives the differential data from the first base station 21a and the second base station 21b in turn. However, due to the time synchronization requirement of differential positioning, in the case where the self-mobile device 11 is only equipped with a single radio station 142, in order to realize the offset detection of the base station 21, the self-mobile device 11 is required to sequentially receive the first differential data from the first base station 21a and the second differential data from the second base station 21b when it is in a stationary state, so as to obtain the first differential data and the second differential data with a corresponding relationship. In other words, the first differential data and the second differential data at the same time, as well as the satellite positioning data obtained by parsing the satellite observation data received by the self-mobile device 11 described later, can be obtained at the same position.

[0081] There are multiple optional implementations for the self-mobile device 11 to detect whether it is in a stationary state. In some embodiments, the self-mobile device 11 determines whether it is currently in a stationary state by detecting whether its walking wheels are completely stationary. Specifically, the walking motor speed, torque, etc. can be detected. In other embodiments, the self-mobile device 11 also includes a visual sensor 151, and whether it is stationary can be determined by detecting whether the picture collected by the visual sensor 151 is stationary. In some other embodiments, the self-mobile device 11 also includes an inertial sensor 152, and whether it is stationary can be determined by detecting whether the variance of inertial data such as acceleration of the inertial sensor 152 exceeds the inertial variance threshold within a preset time length. In some other embodiments, the self-mobile device 11 obtains its own satellite positioning data based on the analysis of the satellite observation data received by itself, and determines whether it is stationary by detecting whether the variance of its own satellite positioning data within a preset time length exceeds the positioning variance threshold.

[0082] In other embodiments, Figure 6 As shown, a self-mobile device 11 is configured with dual radio stations 142a and 142b. The two radio stations 142a and 142b receive differential data from the first base station 21a and the second base station 21b independently of each other. When configured with dual radio stations, obtaining the first differential data and the second differential data at the same time does not require the self-mobile device 11 to be stationary. The self-mobile device 11 can directly receive and obtain the differential data for detecting the offset of the base station 21 in a stationary or moving state.

[0083] In some embodiments, the above-mentioned difference parameters include coordinate differences, which are the differences between the self-differential positioning coordinates calculated by the mobile device 11 using the first differential data and the second differential data at the same time. Specifically, the mobile device 11 can calculate the first differential positioning coordinates by the first differential data, and calculate the second differential positioning coordinates by the second differential data. The difference between the first differential positioning coordinates and the second differential positioning coordinates at the first moment is the first coordinate difference, and the difference between the first differential positioning coordinates and the second differential positioning coordinates at the second moment is the second coordinate difference. Among them, when the mobile device 11 calculates the corresponding differential positioning coordinates based on the differential data, it can be required to be a fixed solution, and the fixed solution is a high-precision solution in the differential positioning technology.

[0084] In some other embodiments, the above-mentioned difference parameter includes a heading, which is a positioning offset vector determined by the first differential positioning coordinates and the second differential positioning coordinates after the self-mobile device 11 uses the first differential data and the second differential data at the same time to respectively calculate the corresponding first differential positioning coordinates and the second differential positioning coordinates. Specifically, the self-mobile device 11 can determine the first heading by the first differential positioning coordinates and the second differential positioning coordinates at the first moment, and determine the second heading by the first differential positioning coordinates and the second differential positioning coordinates at the second moment.

[0085] Continuing from the previous text, considering that when the self-mobile device 11 is only equipped with a single radio station 142, it is required that the self-mobile device 11 receives the first differential data and the second differential data at the position in sequence in a stationary state, in some embodiments, the first moment of obtaining differential parameters such as the first coordinate difference and the first heading is the initial moment when the self-mobile device 11 is powered on, and at this initial moment, the self-mobile device 11 has not started to move; and the second moment of obtaining differential parameters such as the second coordinate difference and the second heading is the stationary moment of the self-mobile device 11 during work, and the stationary moment is the moment when the self-mobile device 11 has started to perform the work task but stopped moving due to charging, rest, being trapped, etc.

[0086] After obtaining the above-mentioned difference parameters, the self-mobile device 11 will determine whether each difference parameter meets the corresponding base station offset condition, and if so, determine whether the first base station 21a deviates from the first installation position and / or the second base station 21b deviates from the second installation position. In some examples, the self-mobile device 11 uses the calculated values ​​of one or more difference parameters at one moment to determine whether the first and second base stations 21a, 21b deviate from the corresponding installation positions. For example, the self-mobile device 11 can determine that the base station 21 is offset when the coordinate difference or heading at any moment exceeds the corresponding threshold. In other examples, the self-mobile device 11 uses the calculated values ​​of one or more difference parameters at multiple moments to determine whether the first and second base stations 21a, 21b deviate from the corresponding installation positions. For example, the self-mobile device 11 can determine that the base station 21 is offset when the coordinate difference or heading difference at two moments exceeds the corresponding threshold.

[0087] In some embodiments, reference Figure 7a , a detection scheme for the offset of the base station 21 in the mobile device 11 includes: 710, the mobile device 11 calculates the first differential positioning coordinates of the mobile device 11 corresponding to the first moment from the first differential data received at the first moment and calculating the second differential positioning coordinates of the mobile device 11 corresponding to the first moment from the second differential data received at the first moment

[0088] 720, calculating a first coordinate difference corresponding to the first moment based on the first differential positioning coordinate corresponding to the first moment and the second differential positioning coordinate

[0089] 730, the mobile device 11 calculates the first differential positioning coordinates of the mobile device 11 corresponding to the second moment from the first differential data and the second differential data received at the second moment. and the second differential positioning coordinates

[0090] 740, calculating a second coordinate difference corresponding to the second moment based on the first differential positioning coordinate corresponding to the second moment and the second differential positioning coordinate

[0091] 750, the mobile device 11 determines the difference between the second coordinate difference corresponding to the second moment and the first coordinate difference corresponding to the first moment Whether it exceeds a preset coordinate difference threshold (Δa, Δb), and if so, determine whether the first base station 21a deviates from the first installation position and / or the second base station 21b deviates from the second installation position.

[0092] Among them, the coordinate difference threshold (Δa, Δb) can be determined based on the difference between the first and second coordinate differences calculated by multiple reception of the first and second differential data by the self-mobile device 11 when the first and second base stations 21a and 21b are initially installed at the corresponding installation positions, so as to simulate the normal coordinate difference error condition when the base station 21 is not offset.

[0093] Figure 7b The specific processing flow of the above-mentioned base station 21 offset detection solution is illustrated by taking the mobile device 11 configured with only a single radio station as an example.

[0094] In some other embodiments, reference Figure 8a , another detection scheme for the offset of the base station 21 in the self-mobile device 11, comprising: 810, the self-mobile device 11 calculates the first differential positioning coordinates of the self-mobile device 11 corresponding to the first moment from the first differential data received at the first moment and calculating the second differential positioning coordinates of the mobile device 11 corresponding to the first moment from the second differential data received at the first moment

[0095] 820, calculating a first heading corresponding to the first moment based on the first differential positioning coordinates corresponding to the first moment and the second differential positioning coordinates

[0096] 830, the mobile device 11 calculates the first differential positioning coordinates of the mobile device 11 corresponding to the second moment from the first differential data and the second differential data received at the second moment. and the second differential positioning coordinates

[0097] 840, calculating a second heading corresponding to the second moment based on the first differential positioning coordinates corresponding to the first moment and the second differential positioning coordinates

[0098] 850, the mobile device 11 determines the difference between the first heading and the second heading Whether it exceeds a preset heading difference threshold Δθ, and if so, it is determined that the first base station 21a deviates from the first installation position and / or the second base station 21b deviates from the second installation position.

[0099] Among them, the heading difference threshold Δθ can be determined based on the difference between the first and second headings calculated by receiving the first and second differential data multiple times from the mobile device 11 when the first and second base stations 21a and 21b are initially installed at the corresponding installation positions, so as to simulate the normal heading difference error condition when the base station 21 is not offset.

[0100] Figure 8bThe specific processing flow of the above-mentioned base station 21 offset detection solution is illustrated by taking the mobile device 11 configured with only a single radio station as an example.

[0101] In some embodiments, various base station offset conditions can be achieved when the offset distance between the first base station 21a and the first installation position exceeds 10 cm, or when the offset distance between the second base station 21b and the second installation position exceeds 10 cm. Specifically, taking the difference in headings at two moments exceeding the heading difference threshold as an example, the numerical range of the heading difference when the first base station 21a is offset within the range of 5-15 cm at the first installation position, and the numerical range of the heading difference when the second base station 21b is offset within the range of 5-15 cm at the second installation position can be determined respectively, and the corresponding heading difference threshold is determined based on these two numerical ranges, so that the first and second base stations 21a, 21b will trigger a correct solution when the offset distance from the corresponding installation position exceeds 10 cm.

[0102] It should be noted that the above scheme can detect when any one of the two base stations 21 of the working system 100 deviates from the corresponding installation position, but it cannot detect which specific one of the two base stations 21 has deviated from the installation position, nor can it detect the offset distance and offset direction between the base station 21 and the corresponding installation position. Therefore, the optimization scheme described below is proposed to further improve the detection accuracy.

[0103] like Figure 5 , Figure 6 and Fig.11 As shown, the self-mobile device 11 may further include an inertial sensor 152 and an odometer 153, wherein the inertial sensor 152 is configured to collect inertial data such as acceleration during the movement of the self-mobile device 11, and the odometer 153 is configured to collect mileage data during the movement of the self-mobile device 11. Figure 9a , the solution after the mobile device 11 detects the offset of the base station 21 also includes:

[0104] 910, the mobile device 11 calculates the first differential positioning coordinates of the mobile device 11 corresponding to the third moment and the fourth moment respectively based on the first differential data received at the third moment and the fourth moment and The first differential displacement corresponding to the first base station 21a from the third moment to the fourth moment is determined accordingly.

[0105] 920, calculating the second differential positioning coordinates of the mobile device 11 corresponding to the third moment and the fourth moment respectively from the second differential data received at the third moment and the fourth moment and The second differential displacement corresponding to the second base station 21b is determined thereby

[0106] 930, the mobile device 11 fuses the inertial data from the inertial sensor 152 and the mileage data from the mileage meter 153 to calculate the sensor displacement of the mobile device 11 from the third moment to the fourth moment

[0107] 940, the mobile device 11 determines the first differential displacement corresponding to the first base station 21a Displacement with sensor The difference between whether it exceeds a preset first displacement difference threshold (Δ1x, Δ1y), and if so, determining that the first base station 21a deviates from the first installation position;

[0108] 950, determine the second differential displacement corresponding to the second base station 21b Displacement with sensor The difference between Whether it exceeds a preset second displacement difference threshold (Δ2x, Δ2y), and if so, it is determined that the second base station 21b deviates from the second installation position.

[0109] Further, after determining that the first base station 21a deviates from the first installation position, the self-moving device 11 can be moved by the first differential displacement Displacement with sensor The difference between Determine the offset distance and offset direction of the first base station 21a from the first installation position, where the offset distance is The offset direction is north by east

[0110] Similarly, after determining that the second base station 21b deviates from the second installation position, the self-mobile device 11 can be adjusted by the second differential displacement Displacement with sensor The difference between Determine the offset distance and offset direction of the second base station 21b from the second installation position, where the offset distance is The offset direction is north by east

[0111] Figure 9b The specific processing flow of the above-mentioned base station 21 offset detection solution is illustrated by taking the configuration of dual radio stations from the mobile device 11 as an example.

[0112] In some embodiments, the self-mobile device 11 may stop its cutting and moving operations after detecting that the first base station 21a and / or the second base station 21b deviates from the initial installation position.

[0113] In some embodiments, the working system 100 of the self-mobile device also includes an alarm device, which can issue a base station deviation alarm when the self-mobile device 11 detects that the first base station 21a and / or the second base station 21b deviate from the installation position, so that the user can adjust and restore the position of the base station 21 in time to avoid positioning and navigation errors of the self-mobile device 11. In some embodiments, the above-mentioned alarm device is an indicator light or a buzzer. In some cases, such as Figure 5 , Figure 6 , Fig.11 As shown, the alarm device 160 is installed in the mobile device 11, and the mobile device 11 issues an alarm through the alarm device 160 after detecting the deviation of the base station 21; in other cases, the alarm device is installed in the base station 21, and the mobile device 11 notifies the base station 21 through the radio 142 after detecting the deviation of the base station 21, and the base station 21 issues an alarm through the alarm device after receiving the notification.

[0114] In some embodiments, Figure 5 , Figure 6 , Fig.11 As shown, the working system 100 of the self-mobile device also includes an external device 40. In some examples, the external device 40 is a user device such as a smart phone, a tablet computer, etc. The external device 40 runs a program related to the detection of the deviation of the base station 21. After the self-mobile device 11 detects that the first base station 21a and / or the second base station 21b deviate from the corresponding installation position, it can transmit a base station deviation alarm to the above-mentioned external device 40 through the transceiver 140 such as the Internet communication module. The relevant program running in the external device 40 responds to the received base station deviation alarm and can issue an alarm in a visual or audible manner. In some other embodiments, the base station 21 can also send a base station deviation alarm to the external device 40.

[0115] In some embodiments, the self-mobile device 11 carries the number of the base station 21 when detecting the deviation of the base station 21 and issuing a base station deviation alarm. Specifically, different indicator lights or buzzers of different frequencies can be used to indicate the specific base station 21 that has deviated while prompting the deviation of the base station 21. It can also carry the information of the number of the base station 21 when issuing a base station deviation alarm to an external device so that the external device can prompt in a visual or audible manner. In other embodiments, the self-mobile device 11 can also carry information such as the deviation distance and deviation direction of the base station 21 when issuing a base station deviation alarm, so that the user can restore the position of the base station 21 in time.

[0116] Another working system 200 of a self-equipped device is described in detail below. Fig.10, the working system 200 of the self-mobile device includes at least one self-mobile device 12 and at least one base station 22. The following text mainly describes the perspective of a self-mobile device 12 detecting whether a base station 22 is offset. It can be understood that the working system 200 of the self-mobile device may include a larger number of self-mobile devices 12 and a larger number of base stations 22. Similar to the above, the base station 22 is initially installed at the corresponding installation position, and the base station 22 obtains satellite observation data indicating the installation position, parses and generates differential data, and transmits it to the self-mobile device 12.

[0117] refer to Fig.11 In addition to the working component 110, the walking component 120, the controller 130 and the transceiver 140, the self-mobile device 12 may also include a sensor component 150 and a differential positioning device 170. The sensor component 150 may include sensor components such as a camera 151, an inertial sensor 152, and an odometer 153, and the differential positioning device 170 is used to calculate and output the current differential positioning coordinates and other data of the self-mobile device 12 using the satellite data and differential data received by the transceiver 140.

[0118] During the movement of the self-moving device 12, the controller of the self-moving device 12 is configured to calculate the differential displacement of the self-moving device 12 within a period of preset time based on the output of the differential positioning device, and calculate the sensor displacement of the self-moving device 12 within the same period based on the output of the sensor assembly. The differential displacement depends on the satellite positioning system 30 and the base station 22 in terms of data source, and the sensor displacement depends on the sensor assembly 150 installed on the self-moving device 12 itself. In theory, the two should be the same value when the base station 22 is not offset.

[0119] Specifically, the differential positioning device 170 can parse the satellite observation data received by the first receiving module 141 to obtain its own satellite positioning data, and then calculate the differential positioning coordinates of the self-mobile device 12 at the current moment based on the differential data received by the radio station 142 and the above satellite positioning data. The controller 130 can calculate the difference between the differential positioning coordinates at two moments with a time interval of a preset time length through the output of the differential positioning device 170, and can determine the differential displacement within the time period. For example, the controller 130 can determine the differential displacement corresponding to the time period from the first moment to the second moment by the difference between the differential positioning coordinates of the self-mobile device 12 at the first moment and the second moment.

[0120] There are multiple optional implementations for calculating the sensor displacement of the self-mobile device 12 in the same period of time based on the output of the sensor component 150. In some embodiments, the sensor component 150 of the self-mobile device 12 includes an odometer 153, and the controller 130 can calculate the sensor displacement in the above period of time based on the mileage data from the odometer 153. In other embodiments, the sensor component 150 of the self-mobile device 12 includes an inertial sensor 152 in addition to the odometer 153, and the controller 130 can fuse the mileage data from the odometer 153 and the inertial data from the inertial sensor 152 to calculate the sensor displacement in the above period of time. In some other embodiments, the sensor component 150 of the self-mobile device 12 includes a camera 151, and the controller 130 can calculate the sensor displacement in the above period of time based on the visual mileage data from the camera 151. Of course, the self-mobile device 12 can also include other types of sensors, and calculate the sensor displacement in the period of time by integrating multiple sensor data.

[0121] After obtaining the above-mentioned differential displacement and sensor displacement, the mobile device 12 can determine whether the base station 22 deviates from its installation position by comparing the differential displacement and the sensor displacement in the same period. Specifically, the controller 130 can determine whether the difference between the differential displacement and the sensor displacement in the same period exceeds a preset displacement difference threshold, and if so, determine that the base station 22 deviates from its installation position and issue a base station deviation alarm. Among them, the displacement difference thresholds corresponding to different base stations 22 can be different to simulate the normal displacement difference error conditions of different base stations 22 at different installation positions.

[0122] In some embodiments, after the mobile device 12 determines that the base station 22 deviates from the corresponding installation position, the offset distance and / or offset direction of the base station 22 can also be calculated from the difference between the differential displacement and the sensor displacement in the same period. Specifically, if the differential displacement in the preset time period calculated by the controller 130 is The calculated sensor displacement during the same period is When the difference between the two exceeds the displacement difference threshold, the offset distance of the base station 22 from the corresponding installation position can be calculated as The offset direction is north by east

[0123] Similar to the foregoing, in some embodiments, the working system 200 of the self-mobile device also includes alarm devices such as indicator lights and buzzers. The alarm device 160 can be installed in the self-mobile device or in the base station. After detecting the deviation of the base station 22, the controller 160 of the self-mobile device 12 can call the alarm device 160 to issue a base station deviation alarm.

[0124] In some embodiments, the working system 200 of the self-mobile device also includes an external device 40. After detecting the offset of the base station 22, the controller 130 of the self-mobile device 12 can call the transceiver 140 to send a base station offset alarm to the external device 40. In some examples, when the self-mobile device 12 sends the base station offset alarm to the external device 40, it can also carry one or more of the information such as the base station 22 number, the base station 22 offset distance, and the base station 22 offset direction, so as to notify the user to adjust and restore the position of the base station 22 in time. In other embodiments, the base station 21 can also send a base station offset alarm to the external device 40.

[0125] The following specifically introduces another working system 300 of a self-equipped device. Fig.10 Similarly, the working system 300 of the self-moving device also includes at least one self-moving device 13 and at least one base station 23. The following description will still be based on the perspective of a self-moving device 13 detecting whether a base station 23 is offset.

[0126] refer to Fig.12 In addition to the acquisition module 210 and the transmission module 220, the base station 23 may also include an acceleration sensor 230, wherein the acceleration sensor 230 is configured to monitor the acceleration of the base station 23 and transmit the acceleration data obtained by monitoring to the mobile device 13. In some embodiments, the acceleration sensor 230 in the base station 23 may be a single-axis accelerometer or a three-axis accelerometer.

[0127] After receiving the acceleration data transmitted by the base station 23, the controller 130 of the mobile device 13 can detect the offset condition between the base station 23 and its initial installation position based on the acceleration data, and selectively issue a base station offset alarm according to the base station offset condition. There are multiple optional implementations for detecting the base station offset condition based on the acceleration data. In some embodiments, after receiving the acceleration data, the controller 130 of the mobile device 13 can determine whether the variance of the acceleration data within a preset time period exceeds a preset acceleration variance threshold, and if so, issue a base station offset alarm.

[0128] In some embodiments, after detecting the offset of the base station 23 , the mobile device 13 may also determine the offset distance and offset direction between the base station 23 and the corresponding installation location based on the acceleration data.

[0129] Similar to the foregoing, in some embodiments, the working system 300 of the self-mobile device also includes alarm devices such as indicator lights and buzzers. The alarm device 160 can be installed in the self-mobile device 13 or in the base station 23. After the controller of the self-mobile device 13 detects the deviation of the base station 23 at 130, it can call the alarm device 160 to issue a base station deviation alarm.

[0130] In some embodiments, the working system 300 of the self-mobile device also includes an external device 40. After detecting the deviation of the base station 23, the controller 130 of the self-mobile device 13 can call the transceiver 140 to send a base station deviation alarm to the external device 40. In some examples, when the self-mobile device 13 sends the base station deviation alarm to the external device 40, it can also carry one or more of the information such as the base station 23 number, the base station 23 deviation distance, and the base station 23 deviation direction, so as to notify the user to adjust and restore the position of the base station 23 in time. In other embodiments, the base station 21 can also send a base station deviation alarm to the external device 40.

[0131] The following specifically describes another working system 400 of a self-moving device. Fig.10 Similarly, the working system 400 of the self-moving device also includes at least one self-moving device 14 and at least one base station 24. The following description will still be from the perspective of a self-moving device 14 detecting whether a base station 24 is offset.

[0132] The base station 24 can detect the deviation problem by itself in the working system 400 of the mobile device. Fig.13 In addition to the acquisition module 210, the sending module 220 and the acceleration sensor 230, the base station 24 also includes a controller 240. The acceleration sensor 230 monitors the acceleration of the base station 24 and transmits the monitored acceleration data to the controller 240 of the base station 24; after receiving the above acceleration data, the controller 240 of the base station 24 can detect the offset between the base station 24 and its initial installation position based on the acceleration data, and selectively call the sending module 220 to issue a base station offset alarm to the self-mobile device 14 in the working system 400 according to the base station offset condition. In some embodiments, the alarm device in the working system 400 can be installed in the base station 24, and the controller 240 of the base station 24 can directly call the alarm device to issue a base station offset alarm after detecting the offset of the base station 24.

[0133] In some embodiments, the controller 240 of the base station 24 can determine whether the variance of the acceleration data within a preset time period exceeds a preset acceleration variance threshold, and if so, determine that the base station 24 deviates from the corresponding installation position. In other embodiments, after detecting the base station offset, the controller 240 of the base station 24 can also determine the offset distance and offset direction between the base station 24 and its corresponding installation position based on the acceleration data. For other alarm devices and external devices, please refer to the previous text and will not be repeated.

[0134] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. A working system of a self-moving device, comprising: Self-mobile equipment, configured to move autonomously and perform work tasks; A first base station is configured to obtain first satellite observation data, generate first differential data according to the first satellite observation data, and transmit the first differential data to the mobile device; A second base station is configured to obtain second satellite observation data, generate second differential data according to the second satellite observation data analysis, and transmit the second differential data to the mobile device; The self-mobile device is further configured to receive the first differential data from the first base station and the second differential data from the second base station, and calculate a differential parameter according to the first differential data and the second differential data; When the difference parameter reaches the corresponding base station offset condition, it is determined that the first base station and / or the second base station deviates from the corresponding initial installation position, and a base station offset alarm is issued.

2. The system according to claim 1, wherein: The difference parameters include coordinate difference; the self-mobile device calculates the first differential positioning coordinates of the self-mobile device based on the first differential data, and calculates the second differential positioning coordinates of the self-mobile device based on the corresponding second differential data, and then determines the coordinate difference by the first differential positioning coordinates and the second differential positioning coordinates.

3. The system according to claim 2, wherein: The self-mobile device determines a corresponding first coordinate difference value from the first differential positioning coordinates and the second differential positioning coordinates calculated at the first moment, and determines a corresponding second coordinate difference value from the first differential positioning coordinates and the second differential positioning coordinates calculated at the second moment; When the difference between the first coordinate difference value and the second coordinate difference value exceeds a coordinate difference threshold value, it is determined that the first base station and / or the second base station deviates from the installation position.

4. The system according to claim 1, wherein: The difference parameters include heading; the self-mobile device calculates the first differential positioning coordinates of the self-mobile device based on the first differential data, and calculates the second differential positioning coordinates of the self-mobile device based on the corresponding second differential data, and then determines the heading by the first differential positioning coordinates and the second differential positioning coordinates.

5. The system according to claim 4, wherein: The self-mobile device determines a corresponding first heading based on the first differential positioning coordinates and the second differential positioning coordinates calculated at the first moment, and determines a corresponding second heading based on the first differential positioning coordinates and the second differential positioning coordinates calculated at the second moment; when the difference between the first heading and the second heading exceeds a heading difference threshold, it is determined that the first base station and / or the second base station deviates from the installation position.

6. The system according to claim 3 or 5, wherein: The self-moving device comprises an odometer and an inertial sensor; after determining that the first base station and / or the second base station deviates from the installation position, the self-moving device determines a first differential displacement corresponding to the first base station according to the first differential positioning coordinates at a third moment and a fourth moment, and determines a second differential displacement corresponding to the second base station according to the second differential positioning coordinates at the third moment and the fourth moment; and calculates the sensor displacement in a period from the third moment to the fourth moment by fusing the mileage data from the odometer and the inertial data from the inertial sensor; When the difference between the first differential displacement and the sensor displacement exceeds a displacement difference threshold, determining that the first base station deviates from the installation position; When the difference between the second differential displacement and the sensor displacement exceeds the displacement difference threshold, it is determined that the second base station deviates from the installation position.

7. The system according to claim 6, wherein: After determining that the first base station deviates from the installation position, the self-moving device determines the offset distance and offset direction of the first base station according to the difference between the first differential displacement and the sensor displacement.

8. The system according to claim 3 or 5, wherein: The first moment is the initial moment when the self-mobile device is powered on and started, and the second moment is the moment when the self-mobile device is in operation; when the self-mobile device includes a single radio station, the second moment is the stationary moment when the self-mobile device is in operation.

9. The system according to claim 1, wherein: The self-mobile device includes a single radio station; the self-mobile device uses the single radio station to receive the first differential data from the first base station and the second differential data from the second base station in turn when in a stationary state.

10. The system according to claim 9, wherein: The self-moving device includes one or more of a running wheel, a visual sensor and an inertial sensor; the self-moving device determines that the self-moving device is in a stationary state when one or more of the following conditions are met: the running wheel is stationary; the image currently collected by the visual sensor is stationary; the variance of the inertial data of the inertial sensor within a preset time length does not exceed an inertial variance threshold; the variance of the satellite positioning data within a preset time length does not exceed a positioning variance threshold.

11. The system according to claim 1, wherein: The self-mobile device includes dual radio stations; the self-mobile device uses the dual radio stations to simultaneously receive the first differential data from the first base station and the second differential data from the second base station in a stationary state or a moving state.

12. The system of claim 1, wherein: The base station offset condition is met when the offset distance between the first base station or the second base station and the corresponding installation location exceeds 10 cm.

13. The system of claim 1, wherein: The first base station includes an acceleration sensor, which monitors the acceleration of the first base station. The first base station and / or the self-mobile device detects whether the first base station deviates from the installation position based on acceleration data monitored by the acceleration sensor.

14. The system of claim 1, wherein: The system further comprises an alarm device; the self-equipment uses the alarm device to give an alarm when the first base station and / or the second base station deviates from the installation position; the alarm device is an indicator light or a buzzer.

15. The system of claim 1, wherein: The system also includes an external device; when the first base station and / or the second base station deviates from the installation position, the self-mobile device sends a base station deviation alarm to the external device, so that the external device issues an alarm in a visual manner according to the base station deviation alarm.

16. A method for detecting base station offset, wherein: The method is applied to a working system of a self-mobile device, the system comprising a self-mobile device and at least two base stations; the method comprises: The mobile device receives first differential data from the first base station and second differential data from the second base station, and calculates a differential parameter according to the first differential data and the second differential data; When the difference parameter reaches the corresponding base station offset condition, the self-mobile device determines that the first base station and / or the second base station deviates from the corresponding initial installation position, and issues a base station offset alarm.

17. A working system for a self-propelled device, comprising: Self-mobile equipment, configured to move autonomously and perform work tasks; A base station configured to acquire satellite observation data, generate differential data according to the satellite observation data and transmit the differential data to the mobile device; Wherein, the base station comprises an acceleration sensor, the acceleration sensor is configured to monitor the acceleration of the base station, and the base station transmits acceleration data to the self-mobile device; The self-moving device includes a controller, which is configured to detect a deviation condition between the base station and an initial installation position according to the acceleration data, and selectively issue a base station deviation alarm according to the deviation condition.

18. The system of claim 17, wherein: The controller issues a base station deviation alarm when the variance of the acceleration data within a preset time period exceeds an acceleration variance threshold.

19. The system of claim 18, wherein: The controller also determines an offset distance and an offset direction of the base station based on the acceleration data, and issues a base station offset alarm indicating the offset distance and the offset direction.

20. The system of claim 17, wherein: The self-equipped device also includes a transceiver, and the system also includes an external device; the controller also determines the base station number of the base station when the variance exceeds the acceleration variance threshold, and transmits a base station offset alarm indicating the base station number to the external device through the transceiver.

21. The system of claim 17, wherein: The acceleration sensor includes a uniaxial accelerometer or a triaxial accelerometer.

22. A method for detecting base station offset, wherein: The method is applied to a working system of a self-moving device, the system comprising a self-moving device and a base station, the base station comprising an acceleration sensor, and the self-moving device comprising a controller; the method comprises: The acceleration sensor of the base station monitors the acceleration of the base station, and the base station transmits the acceleration data to the mobile device; The controller of the self-mobile device detects the offset condition between the base station and the initial installation position according to the acceleration data, and selectively issues a base station offset alarm according to the offset condition.

23. A base station, comprising: A collection module configured to obtain satellite observation data at a current observation position; A sending module, configured to send data to a mobile device; Wherein, the base station further includes an acceleration sensor and a controller; The acceleration sensor is configured to monitor the acceleration of the base station; The controller is configured to detect the offset condition between the base station and the initial installation position according to the acceleration data monitored by the acceleration sensor, and selectively send a base station offset alarm to the mobile device through the sending module according to the offset condition.

24. The base station according to claim 23, wherein: The controller issues a base station deviation alarm when the variance of the acceleration data within a preset time period exceeds an acceleration variance threshold.

25. The base station according to claim 23, wherein: The transmitting module includes a radio station.

26. A method for detecting base station offset, wherein: The base station includes an acceleration sensor, a controller and a sending module; the method includes: The acceleration sensor of the base station monitors the acceleration of the base station; The controller of the base station detects the offset condition between the base station and the initial installation position according to the acceleration data monitored by the acceleration sensor, and selectively sends a base station offset alarm to the mobile device through the sending module according to the offset condition.

27. A working system for a self-propelled device, comprising: Self-mobile equipment, configured to move autonomously and perform work tasks; The self-moving device includes a controller, a sensor assembly and a differential positioning device; A base station configured to acquire satellite observation data, generate differential data according to the satellite observation data and transmit the differential data to the mobile device; Wherein, during the movement of the self-moving device, the controller is configured to calculate the differential displacement of the self-moving device within a preset time length according to the output of the differential positioning device, and calculate the sensor displacement of the self-moving device within the preset time length according to the output of the sensor assembly; When the difference between the differential displacement and the sensor displacement is greater than a displacement difference threshold, a base station offset alarm is issued.

28. The system of claim 27, wherein: The sensor assembly includes an odometer, and the controller calculates the sensor displacement based on mileage data from the odometer.

29. The system of claim 28, wherein: The sensor assembly further includes an inertial sensor, and the controller fuses mileage data from the odometer and inertial data from the inertial sensor to calculate the sensor displacement.

30. The system of claim 27, wherein: The sensor assembly includes a camera, and the controller calculates the sensor displacement based on visual mileage data from the camera.

31. The system of claim 27, wherein: The controller calculates the offset distance and / or offset direction of the base station according to the difference between the differential displacement and the sensor displacement, and transmits the offset distance and / or the offset direction of the base station when issuing the base station offset alarm.

32. The system of claim 27, wherein: The self-equipped device further includes a transceiver, and the system further includes an external device; the controller also sends the base station offset alarm to the external device through the transceiver when the difference is greater than the displacement difference threshold.

33. A method for detecting base station offset, wherein: The method is applied to a working system of a self-moving device, wherein the system includes a self-moving device and a base station, and the self-moving device includes a controller, a sensor component, and a differential positioning device; the method includes: During the movement of the self-moving device, the controller calculates the differential displacement of the self-moving device within a preset time length according to the output of the differential positioning device, and calculates the sensor displacement of the self-moving device within the preset time length according to the output of the sensor assembly; When the difference between the differential displacement and the sensor displacement is greater than a displacement difference threshold, the controller issues a base station deviation alarm.

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