Base station and robot control system

Abstract

The embodiment of the invention provides a base station and a robot control system, and the system comprises a positioning module which is used for receiving first positioning data transmitted by a positioning satellite; the main control module is used for receiving the first positioning data sent by the positioning module and packaging the acquired first identity information and the first positioning data into a first data packet; the first identity information is identity information of the base station; the communication module is used for receiving the first data packet sent by the main control module and sending the first data packet to a server through a mobile communication network; the server forwards the first positioning data in the first data packet to at least one user station corresponding to the first identity information through the mobile communication network according to a locally stored corresponding relationship; any one of the at least one subscriber station determines its own position according to the first positioning data and its own second positioning data received from the positioning satellite.

Description

Technical Field

[0001] The present application relates to the field of space positioning technology, more specifically to the field of satellite positioning, and in particular to a reference station and a robot control system. Background Art

[0002] Real-time kinematic (RTK) technology is a technology used for positioning. In summary, in RTK technology, the base station (or "fixed station", "reference station") and the user station (or "mobile station", "rover") both receive positioning data (such as carrier phase data) from positioning satellites. The base station sends the positioning data received from the positioning satellite to the user station through the communication network. The user station determines its own position based on the positioning data received from the positioning satellite and the positioning data sent by the base station. RTK positioning is relatively accurate, and its accuracy can basically reach the centimeter level.

[0003] It can be seen that during the positioning process, the reference station and the user station need to maintain communication. In the related art, the reference station and the user station usually maintain communication based on WIFI or ROLA (Radio over LAA) communication technology. Summary of the invention

[0004] In the related art, the base station and the user station maintain communication based on WIFI or ROLA communication technology, but the communication distance of WIFI and ROLA technology is relatively short, and the user station may move out of the signal coverage area of ​​WIFI and ROLA and lose communication with the base station; and there may be obstacles between the base station and the user station to block the WIFI and ROLA signals, further shortening the communication distance between the base station and the user station; in order to ensure that the signal coverage area of ​​WIFI and ROLA meets the demand as much as possible, it is often necessary to set up multiple signal relay stations to increase the signal coverage area, which increases the actual cost to a certain extent; and ROLA technology also has the technical defect of slow communication rate. The purpose of the embodiment of the present application is to provide a base station and a robot control system, which can solve the technical problem of the short communication distance between the base station and the user station based on WIFI and ROLA technology to a certain extent.

[0005] A first aspect of an embodiment of the present application provides a reference station, including:

[0006] A positioning module, used for receiving first positioning data sent by a positioning satellite;

[0007] A main control module, used for receiving the first positioning data sent by the positioning module, and encapsulating the acquired first identity information and the first positioning data into a first data packet; the first identity information is the identity information of the reference station;

[0008] A communication module is used to receive the first data packet sent by the main control module and send the first data packet to a server via a mobile communication network; the server forwards the first positioning data in the first data packet to at least one user station corresponding to the first identity information via a mobile communication network according to a locally stored correspondence relationship; the correspondence relationship is a correspondence relationship between the identity information of each base station and the identity information of each user station; any one of the at least one user station determines its own position based on the first positioning data and the second positioning data received by itself from the positioning satellite.

[0009] In an embodiment of the present application, the communication module in the base station sends the first positioning data obtained by itself from the positioning satellite and its own first identity information to the server through the mobile communication network, and the server sends the first positioning data to the user station corresponding to the first identity information through the mobile communication network. Therefore, the transmission of the first positioning data between the base station and the user station is based on the mobile communication network technology. The coverage area of ​​the mobile communication network signal is much larger than the area covered by the WIFI or ROLA signal. The base station and the user station can maintain communication at a farther communication distance. Therefore, the base station provided in the embodiment of the present application solves the technical problem of the short communication distance between the base station and the user station based on the WIFI and ROLA technologies in the related art, and there is no need to set up more relay stations, which reduces the production cost in comparison.

[0010] A second aspect of the embodiment of the present application provides a robot control system, comprising: at least one reference station as described in the first aspect, a server, and at least one robot; the server stores a corresponding relationship between the identity information of each reference station in the at least one reference station as described in the first aspect and the identity information of each robot in the at least one robot; wherein,

[0011] When the server receives a first data packet sent by any one of the at least one reference station described in the first aspect through a mobile network, the server sends the first positioning data in the first data packet to all robots corresponding to the first identity information in the first data packet through a mobile communication network according to the corresponding relationship;

[0012] Each robot that receives the first positioning data determines its own position according to the first positioning data and the second positioning data received by itself from the positioning satellite.

[0013] For more other technical effects of the data transmission method provided in the embodiment of the present application, please refer to the relevant description in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of an application scenario of a reference station provided in an embodiment of the present application;

[0015] Figure 2 is a schematic diagram of the structure of a reference station provided in an embodiment of the present application;

[0016] Figure 3 is a schematic diagram of the structure of a reference station provided in an embodiment of the present application;

[0017] Figure 4 is a schematic diagram of the structure of a reference station provided in an embodiment of the present application;

[0018] Figure 5 is a schematic diagram of the structure of a reference station provided in an embodiment of the present application;

[0019] Figure 6 is a schematic diagram of the structure of a reference station provided in an embodiment of the present application;

[0020] Figure 7 It is a schematic diagram of the structure of the reference station provided in the embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0022] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable when appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0023] In the related art, the base station and the user station maintain communication based on WIFI or ROLA communication technology, but the communication distance of WIFI and ROLA technology is short. Moreover, the communication rate of ROLA technology is slow, which will lead to low positioning accuracy of the user station.

[0024] The following is a more specific scenario to illustrate this technical problem.

[0025] With the rapid development of new energy technologies and industries, solar photovoltaic power generation has been widely used, such as large-scale ground photovoltaic power stations, rooftop distributed photovoltaic power stations, etc. When using solar photovoltaic modules for power generation, due to the complex and diverse environment, the surface of solar photovoltaic modules is easily blocked by dust, debris, etc., which seriously affects the power generation efficiency and life of photovoltaic modules. Therefore, it is necessary to frequently clean and inspect the surface of solar photovoltaic modules. The main operation and maintenance method currently used is manual handheld cleaning tool operation and maintenance, which is inefficient and dangerous. Another operation and maintenance method is to use photovoltaic intelligent cleaning robots to run on solar photovoltaic modules in a fully automatic manner, so as to clean and inspect the surface of solar photovoltaic modules.

[0026] The photovoltaic intelligent cleaning robot cleans the photovoltaic module and returns to the preset parking space to wait or charge after completing the cleaning work. A base station is set up in the photovoltaic power station, and an RTK mobile station is set up in the photovoltaic intelligent cleaning robot. During the cleaning process, the photovoltaic intelligent cleaning robot locates its specific position on the photovoltaic module through RTK technology. However, the photovoltaic intelligent cleaning robot and the base station maintain communication through WIFI or ROLA communication technology, and the communication distance is short. In addition, the roofs of industrial and commercial distributed photovoltaic power stations are full of metal obstacles such as inverters, air-conditioned rooms, and chimneys, which further shortens the communication distance of WIFI or ROLA communication technology. In order to cover the entire roof in terms of communication range, multiple relay stations must be set up, which will increase equipment costs and installation and commissioning time. Moreover, distributed photovoltaic power stations are distributed on multiple industrial and commercial roofs in industrial parks. When using WIFI or ROLA communication solutions, if only one base station is used and multiple robots share one base station, then many relay stations need to be set up; if one base station is installed on each roof, then many base stations and many relay stations are required. This will further increase equipment costs and installation and commissioning time.

[0027] The first purpose of the embodiment of the present application is to provide a reference station that can solve the technical problem of short communication distance between the reference station and the user station based on WIFI and ROLA technology to a certain extent. In conjunction with the accompanying drawings, a reference station provided by the embodiment of the present application is described through specific embodiments and their application scenarios.

[0028] like Figure 1 As shown, Figure 1 is a schematic diagram of an application scenario of a reference station provided in an embodiment of the present application. Figure 1The base station 11 and the server 12 communicate based on the mobile communication network, and the server 12 and the user station 13 communicate based on the mobile communication network. That is, the communication link between the base station 11 and the user station 13 is realized based on the mobile communication network. The mobile communication network is also called a cellular network. The signal coverage of each communication base station that constitutes the network coverage is hexagonal, making the entire network look like a honeycomb. Common cellular network types include: GSM network (called PCS-1900 in some countries), CDMA network, 3G network, FDMA, TDMA, PDC, TACS, AMPS, etc.

[0029] The position of the reference station 11 in space is fixed, and the user station 13 can move in space, that is, the position of the user station 13 in space is (continuously or intermittently) changing, and the position of the user station 13 in space is unknown, that is, it is necessary to locate the position of the user station 13 in space. The positioning principle is as follows: the position of the reference station 11 in space (such as longitude, latitude and altitude) is known, and the reference station 11 receives the reference station 11 from at least four positioning satellites - for example Figure 1 Satellites 141, 142, 143 and 144 shown in the figure - collect the first positioning data (for example, the first positioning data is carrier phase data. The reference station 11 can determine its own longitude, latitude and altitude in space based on the first positioning data, that is, according to the distance from the reference station 11 to the four positioning satellites - pseudorange - four equations are established to obtain a set of equations, and the position of the reference station 11 in space can be obtained by solving them together. However, there are errors in the obtained position, such as the error caused by the satellite signal penetrating the ionosphere and troposphere, the error caused by the Doppler effect caused by the high-speed movement of the satellite, and the multipath effect error, channel error, satellite clock error, ephemeris error, internal noise error, etc., that is, the accuracy is low.), and at the same time, the user station 13 also collects the second positioning data from the four satellites (for example, the second positioning data is carrier phase data. The user station 13 can also determine its own longitude, latitude and altitude in space based on the second positioning data. Similarly, the position determined by the user station 13 also has errors). The reference station 11 sends the first positioning data to the server 12, and the server 12 forwards the first positioning data to the user station 13. The user station 13 uses the actual position of the reference station 11 as a reference, and according to the relative positioning principle, performs a real-time differential operation based on the first positioning data and the second positioning data, thereby determining the position of the user station 13 itself in space, and its positioning accuracy can reach the centimeter level.

[0030] The user station 13 can be a sweeping robot, a photovoltaic module intelligent cleaning robot, a vehicle, or other equipment that requires centimeter-level positioning for outdoor operations, and is not specifically limited in this application.

[0031] Although in Figure 1 In the figure, only one reference station 11 and one user station 13 are shown, but the reference station 11 and the user station 13 may be limited to one. For example, there may be n reference stations 11 and m user stations, where n∈N + , m∈N + , N + Represents a set of positive integers. The correspondence between the n reference stations 11 and the m user stations 13 can be preset so that each of the n reference stations 11 sends the received first positioning data to the user station 13 corresponding to itself after receiving the first positioning data. In the embodiment of the present application, the preset correspondence can be stored in the server 12, for example, the preset correspondence is stored in the server 12 in the form of a correspondence table, and the correspondence between the identity information of each reference station 11 and the identity information of each user station 13 is recorded in the correspondence table. Of course, the preset correspondence can also be stored in the server 12 in other forms, such as a relationship correspondence map. Before sending the first positioning data to the server 12, each base station 11 encapsulates the first positioning data and its own first identity information into a first data packet, and sends the first data packet to the server 12. After receiving the first data packet, the server 12 parses the first identity information from the first data packet, and searches for at least one second identity information corresponding to the first identity information from the correspondence table (the second identity information is the identity information of the user station). The server 12 sends the first positioning data to the user station 13 identified by each second identity information in the at least one second identity information found. Any user station 13 among the at least one user station 13 that receives the first positioning data determines its own position according to the first positioning data and the second positioning data received by itself from the positioning satellite.

[0032] Similarly, although Figure 1 Only four positioning satellites are shown, but the number of positioning satellites is not limited to the number shown in the figure, and there can be more positioning satellites to cover more ground areas to meet positioning needs. In fact, there are more than four positioning satellites in the global satellite positioning system.

[0033] like Figure 2 As shown, Figure 2 yes Figure 1 The schematic diagram of the base station 11 is shown in FIG. Figure 2The base station 11 includes: a positioning module 111, a main control module 112 and a communication module 113. The positioning module 111 is used to receive the first positioning data sent by the positioning satellite, the main control module 112 is used to receive the first positioning data sent by the positioning module, and encapsulate the acquired first identity information and the first positioning data into a first data packet, and the communication module 113 is used to receive the first data packet sent by the main control module, and send the first data packet to the server through the mobile communication network.

[0034] Optionally, the positioning module 111 is a hardware module implemented based on RTK technology, so the first positioning data can be carrier phase data. For example, the positioning module 111 includes an RTK board and a mushroom head antenna, the mushroom head antenna collects carriers from positioning satellites and transmits them to the RTK board, and the RTK board formats it into carrier phase data.

[0035] Optionally, the main control module 112 is implemented based on an integrated circuit or a chip, on which an operating system is installed. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.

[0036] The integrated circuit or chip includes at least a processor and a memory, and the memory stores programs or instructions that can be run on the processor. The program or instructions are executed by the processor to assist the user station in positioning and controlling its own power supply (for example, the first relay KA1 and the second relay KA2 in the control backup power supply module described later), etc.

[0037] The memory can be used to store software programs and various data. The memory may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory may include a volatile memory or a non-volatile memory, or the memory may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 149 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0038] The processor may include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor.

[0039] The main control module 112 may also receive control instructions of corresponding APP software through the communication module 113 to configure relevant parameters of the reference station.

[0040] Optionally, the communication module 113 may include at least one of mobile communication modules such as a GPRS module, a 4G module, and a 5G module.

[0041] In an embodiment of the present application, the communication module in the base station sends the first positioning data obtained by itself from the positioning satellite and its own first identity information to the server through the mobile communication network, and the server sends the first positioning data to the user station corresponding to the first identity information through the mobile communication network. Therefore, the transmission of the first positioning data between the base station and the user station is based on the mobile communication network technology. The coverage area of ​​the mobile communication network signal is much larger than the area covered by the WIFI or ROLA signal. The base station and the user station can maintain communication at a farther communication distance. Therefore, the base station provided in the embodiment of the present application solves the technical problem of the short communication distance between the base station and the user station based on the WIFI and ROLA technologies in the related art, and there is no need to set up more relay stations, which reduces the production cost in comparison.

[0042] Specifically in photovoltaic power stations, mobile networks are used as communication solutions between base stations and photovoltaic intelligent cleaning robots, which are not affected by metal and other obstructions. Photovoltaic intelligent cleaning robots can receive the first positioning data sent by the base station more normally, thereby achieving centimeter-level positioning accuracy. Moreover, one base station can be used by all robots on photovoltaic panels on multiple roofs, and there is no need to independently set up relay stations, which can effectively save equipment costs and reduce installation and debugging time.

[0043] Obviously, based on the above description, the accurate positioning of the user station 13 depends on the normal operation of the reference station 11. However, in the related art, the reference station 11 is powered by an external power supply. When the external power supply is powered off, the reference station 11 will stop working and the user station 13 will not be able to achieve accurate positioning, which will cause the user station to fail to work normally.

[0044] Specifically, in a photovoltaic power station, the reference station 11 obtains electric energy from the power station or power grid where it is located. When the power station is maintained or the power grid is out of power, the reference station 11 loses electric energy drive and stops working. The photovoltaic intelligent cleaning robot as the user station 13 cannot obtain the first positioning data from the reference station 11, and cannot perform differential operations, so that the photovoltaic intelligent cleaning robot cannot achieve accurate positioning, which not only causes the photovoltaic intelligent cleaning robot to be unable to perform cleaning work normally (because during cleaning, the photovoltaic intelligent robot needs to navigate according to positioning, and determine which photovoltaic components have been cleaned and which photovoltaic components have not been cleaned for route planning, etc.), but also when the power failure time of the reference station 11 is too long, it will cause the photovoltaic intelligent cleaning robot to run out of the battery it carries and stop and stay in the center of the photovoltaic component. The photovoltaic intelligent cleaning robot cannot automatically return to the parking space for charging, and the solar power station maintenance personnel need to arrive at the scene and lift the photovoltaic intelligent cleaning robot back to the parking space, which increases the workload of the maintenance personnel. Moreover, if the maintenance personnel fail to discover the photovoltaic intelligent cleaning robot that has run out of power in time and fail to move it back to the parking space and it stays on the photovoltaic module for a long time, then the photovoltaic intelligent cleaning robot that stays on the photovoltaic module for a long time will not only affect the normal power generation of the photovoltaic module after the photovoltaic power station resumes power supply, but it will also easily cause hot spots on the photovoltaic module and damage the photovoltaic module.

[0045] The embodiments of the present application are described in the above Figure 1 and Figure 2 Based on the embodiment shown, a further improved reference station is proposed to solve the technical problem that the reference station 11 relying on an external power supply may lose power and stop working, thereby causing the user station 13 to be unable to achieve accurate positioning.

[0046] like Figure 3 As shown, Figure 3 is a schematic diagram of the structure of the reference station provided in the embodiment of the present application. Figure 2 and Figure 3 It can be seen that Figure 3 The reference station 11 shown in the figure also includes a backup power module 114, which is used to provide power to the reference station 11 in the event of a power failure. The positioning module 111, the main control module 112 and the communication module 113 are integrated on the main control board 110, so that the positioning module 111, the main control module 112 and the communication module 113 can obtain centralized power supply through the main control board 110 (the power can be provided by an external power supply or by the backup power module 114); and the operation of the backup power module 114 is controlled by the main control module 112, see Figure 4 , Figure 5 , Figure 6 and Figure 7Description of the relevant implementation methods. Of course, in some other implementation methods, the positioning module 111, the main control module 112 and the communication module 113 may also be independent of each other and not integrated together, so the voltage input terminals of the positioning module 111, the main control module 112 and the communication module 113 need to be connected to the voltage output terminal of the backup power module 114 and the main voltage (provided by an external power supply) input terminal to obtain electrical energy.

[0047] In an embodiment of the present application, when the external power supply to the base station 11 is powered off, the backup power supply module 114 can provide power to the base station 11 so that the base station 11 continues to work, so that the user station 13 can still obtain the first positioning data from the base station 11 for precise positioning.

[0048] like Figure 4 and Figure 5 As shown, Figure 4 and Figure 5 Both Figure 3 The schematic diagram of the structure of the base station 11 shown in FIG. 1 (without the positioning module and the communication module). Figure 4 or Figure 5 , the backup power supply module 114 includes: a first relay KA1, a diode D1, a second relay KA2 and a backup battery E. Among them, the first end of the armature of the first relay KA1 is used to input the main voltage V1, the second end of the armature of the first relay KA1 is connected to the positive terminal of the diode D1, and the control end of the first relay KA1 (i.e., the voltage input end of the electromagnet) is connected to the first input / output port I / O1 of the main control module 112. The first relay KA1 is a normally closed relay, that is, the armature of the first relay KA1 remains in a closed state in the natural state, and the armature of the first relay KA1 is in an open state when the main control module 112 applies voltage to its electromagnet through the first input / output port I / O 1. The first end of the armature of the second relay KA2 is connected to the negative terminal of the diode D1, the second end of the armature of the second relay KA2 is connected to the positive terminal of the backup battery E, and the control end of the second relay KA2 is connected to the second input / output port I / O2 of the main control module 112. The second relay KA2 is also a normally closed relay, that is, the armature of the second relay KA2 remains closed in the natural state, and the armature of the second relay KA2 is in an open state when the main control module 112 applies voltage to its electromagnet through the second input / output port I / O2. The voltage input terminal of the positioning module 111, the voltage input terminal of the main control module 112, and the voltage input terminal of the communication module 113 are all connected to the negative terminal of the diode D1; Figure 4 and Figure 5In the schematic diagram shown, the positioning module 111, the main control module 112 and the communication module 113 can obtain centralized power supply through the main control board 110. The diode D1 is unidirectionally conducted, which can prevent the battery from reversely supplying power to the main power supply providing the main voltage V1 when the main voltage V1 is powered off. The first monitoring port ADC1 of the main control module 112 is connected to the first end of the first relay KA1, which is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1.

[0049] In some optional implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1, including:

[0050] When it is detected that the main voltage V1 is normal, the second relay KA2 is controlled to be disconnected.

[0051] In the natural state, the first relay KA1 and the second relay KA2 are both in the closed state. When the normal main voltage V1 is input, the main control board 110 obtains electric energy from the negative terminal of the diode D1. When the main control module 112 integrated on the main control board 110 detects the main voltage V1 from the first monitoring port ADC1 and the voltage value is within the preset rated voltage range, it is determined that the main voltage V1 is normal and does not need to be powered by the backup battery E. Therefore, the main control module 112 can apply voltage to the electromagnet of the second relay KA2 through the second input / output port I / O2 to control the armature of the second relay KA2 to disconnect and cut off the path for the backup battery E to output voltage to the outside.

[0052] Obviously, as long as the main voltage V1 loses power, that is, the main voltage V1 instantly becomes 0, the main control module 112 loses power and can no longer provide voltage to the electromagnet of the second relay KA2, the armature of the second relay KA2 returns to the closed state, and the backup battery E starts to supply power to the main control board 110. Although the armature of the first relay KA1 remains in the closed state when the main voltage V1 loses power, under the isolation of the diode D1, the main control module 112 will not monitor the battery voltage output by the backup battery E from the first monitoring port ADC1, and the voltage monitored from the first monitoring port ADC1 is always 0, so that the backup battery E can continue to supply power to the main control board 110 to maintain the base station 11 to continue working. Until the main control module 112 monitors the main voltage V1 again from the first monitoring port ADC 1 to return to normal, that is, the voltage value of the main voltage V1 is again monitored to be within the preset rated voltage range, the second relay KA2 is controlled to be disconnected, and the main voltage V1 continues to be used for power supply, and the backup battery E stops supplying power.

[0053] In some optional implementations, based on the above implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1, and further includes:

[0054] When it is detected that the main voltage V1 is abnormal and there is no power failure, the control of the second relay KA2 to open is stopped so that the second relay KA2 is closed again and the first relay KA1 is controlled to open.

[0055] Although the main voltage V1 exists but is not within the rated voltage range, continuing to supply power to the main control board 110 is likely to damage the reference station 11, especially when the voltage value of the main voltage V1 is too high, it is more likely to burn out the circuit inside the reference station 11. Therefore, when the voltage value of the main voltage V1 monitored by the main control module 112 integrated on the main control board 110 from the first monitoring port ADC1 is not within the preset rated voltage range, it is determined that the main voltage V1 is abnormal, and the main control module 112 first stops controlling the second relay KA2 to disconnect, that is, the main control module 112 stops applying voltage to the electromagnet of the second relay KA2 through the second input and output port I / O2, so that the armature of the second relay KA2 is restored to close, so that the path for the backup battery E to supply power to the main control board 110 is connected, and then the main control module 112 applies voltage to the electromagnet of the first relay KA1 through the second input and output port I / O1, so that the armature of the first relay KA1 is disconnected, that is, the first relay KA1 is controlled to disconnect, and the path for the main voltage V1 to supply power to the main control board 110 is cut off. Therefore, the backup battery E is used to supply power to the main control board 110, so that the reference station 11 can operate safely and reduce the failure damage rate caused by the abnormal main voltage V1.

[0056] In some optional implementations, based on the above implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1, and further includes:

[0057] After stopping controlling the second relay KA2 to open so that the second relay KA2 can be closed again and controlling the first relay KA1 to open when it is monitored that the main voltage V1 is abnormal and there is no power failure, stopping controlling the first relay KA1 to open so that the first relay KA1 can be closed again and controlling the second relay KA2 to open when it is monitored that the main voltage V1 is normal again.

[0058] As mentioned above, when the main voltage V1 is abnormal and not powered off, the backup battery E is switched to supply power to the main control board 110, that is, at this time, the first relay KA1 is in an open state, the second relay KA2 is in a closed state, and the main control module 112 will continuously monitor the state of the main voltage V1 through the first monitoring port ADC1. When the main control module 112 detects that the main voltage V1 has returned to normal, the main control module 112 first stops controlling the first relay KA1 to be disconnected, that is, the main control module 112 stops applying voltage to the electromagnet of the first relay KA1 through the first input / output port I / O1, so that the armature of the first relay KA1 is restored to be closed, so that the path for the main voltage V1 to supply power to the main control board 110 is connected, and then the main control module 112 applies voltage to the electromagnet of the second relay KA2 through the second input / output port I / O2, so that the armature of the second relay KA2 is disconnected, that is, the second relay KA2 is controlled to be disconnected, and the path for the backup battery E to supply power to the main control board 110 is cut off.

[0059] In some optional embodiments, based on the above embodiments, the main control module 112 is also used to generate a first control instruction when it is detected that the main voltage V1 is abnormal but not powered off or when it is detected that the main voltage V1 is powered off, and encapsulate the first control instruction and the first identity information into a second data packet; the communication module 113 is also used to receive the second data packet sent by the main control module 112, and send the second data packet to the server 12 through the mobile communication network; the server 12 sends the first control instruction in the second data packet to at least one user station 13 corresponding to the first identity information through the mobile communication network according to the corresponding relationship; the first control instruction is an instruction for commanding each user station 13 in at least one user station 13 to return to their respective parking spaces.

[0060] As mentioned above, the main control module 112 is also used to switch to the backup battery E to supply power to the main control board 110 when it is detected that the main voltage V1 is abnormal but not powered off or when it is detected that the main voltage V1 is powered off. However, the power of the backup battery E is limited, and it is impossible to maintain the base station 11 indefinitely. When the power of the backup battery E is exhausted before the main voltage V1 returns to normal, the user station 13 will lose contact with the base station 11, making it impossible for the user station 13 to achieve positioning, and thus causing the user station 13 to fail to work normally. Specifically in the photovoltaic power station, as mentioned above, the photovoltaic intelligent cleaning robot as the user station 13 may still be unable to accurately locate and exhaust its own power and stay on the photovoltaic module. For another example, if the user station 13 is an unmanned vehicle, the unmanned vehicle may also be unable to accurately locate and exhaust its own power and stay in the wild.

[0061] Therefore, the main control module 112 is also used to generate a first control instruction for commanding the user stations 13 with reference to the base station 11 powered by the backup battery E to return to their respective parking spaces when the main voltage V1 is detected to be abnormal but not powered off or when the main voltage V1 is detected to be powered off, and encapsulate the first control instruction and its own first identity information into a second data packet. The main control module 112 sends the second data packet to the communication module 113, and the communication module 113 sends the second data packet to the server 12 through the mobile communication network. After receiving the second data packet, the server 12 parses the first identity information from the second data packet and finds out at least one second identity information corresponding to the second identity information from the corresponding relationship (the second identity information is the identity information of the user station). The server 12 sends the first control instruction to the user station 13 identified by each second identity information in the at least one second identity information found, that is, the first control instruction is sent to all user stations 13 with reference to the base station 11 powered by the backup battery E. All user stations 13 in the at least one user station 13 that receives the first control instruction return to their corresponding parking spaces.

[0062] For example, the main control module 112 in the reference station 11 in the photovoltaic power station sends a first control instruction to the photovoltaic intelligent cleaning robot when the main voltage V1 is detected to be powered off. The photovoltaic intelligent cleaning robot immediately returns to the parking space when receiving the first control instruction, and the photovoltaic intelligent cleaning robot can also enter a low power consumption mode after returning to the parking space. In low power consumption mode, the photovoltaic intelligent cleaning robot can standby for several days until the power station or power grid resumes power supply to charge or continue cleaning. Therefore, adding a backup power supply module 114 to the reference station 11 and controlling the photovoltaic intelligent cleaning robot to return to the parking space to standby when the main voltage V1 is detected to be powered off can effectively prevent the photovoltaic intelligent cleaning robot from running out of power in the battery it carries and stopping and staying in the center of the photovoltaic module, reducing the workload of on-site intervention by maintenance personnel, such as carrying a photovoltaic intelligent cleaning robot that stays on the photovoltaic module due to power shortage, and does not affect the normal power generation work after the power supply is restored to the power station.

[0063] exist Figure 4 and Figure 5 In the embodiment shown, the power status of the backup battery E cannot be known. When the main voltage V1 is powered off, the backup battery E may be exhausted. The reference station 11 cannot work normally, which affects the normal positioning of the user station 13. Therefore, the embodiment of the present application also proposes a reference station that can monitor the power status of the backup battery E in real time and replenish the power of the backup battery E in time. The following is an explanation with reference to the accompanying drawings.

[0064] like Figure 6 and Figure 7 As shown, Figure 6 and Figure 7 Both Figure 3 The schematic diagram of the structure of the reference station 11 shown in FIG. 1 (the positioning module and the communication module are not shown). Figure 6 and Figure 4 (or Figure 7 and Figure 5 ) It can be seen that Figure 6 and Figure 7 The base station shown is Figure 4 and Figure 5 The base stations shown differ in that Figure 6 and Figure 7 The main control module 112 in the base station shown in the figure is also connected to the second end of the second relay KA2 through the second monitoring port ADC2 to monitor the battery voltage V2 of the backup battery E. In this embodiment, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2.

[0065] In some optional implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, including:

[0066] When it is detected that the main voltage V1 is normal and the battery voltage V2 is greater than or equal to a preset first threshold value Vth1, the second relay KA2 is controlled to be disconnected.

[0067] As mentioned above, the main voltage V1 is normally within the rated voltage range of the main control board 110, and the maximum voltage that the backup battery E can provide should also be at a level comparable to the normal main voltage V1, that is, the maximum voltage that the backup battery E can provide should also be within the rated voltage range of the main control board 110. The first threshold Vth1 is the fully charged voltage value of the battery.

[0068] When the main control module 112 detects that the main voltage V1 is normal, and also detects that the battery voltage V2 is greater than or equal to the preset first threshold Vth1, it means that the backup battery E is fully charged and does not need to be charged. Therefore, the main control module 112 controls the second relay KA2 to disconnect and stop charging the backup battery E to prevent the backup battery E from being overcharged.

[0069] Accordingly, in some optional implementations, based on the above implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, including:

[0070] When it is monitored that the main voltage V1 is normal and the battery voltage V2 is less than the first threshold value Vth1, the second relay KA2 is controlled to be opened, so that the second relay KA2 is restored to be closed, until it is monitored again that the battery voltage V2 is greater than or equal to the first threshold value Vth1, and the second relay KA2 is controlled to be opened.

[0071] When the main control module 112 detects that the main voltage V1 is normal, it also detects that the battery voltage V2 is less than the preset first threshold value Vth1, indicating that the power state of the backup battery E is a power-deficient state and needs to be charged. Therefore, the main control module 112 stops controlling the second relay KA2 to disconnect so that the second relay KA2 is closed again, and charges the backup battery E to prevent the backup battery E from running out of power. Until it is again detected that the battery voltage V2 is greater than or equal to the preset first threshold value Vth1, it indicates that the power state of the backup battery E is a fully charged state (of course, the main voltage V1 should continue to maintain normal during the period from the start of charging to the monitoring of the battery being fully charged. If the main voltage V1 is abnormal, it will switch to the backup battery E to supply power to the main control board 110, and charging cannot be performed. Please refer to the relevant description in the text for details), and the backup battery E is fully charged. Therefore, the main control module 112 controls the second relay KA2 to disconnect and stops charging the backup battery E to prevent the backup battery E from being overcharged.

[0072] In some optional embodiments, based on the above embodiments, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, and further includes:

[0073] When it is detected that the main voltage V1 is abnormal and there is no power failure, the control of opening the second relay KA2 is stopped so that the second relay KA2 is restored to close and the first relay KA1 is controlled to open.

[0074] and Figure 4 and Figure 5 In the illustrated embodiment, the manner of switching to the backup battery E for power supply when the main voltage V1 is abnormal but not powered off is the same and will not be described in detail here. Please refer to the relevant description above.

[0075] In some optional embodiments, based on the above embodiments, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, and further includes:

[0076] After the process of stopping controlling the second relay KA2 to open so that the second relay KA2 can be closed again and controlling the first relay KA1 to open is performed when it is monitored that the main voltage V1 is abnormal and there is no power failure, then the process of stopping controlling the first relay KA1 to open so that the first relay KA1 can be closed again and controlling the second relay KA2 to open is performed when it is monitored again that the main voltage V1 is normal and the battery voltage V2 is greater than or equal to the first threshold value Vth1, or, stopping controlling the first relay KA1 to open so that the first relay KA1 can be closed again when it is monitored again that the main voltage V1 is normal and the battery voltage V2 is less than the first threshold value Vth1.

[0077] As mentioned above, when the main voltage V1 is abnormal and not powered off, the backup battery E is switched to supply power to the main control board 110, that is, the first relay KA1 is in an open state, the second relay KA2 is in a closed state, and the main control module 112 will continuously monitor the state of the main voltage V1 through the first monitoring port ADC1. When the main control module 112 detects that the main voltage V1 has returned to normal, it also detects that the battery voltage V2 is greater than or equal to the preset first threshold value Vth1, indicating that the power state of the backup battery E is fully charged and does not need to be charged. The main control module 112 first stops controlling the first relay KA1 to be disconnected, so that the first relay KA1 is closed again, so that the path for the main voltage V1 to supply power to the main control board 110 is connected, and then the main control module 112 controls the second relay KA2 to be disconnected, cutting off the path for charging the backup battery E and the path for the backup battery E to supply power to the main control board 110. Alternatively, when the main control module 112 detects that the main voltage V1 has returned to normal, it also detects that the battery voltage V2 is less than the preset first threshold value Vth1, indicating that the power state of the backup battery E is a power-deficient state, that is, during the period of time when the main voltage V1 is abnormal, the power consumption of the backup battery E is relatively large and needs to be charged. Therefore, the main control module 112 stops controlling the first relay KA1 to be disconnected, so that the first relay KA1 is restored to be closed, so that the path for the main voltage V1 to supply power to the main control board 110 is connected, but does not control the second relay KA2 to be disconnected to charge the backup battery E, so as to prevent the backup battery E from being depleted.

[0078] In some optional embodiments, based on the above embodiments, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, and further includes:

[0079] After the first relay KA1 is stopped from being controlled to be opened to restore its closure when it is again monitored that the main voltage V1 is normal and the battery voltage V2 is less than the first threshold value Vth1, the second relay KA2 is controlled to be opened until it is again monitored that the battery voltage V2 is greater than or equal to the first threshold value Vth1.

[0080] During the process of charging the backup battery E after the main voltage V1 returns to normal, the battery voltage V2 is again monitored to be less than the preset first threshold value Vth1, indicating that the power state of the backup battery E is now fully charged (of course, the main voltage V1 should continue to maintain normal during the period from the start of charging to the monitoring of the battery being fully charged. If the main voltage V1 is abnormal, the backup battery E will be switched to supply power to the main control board 110, and charging cannot be performed. For details, please refer to the relevant description in the text), and the backup battery E is fully charged. Therefore, the main control module 112 controls the second relay KA2 to disconnect and stop charging the backup battery E to prevent the backup battery E from being overcharged.

[0081] In some optional embodiments, based on the above embodiments, the main control module 112 is also used to generate a first control instruction when it is detected that the main voltage V1 is abnormal but not powered off or when it is detected that the main voltage V1 is powered off, and encapsulate the first control instruction and the first identity information into a second data packet; the communication module 113 is also used to receive the second data packet sent by the main control module 112, and send the second data packet to the server 12 through the mobile communication network; the server 12 sends the first control instruction in the second data packet to at least one user station 13 corresponding to the first identity information through the mobile communication network according to the corresponding relationship; the first control instruction is an instruction for commanding each user station 13 in at least one user station 13 to return to their respective parking spaces.

[0082] and Figure 4 and Figure 5 In the illustrated embodiment, when the main voltage V1 is abnormal but not powered off, the manner of controlling the corresponding user station 13 to return to the parking space is the same, which will not be described in detail here. Please refer to the relevant description above.

[0083] In some optional implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, and further includes:

[0084] When the main voltage V1 is detected to be normal at the preset cycle node, and the battery voltage V2 is detected to be greater than or equal to the preset second threshold value Vth2, the control of the second relay KA2 to open is stopped to make the second relay KA2 closed again, and the first relay KA1 is controlled to open. When the battery voltage V2 is detected to be equal to or less than the second threshold value Vth2, the control of the first relay KA1 to open is stopped to make the first relay KA1 closed again, until the battery voltage V2 is detected to be greater than or equal to the first threshold value Vth1 again, the second relay KA2 is controlled to open.

[0085] In an environment with stable power supply, the probability of the main voltage V1 losing power is very low, and the backup battery E rarely supplies power to the main control board 110. Therefore, the backup battery E needs to be charged and discharged periodically to increase the service life of the backup battery E. The periodic node can be a pre-set periodic time point, such as charging and discharging at 12:00 on the 1st of each month; or a fixed frequency periodic time point, such as charging and discharging every 30 days.

[0086] When the main control module 112 detects that the main voltage V1 is normal at a preset periodic node (for example, at 12:00 on the 1st of each month), and the monitored battery voltage V2 is greater than a preset second threshold value Vth2 (for example, the second threshold value Vth2 is the battery discharge threshold, and Vth2=50%×V2 is usually preset. Of course, Vth2 can also be flexibly set according to actual needs, such as Vth2=30%×V21, Vth2=20%×V2, etc., which are not specifically limited in the embodiments of the present application), it is confirmed that the backup battery E has a lot of power and needs to be discharged first. Therefore, the main control module 112 stops controlling the second relay KA2 to disconnect so that the second relay KA2 resumes closing and controls the first relay KA1 to disconnect, even if the backup battery E supplies power to the main control board 110 for discharge.

[0087] After the power of the backup battery E is discharged to a level below the second threshold value Vth2 of full power, the backup battery E is charged. That is, when the main control module 112 detects that the battery voltage V2 is equal to or less than the second threshold value Vth2 after the start of discharge, the main control module 112 stops controlling the first relay KA1 to be disconnected so that the first relay KA1 is closed again, and the backup battery E is started to be charged.

[0088] The charging is stopped until the backup battery E is fully charged. That is, after the charging starts, the main control module 112 controls the second relay KA2 to be disconnected when it detects that the battery voltage V2 is greater than or equal to the first threshold Vth1, and stops charging the backup battery E.

[0089] In some optional implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, and further includes:

[0090] When the main voltage V1 is detected to be normal at the preset cycle node, and the battery voltage V2 is detected to be less than the preset second threshold value Vth2, the second relay KA2 is controlled to be opened, so that the second relay KA2 is restored to be closed, until the battery voltage V2 is detected to be greater than or equal to the first threshold value Vth1 again, the second relay KA2 is controlled to be opened.

[0091] As mentioned above, the backup battery E needs to be charged and discharged periodically to increase the service life of the backup battery E. However, when the main control module 112 detects that the main voltage V1 is normal at a preset periodic node (for example, 12:00 on the 1st of each month), and the monitored battery voltage V2 is less than the preset second threshold value Vth2, it is confirmed that the backup battery E itself is low on power, then the backup battery E will not be discharged this time, and the backup battery E will be directly charged until it is fully charged. Therefore, the main control module 112 stops controlling the second relay KA2 to open so that the second relay KA2 is closed again, and the backup battery E starts to be charged.

[0092] The charging is stopped until the backup battery E is fully charged. That is, after the charging starts, the main control module 112 controls the second relay KA2 to be disconnected when the battery voltage V2 is detected to be greater than or equal to the first threshold Vth1 for the first time. The charging of the backup battery E is stopped.

[0093] In the embodiment of the present application, not only can the reference station 11 be temporarily provided with power when the main voltage V1 is abnormal or power is off, but the backup battery E can also be replenished with power in time according to the power status of the backup battery E. At the same time, the backup battery E can also be charged and discharged regularly to extend the service life of the backup battery E.

[0094] In some optional implementations, the main control module 112 is used to control the first relay KA1 and the second relay KA2 according to the main voltage V1 monitored from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2, and further includes:

[0095] When it is detected at a preset period node that the main voltage V1 is normal, stop controlling the second relay KA2 to be opened so that the second relay KA2 is closed again;

[0096] Until it is monitored again that the main voltage V1 and the battery voltage V2 are both stable, the first relay KA1 is controlled to be disconnected;

[0097] until it is again detected that the battery voltage V2 is equal to or less than a preset second threshold value Vth2, then the first relay KA1 is stopped from being opened so that the first relay KA1 is closed again;

[0098] When it is detected again that the battery voltage V2 is greater than or equal to the preset first threshold Vth1, the second relay KA1 is controlled to be disconnected.

[0099] As mentioned above, the backup battery E needs to be charged and discharged periodically to increase the service life of the backup battery E. When the main control module 112 detects that the main voltage V1 is normal at a preset periodic node (for example, at 12:00 on the 1st of each month), it stops controlling the second relay KA2 to disconnect so that the second relay KA2 is closed again, and starts charging the backup battery E. Until the backup battery E is fully charged (that is, the main voltage V1 and the battery voltage V2 are both stable again), the first relay KA1 is controlled to disconnect, and the backup battery E is switched to start supplying power to the outside. When it is detected again that the battery voltage V2 is equal to or less than the preset second threshold value Vth2, it means that the backup battery E has been discharged below the discharge threshold value (that is, the second threshold value), the first relay KA1 is stopped from being controlled to disconnect so that the first relay KA1 is closed again, and charging of the backup battery E is started until the backup battery E is fully charged again, that is, the second relay KA1 is controlled to disconnect when the battery voltage V2 is greater than or equal to the preset first threshold value Vth1 again.

[0100] In some optional embodiments, in the above Figures 2 to 7 On the basis of the embodiment shown, the base station 11 provided in the embodiment of the present application further includes: a temperature sensor (not shown in the figure) for collecting the temperature of the backup battery E and a temperature control module (not shown in the figure) for controlling the working temperature of the backup battery E. The main control module 112 is also used to receive the temperature sent by the temperature sensor, and generate a start instruction when the temperature is not within the preset temperature range, and generate a stop instruction when the temperature is detected to be within the temperature range; the temperature control module is also used to start the operation when receiving the start instruction sent by the main control module, and stop the operation when receiving the stop instruction sent by the main control module.

[0101] The temperature sensor can collect the real-time temperature of the backup battery E and send the collected real-time temperature to the main control module 112. When the main control module 112 determines that the real-time temperature is lower than the lowest value of the preset optimal operating temperature range of the backup battery E (for example, 0°C), it generates a first start instruction and sends it to the temperature control module. When the temperature control module receives the first start instruction, it starts the heating module in the temperature control module (for example, the heating resistor arranged in the battery pack of the backup battery E), and the heating module starts to heat the backup battery E until the main control module 112 receives the real-time temperature sent by the temperature sensor higher than the lowest value of the preset optimal operating temperature range of the backup battery E, and generates a first stop instruction and sends it to the temperature control module. When the temperature control module receives the first stop instruction, it stops running the heating module in the temperature control module and stops heating the backup battery E. When the main control module 112 determines that the real-time temperature is higher than the highest value of the preset optimal operating temperature range of the backup battery E (for example, 35°C), it generates a second start instruction and sends it to the temperature control module. When the temperature control module receives the second start instruction, it starts the cooling module in the temperature control module (for example, a cooling fan arranged on the battery pack of the backup battery E), and the cooling module starts to cool the backup battery E until the main control module 112 receives the real-time temperature sent by the temperature sensor that is lower than the highest value of the preset optimal operating temperature range of the backup battery E, and then generates a second stop instruction and sends it to the temperature control module. When the temperature control module receives the second stop instruction, it stops running the cooling module in the temperature control module and stops cooling the backup battery E.

[0102] In an embodiment of the present application, the temperature sensor collects the real-time temperature of the backup battery E and transmits it to the main control module 112. The main control module 112 controls the start and stop of the temperature control module according to the real-time temperature of the backup battery E and then controls the working temperature of the backup battery E, so that the backup battery E operates within the optimal working temperature range, thereby extending the service life of the backup battery E.

[0103] In order to more thoroughly understand the embodiments of the present application, Figure 6 and Figure 7 The illustrated embodiment illustrates the working logic of the main voltage V1 and the backup battery E in the reference station 11 provided in the embodiment of the present application.

[0104] See also Figure 6 and Figure 7 The working logic of the base station 11 installation and debugging or the first power-on startup is as follows:

[0105] 001. When installing and debugging the base station 11 or powering on for the first time, connect the backup battery E first. The first relay KA1 and the second relay KA2 are both normally closed relays. When there is no control signal, they are in the on state. At this time, the main control board 110 obtains power from the backup battery E.

[0106] 002. After the base station 11 is started, the main control module 112 monitors the battery voltage V2 from the second monitoring port ADC2, and due to the isolation effect of the diode D1, the main voltage V1 monitored from the first monitoring port ADC1 is 0. The main control module 112 determines that the main voltage V1 is in a power-off state and does not apply a control signal to the first relay KA1 and the second relay KA2, so that the first relay KA1 and the second relay KA2 both remain in the on state.

[0107] 003. Input the main voltage V1 (that is, when installing and debugging the station 11 or starting it for the first time, the backup battery E should be connected first, and then the main voltage V1 should be input).

[0108] 004. After the main voltage V1 is input, the main control module 112 monitors the voltage value Vb of the main voltage V1 from the first monitoring port ADC1, and the main control module 112 determines whether Vb is within the rated voltage range.

[0109] 005. The main control module 112 determines that Vb is not within the rated voltage range, controls the first relay KA1 to disconnect, and waits for the staff to adjust the main voltage V1 to the rated voltage range. After the staff adjusts the main voltage V1 to the rated voltage range, the main control module 112 determines that Vb is within the rated voltage range (or the main control module 112 determines that Vb in the above logic "004" is within the rated voltage range), and records the voltage value Vb of the main voltage V1 monitored from the first monitoring port ADC1 at this time.

[0110] 006. The main control module 112 controls the second relay KA2 to be disconnected through the second input / output port I / O2. After the second relay KA2 is disconnected, the main control module 112 records the voltage value Va of the battery voltage V2 monitored from the second monitoring port ADC2.

[0111] 007. Calculate the difference between Va and Vb: ΔV = Vb - Va.

[0112] 008. If ΔV is less than Δv1 (for example, 0.5V), it is considered that the backup battery E is fully charged at this time. The reference station 11 enters the normal working state.

[0113] 009. If ΔV is greater than or equal to Δv1, it means that the backup battery E needs to be charged. The main control module 112 stops controlling the second relay KA2 to be disconnected so that the second relay KA2 is closed again, and the main voltage V1 charges the backup battery E.

[0114] 010. During the charging process of the backup battery, the main control module 112 continuously monitors the main voltage V1 from the first monitoring port ADC1 and the battery voltage V2 from the second monitoring port ADC2, and determines AV. When it is monitored that ΔV is less than Δv1, the charging is completed.

[0115] 011. After charging is completed, the main control module 112 controls the second relay KA2 to disconnect to prevent the backup battery E from overcharging.

[0116] 012. The base station 11 has completed startup and entered normal working state.

[0117] See also Figure 6 and Figure 7 , the working logic when the main voltage V1 of the reference station 11 is powered off is as follows:

[0118] 013. Usually, when the main voltage V1 is normal, the first relay KA1 remains in a closed state and the second relay KA2 remains in an open state. When the main voltage V1 loses power and instantly becomes 0, the first relay KA1 and the second relay KA2 both resume the closed state, and the backup battery E starts to provide power to the main control board 110.

[0119] 014. After the main control board 110 is powered on again by the backup battery E, the main control module 112 determines that the main voltage V1 is powered off by monitoring that the main voltage V1 is 0 from the first monitoring port ADC1 and the battery voltage V2 monitored from the second monitoring port ADC2 is not 0.

[0120] 015. When the main control module 112 determines that the main voltage V1 is powered off, it sends a second data packet to the server 12 (for the relevant description of the second data packet, please refer to the previous text, which will not be repeated here. The main purpose is to notify the user station 13 to return to the parking space and wait).

[0121] 016. After the main voltage V1 is restored to power, the main control module 112 monitors the main voltage V1 from the first monitoring port ADC1, and the reference station 11 returns to the aforementioned logic 004 to start operation.

[0122] See also Figure 6 and Figure 7 The working logic of the main voltage V1 of the reference station 11 to periodically charge and discharge the backup battery E is as follows:

[0123] 017. As described in logic 011, after the backup battery E is fully charged, the main control module 112 controls the second relay KA2 to disconnect, and the backup battery E enters the standby state. When the main control module 112 detects that the real-time time point enters the cycle node, and the main voltage V1 is normal through the first monitoring port ADC1, that is, the main voltage V1 is within the rated voltage range, the main control module 112 stops controlling the second relay KA2 to disconnect so that the second relay KA2 resumes closing, and starts charging the backup battery E.

[0124] 018. After the second relay KA2 is closed again, the main control module 112 continuously monitors the main voltage V1 from the first monitoring port ADC1 and the battery voltage V2 from the second monitoring port ADC2. The main control module 112 controls the first relay KA1 to open until it detects that both the main voltage V1 and the battery voltage V2 are stable.

[0125] 019. The main control module 112 stops controlling the first relay KA1 to open so that the first relay KA1 is closed again and starts discharging the backup battery E until it detects that the battery voltage V2 is equal to or less than the second threshold value Vth2 (for example, Vth2=50%×V2).

[0126] 020. The main control module 112 controls the second relay KA2 to disconnect until it detects that the battery voltage V2 is greater than or equal to the first threshold value Vth1 again, thereby completing the charging of the backup battery E. (Of course, after the first relay KA1 is closed again in logic 019, the reference station 11 can also return to the aforementioned logic 004 at logic 020 to start execution).

[0127] The second aspect of the embodiment of the present application further provides a robot control system, comprising: at least one reference station as described in the first aspect, a server and at least one robot; the server stores a corresponding relationship between the identity information of each reference station in the at least one reference station as described in the first aspect and the identity information of each robot in the at least one robot; wherein,

[0128] When the server receives a first data packet sent by any one of the at least one reference station described in the first aspect through a mobile network, the server sends the first positioning data in the first data packet to all robots corresponding to the first identity information in the first data packet through a mobile communication network according to the corresponding relationship;

[0129] Each robot that receives the first positioning data determines its own position according to the first positioning data and the second positioning data received by itself from the positioning satellite.

[0130] For the working principle of the robot control system, please refer to the related description above. The robot in this embodiment is equipped with a user station for collecting second positioning data from the positioning satellite.

[0131] In the implementation methods provided in the embodiments of the present application, it should be understood that the method steps performed by the modules, modules and main control modules in the disclosed base station can be implemented in other ways. For example, the base station implementation method described above is only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0132] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0133] In addition, each functional unit in each implementation of the embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0134] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each implementation method of the embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0135] The above description is only an implementation method of the embodiment of the present application, and does not limit the patent scope of the embodiment of the present application. The above specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can make many forms of equivalent structures or equivalent process changes made by using the description and drawings of the embodiment of the present application, or directly or indirectly apply them in other related technical fields without departing from the scope of protection of the purpose of the present application and the claims, which are also included in the patent protection scope of the embodiment of the present application.

Claims

1. A reference station, characterized in that: include: A positioning module, used for receiving first positioning data sent by a positioning satellite; A main control module, used for receiving the first positioning data sent by the positioning module, and encapsulating the acquired first identity information and the first positioning data into a first data packet; the first identity information is the identity information of the reference station; a communication module, configured to receive the first data packet sent by the main control module, and send the first data packet to a server via a mobile communication network; The server forwards the first positioning data in the first data packet to at least one user station corresponding to the first identity information through a mobile communication network according to a locally stored correspondence relationship; the correspondence relationship is a correspondence relationship between the identity information of each base station and the identity information of each user station; any one of the at least one user station determines its own position based on the first positioning data and the second positioning data received by itself from the positioning satellite.

2. The reference station according to claim 1, characterized in that: Also includes: The backup power supply module is used to provide power to the base station when the base station loses power.

3. The reference station according to claim 2, characterized in that: The backup power supply module comprises: A first relay, wherein a first end of the first relay is used to input a main voltage, and a control end of the first relay is connected to the main control module; the first relay is a normally closed relay; a diode, a positive terminal of the diode being connected to the second terminal of the first relay; a second relay, wherein a first end of the second relay is connected to a negative terminal of the diode, and a control end of the second relay is connected to the main control module; the second relay is a normally closed relay; a backup battery, a positive terminal of the backup battery being connected to the second terminal of the second relay; The voltage input terminal of the positioning module, the voltage input terminal of the main control module and the voltage input terminal of the communication module are all connected to the cathode terminal of the diode; The first monitoring port of the main control module is connected to the first end of the first relay, and is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port.

4. The reference station according to claim 3, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port, including: When it is detected that the main voltage is normal, the second relay is controlled to be disconnected.

5. The reference station according to claim 3, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port, and further includes: When it is detected that the main voltage is abnormal and there is no power failure, the control of opening the second relay is stopped so that the second relay is closed again and the first relay is controlled to be opened.

6. The reference station according to claim 5, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port, and further includes: After stopping controlling the second relay to open so that the second relay can be closed again and controlling the first relay to open when it is monitored that the main voltage is abnormal and there is no power outage, stopping controlling the first relay to open so that the first relay can be closed again and controlling the second relay to open when it is monitored that the main voltage is normal again.

7. The reference station according to claim 2, characterized in that: The backup power supply module comprises: A first relay, wherein a first end of the first relay is used to input a main voltage, and a control end of the first relay is connected to the main control module; the first relay is a normally closed relay; a diode, a positive terminal of the diode being connected to the second terminal of the first relay; a second relay, wherein a first end of the second relay is connected to a negative terminal of the diode, and a control end of the second relay is connected to the main control module; the second relay is a normally closed relay; a backup battery, a positive terminal of the backup battery being connected to the second terminal of the second relay; The voltage input terminal of the positioning module, the voltage input terminal of the main control module and the voltage input terminal of the communication module are all connected to the cathode terminal of the diode; The first monitoring port of the main control module is connected to the first end of the first relay, and the second monitoring port of the main control module is connected to the second end of the second relay, for controlling the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port.

8. The reference station according to claim 7, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, including: When it is detected that the main voltage is normal and when it is also detected that the battery voltage is greater than or equal to a preset first threshold, the second relay is controlled to be disconnected.

9. The reference station according to claim 8, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, including: When it is monitored that the main voltage is normal and when it is also monitored that the battery voltage is less than the first threshold, control of the second relay to open is stopped to restore the second relay to close, until it is monitored that the battery voltage is greater than or equal to the first threshold, the second relay is controlled to open.

10. The reference station according to claim 8, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, including: When it is detected that the main voltage is abnormal and there is no power failure, the control of opening the second relay is stopped so that the second relay is closed again and the first relay is controlled to be opened.

11. The reference station according to claim 10, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, and further includes: After stopping controlling the second relay to open so that the second relay is closed again and controlling the first relay to open when it is detected that the main voltage is abnormal and there is no power failure, stopping controlling the first relay to open so that the first relay is closed again and controlling the second relay to open when it is detected that the main voltage is normal again and the battery voltage is greater than or equal to the first threshold, or stopping controlling the first relay to open so that the first relay is closed again when it is detected that the main voltage is normal again and the battery voltage is less than the first threshold.

12. The reference station according to claim 11, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, and further includes: After the first relay is controlled to be opened to restore the first relay to be closed when it is monitored again that the main voltage is normal and the battery voltage is less than the first threshold, the second relay is controlled to be opened until it is monitored that the battery voltage is greater than or equal to the first threshold.

13. The reference station according to claim 5 or claim 10, characterized in that: The main control module is further configured to generate a first control instruction when the main voltage is detected to be abnormal but not powered off or when the main voltage is detected to be powered off, and encapsulate the first control instruction and the first identity information into a second data packet; The communication module is further used to receive the second data packet sent by the main control module, and send the second data packet to the server through the mobile communication network; The server sends the first control instruction in the second data packet to at least one user station corresponding to the first identity information through a mobile communication network according to the corresponding relationship; the first control instruction is an instruction for commanding each user station in the at least one user station to return to their respective parking spaces.

14. The reference station according to claim 7, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, including: When the main voltage is detected to be normal at a preset cycle node, the control of the second relay to be opened is stopped to restore the closure of the second relay and the first relay to be opened is controlled when the battery voltage is detected to be greater than or equal to a preset second threshold value. When the battery voltage is detected to be equal to or less than the second threshold value, the control of the first relay to be opened is stopped to restore the closure of the first relay, until the battery voltage is detected to be greater than or equal to the preset first threshold value again, the second relay is controlled to be opened.

15. The reference station according to claim 7, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, and further includes: When it is detected at a preset cycle node that the main voltage is normal and when it is also detected that the battery voltage is less than a preset second threshold, control of the second relay to open is stopped to restore the second relay to close, until it is detected again that the battery voltage is greater than or equal to the first threshold and the second relay is controlled to open.

16. The reference station according to claim 7, characterized in that: The main control module is used to control the first relay and the second relay according to the main voltage monitored from the first monitoring port and the battery voltage monitored from the second monitoring port, and further includes: When the main voltage is detected to be normal at a preset period node, stopping controlling the second relay to be opened so that the second relay is closed again; until it is detected again that the main voltage and the battery voltage are both stable, controlling the first relay to be disconnected; until it is again detected that the battery voltage is equal to or less than a preset second threshold, stopping controlling the first relay to be opened so that the first relay is closed again; The second relay is controlled to be disconnected when it is detected again that the battery voltage is greater than or equal to the preset first threshold.

17. The reference station according to claim 3 or 7, characterized in that: Also includes: A temperature sensor, used to collect the temperature of the backup battery; A temperature control module, used to control the operating temperature of the backup battery; The main control module is further used to receive the temperature sent by the temperature sensor, and generate a start instruction when the temperature is not within a preset temperature range, and generate a stop instruction when the temperature is detected to be within the temperature range; The temperature control module is also used to start running when receiving a start command sent by the main control module, and stop running when receiving a stop command sent by the main control module.

18. A robot control system, characterized in that: include: At least one reference station according to any one of claims 1 to 17, a server and at least one robot; the server stores a corresponding relationship between the identity information of each reference station in the at least one reference station according to any one of claims 1 to 17 and the identity information of each robot in the at least one robot; wherein, When the server receives a first data packet sent by any one of the reference stations described in any one of claims 1 to 17 through a mobile network, the server sends the first positioning data in the first data packet to all robots corresponding to the first identity information in the first data packet through a mobile communication network according to the corresponding relationship; Each robot that receives the first positioning data determines its own position according to the first positioning data and the second positioning data received by itself from the positioning satellite.

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