Self-moving equipment, working system of self-moving equipment and base

Abstract

The invention discloses a self-moving device, a working system of the self-moving device and a base. The self-moving device comprises: a scanning device configured to scan a scanned piece to obtain an identity code of the scanned piece; and the electronic processor is configured to query and obtain a map corresponding to the identity code in a database according to the identity code. According to the scheme, the self-moving equipment is helped to quickly construct the site map and efficiently work under the condition that the self-moving equipment is applied to multiple different sites, and the working efficiency and precision of the self-moving equipment are improved.

Description

Technical Field

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

[0002] The self-moving equipment available for rent in equipment rental companies include automatic lawn mowers, automatic snow blowers, automatic cleaning equipment, and automatic irrigation equipment. Customers can rent the required types of self-moving equipment from equipment rental companies and move the self-moving equipment to the place where the corresponding work tasks are performed. Before the self-moving equipment performs the work tasks, the customer needs to define the corresponding work area range for the self-moving equipment in the electronic map according to the actual work needs, so that the self-moving equipment can actually work according to the work area range in the electronic map. After the self-moving equipment completes the work and leaves the place where the work task needs to be performed, it may continue to perform the work task in the same place after a period of time. The self-moving equipment may rotate to multiple sites, and the work area range needs to be redefined each time it works. Repeatedly building the same map for the same place not only brings unnecessary repeated operations to customers, but also reduces the work efficiency of the self-moving equipment.

[0003] This section provides background information related to the present application which is not necessarily prior art. Summary of the invention

[0004] One object of the present application is to solve or at least alleviate part or all of the above problems. To this end, the object of the present application is to provide a self-moving device, a working system of the self-moving device and a base.

[0005] This application adopts the following technical solutions:

[0006] A self-moving device, wherein the self-moving device comprises: a scanning device configured to scan a scanned object to obtain an identity code of the scanned object; and an electronic processor configured to query a database according to the identity code and obtain a map corresponding to the identity code.

[0007] In some embodiments, the electronic processor is further configured to construct a map corresponding to the identity code in the workplace and store it in the database when the map corresponding to the identity code cannot be retrieved from the database.

[0008] In some embodiments, the self-mobile device also includes a device radio; the electronic processor is further configured to query and obtain base station location information corresponding to the identity code in the database according to the identity code, and transmit the base station location information to the base station via the device radio.

[0009] In some embodiments, the base station is equipped with a base station radio; when the self-mobile device is unable to obtain the base station location information corresponding to the identity code from the database, the base station responds to the request for obtaining the base station location information from the self-mobile device, transmits the base station location information of the base station to the self-mobile device via the base station radio, and the self-mobile device stores the base station location information in the database.

[0010] In some embodiments, the database is a local database or a cloud node.

[0011] In some embodiments, the scanned object is disposed on a base of the base station.

[0012] In some embodiments, the scanned document is placed in a working area of ​​the self-mobilizing device.

[0013] In some embodiments, the scanning device of the mobile device is a camera, and the scanned object is a QR code or a barcode.

[0014] In some embodiments, after the mobile device obtains the map corresponding to the identity code through query, the current work task is performed in the current work place according to the map.

[0015] A working system of a self-moving device comprises: a self-moving device configured to walk autonomously and perform work tasks; a base station configured to obtain satellite observation data, generate differential data according to the analysis of the satellite observation data and transmit the differential data to the self-moving device; an external device comprising: a scanning device; a communication device; an electronic processor electrically connected to the scanning device and the communication device and configured to: scan a scanned article through the scanning device to obtain an identity code of the scanned article; and transmit the identity code to the self-moving device through the communication device.

[0016] In some embodiments, the scanned object is disposed on a base of the base station.

[0017] In some embodiments, the scanning device of the external device is a camera, and the scanned object is a QR code or a barcode.

[0018] In some embodiments, the scanning device of the external device is a radio frequency identification reader / writer, and the scanned object is a radio frequency identification tag.

[0019] In some embodiments, the mobile device queries and obtains a map corresponding to the identity code in a database based on the identity code.

[0020] In some embodiments, when the mobile device cannot obtain a map corresponding to the identity code from a database, the mobile device constructs a map corresponding to the identity code at the workplace and stores it in the database.

[0021] In some embodiments, the self-mobile device is equipped with a device radio. The self-mobile device queries and obtains the base station location information corresponding to the identity code in the database according to the identity code, and transmits the base station location information to the base station through the device radio.

[0022] In some embodiments, the base station is equipped with a base station radio. When the self-mobile device is unable to obtain the base station location information corresponding to the identity code from the database, the base station responds to the request for obtaining the base station location information from the self-mobile device, transmits the base station location information of the base station to the self-mobile device via the base station radio, and the self-mobile device stores the base station location information in the database.

[0023] In some embodiments, the electronic processor of the external device is also configured to query and obtain the map and / or base station location information corresponding to the identity code in the database according to the identity code, and transmit the map and / or base station location information to the mobile device through the communication device.

[0024] A base, wherein the base comprises: a base station combining part, used for placing or installing a differential positioning base station at a fixed position where the base is located; and a fixed installation part, used for fixing the base at a fixed position in a work site.

[0025] In some embodiments, the base further comprises an identification tag.

[0026] In some embodiments, the identification mark is a QR code or a bar code.

[0027] In some embodiments, the identifier is a radio frequency identification tag.

[0028] The benefit of the present application lies in that the above-mentioned self-moving device, the working system of the self-moving device and the base enable the self-moving device to obtain the identity code of the scanned object by scanning the scanned object set in the workplace when it re-arrives at an old workplace it has already visited, and then query and obtain the map with the demarcated work area corresponding to the identity code in the database, and enable the self-moving device to work directly based on the obtained map without having to perform map construction and other work for the current site again, thereby improving the working efficiency of the self-moving device and the customer's user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional diagram of a mobile device in one embodiment of the present application;

[0030] Figure 2 This is a schematic diagram of the electrical control of a mobile device in one embodiment of the present application;

[0031] Figure 3 This is a schematic diagram of the electrical control principle of the working system of the self-moving device in one embodiment of the present application;

[0032] Figure 4 This is a three-dimensional diagram of a base in one embodiment of the present application.

[0033] Figure legends: 10. Working system of self-equipped device; 100. Self-equipped device; 200. Base station; 300. External device; 400. Base; 110. Scanning device; 120. Electronic processor; 130. Equipment radio; 310. Scanning device; 320. Communication device; 330. Electronic processor; 410. Fixed installation part; 420. Base station combination part; 430. Identity label. DETAILED DESCRIPTION

[0034] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above drawings.

[0035] In this application, the terms "comprises", "includes", "has" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0036] In this application, the term "and / or" is a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects before and after are in an "and / or" relationship.

[0037] In the present application, the terms "connect", "combine", "couple", and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, direct connection refers to two parts or components being connected together without the need for an intermediate piece, and indirect connection refers to two parts or components being connected to at least one intermediate piece respectively, and the two parts or components being connected via the intermediate piece. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.

[0038] In the present application, it will be understood by those of ordinary skill in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, and use associated with a specific value, etc. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0039] In this application, it will be understood by those skilled in the art that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0040] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, the bottom can include directly below, lower left, lower right, lower front, and lower back, etc.

[0041] In this application, the terms "controller", "processor", "central processing unit", "CPU", and "MCU" are interchangeable. When a unit "controller", "processor", "central processing unit", "CPU", or "MCU" is used to perform a specific function, unless otherwise specified, these functions can be performed by a single unit or multiple units.

[0042] In the present application, the terms “device”, “module” or “unit” may be implemented in the form of hardware or software to achieve specific functions.

[0043] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0044] The technical solution proposed in this application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] It should be noted that the present application records a scanning device 110 and a scanning device 310, which are respectively the scanning device 110 in the mobile device 100 and the scanning device 310 in the external device 300, and the two types of scanning devices can be distinguished by numbers in the following text. Similarly, the present application records an electronic processor 120 and an electronic processor 330, which are respectively the electronic processor 120 in the mobile device 100 and the electronic processor 330 in the external device, and the two types of scanning devices can be distinguished by numbers in the following text.

[0046] Reference Figure 1 and Figure 2 The present embodiment provides a self-moving device 100, which may include a scanning device 110 and an electronic processor 120. The scanning device 110 is electrically connected or communicatively connected to the electronic processor 120, the scanning device 110 is configured to scan a scanned object to obtain an identity code of the scanned object, and the electronic processor 120 is configured to query and obtain a map corresponding to the identity code in a database according to the identity code.

[0047] It should be noted that the self-mobile device 100 in this embodiment includes an automatic lawn mower, an automatic snow sweeper, an automatic cleaning device, and an automatic irrigation device, etc. The self-mobile device 100 is used to perform corresponding types of work tasks at a predetermined work site. When the self-mobile device 100 first arrives at the predetermined work site, the staff needs to set the scanned object at the work site. The device body of the self-mobile device 100 is provided with a scanning device 110 for scanning the scanned object. The scanning device 110 scans the scanned object set in the work site, thereby obtaining an identity code of the scanned object. The identity code is used to represent the identity information of the scanned object. The scanned objects set in different work sites are different, and the identity codes obtained by scanning different scanned objects in different work sites are also different. In other words, the work site, the scanned object, and the identity code have a one-to-one correspondence. In a work task of the self-mobile device 100, since the scanned object set in the work site of this task is scanned, the identity information represented by the obtained identity code corresponds to the current work site.

[0048] When the self-mobile device 100 first arrives at the predetermined work site, the staff will set the scanned object in the work site, and the self-mobile device 100 will construct an electronic map corresponding to the work site. The staff can set the virtual boundary of the area where the self-mobile device 100 can move on the electronic map, and then the self-mobile device 100 stores the map data in a preset database, and also stores the identity code corresponding to the work site, that is, the scanned object in the database. During the storage process, the corresponding relationship between the above-mentioned work site, the scanned object, the identity code and the map is established. It can be understood that the map data corresponding to a certain work site or scanned object stored in the database may at least include the data of the electronic map with the virtual boundary of the area demarcated when the first arrival, and may also include other types of data such as obstacle information, user information, etc. In addition, the device body of the self-mobile device 100 is also provided with an electronic processor 120, which is used to query and obtain the map corresponding to the identity code from the database according to the identity code scanned by the scanning device 110.

[0049] In implementation, after the self-mobile device 100 arrives at a workplace that it has already arrived at, the scanning device 110 scans the scanned document that was last set in the workplace, thereby obtaining an identity code corresponding to the scanned document; then, the scanning device 110 sends the identity code to the electronic processor 120, and the electronic processor 120 queries and obtains a map corresponding to the identity code from a database based on the identity code, so as to subsequently control the operation of the self-mobile device 100 according to the map.

[0050] Through the implementation of the above solution, when the mobile device 100 arrives at a workplace that it has visited before, it does not need to reconstruct the map with the virtual boundary again. Instead, the previously generated map can be directly called from the database by scanning the scanned document to obtain the identity code. This saves time in building maps, thereby improving the work efficiency of the mobile device 100 and the user experience.

[0051] In one embodiment, the electronic processor 120 is further configured to construct a map corresponding to the identity code in the workplace and store it in the database when the map corresponding to the identity code cannot be found in the database.

[0052] It should be noted that if the mobile device 100 arrives at the predetermined work site for the first time, since the staff has not previously built a corresponding map for the work site and stored the map in the database; therefore, even if the scanned document is set at the work site and the scanned document is scanned by the scanning device 110 to obtain the identity code, the subsequent electronic processor 120 cannot query and obtain the corresponding map in the database based on the identity code.

[0053] In implementation, after the mobile device 100 arrives at the predetermined workplace, the scanning device 110 scans the scanned object set at the workplace to obtain the corresponding identity code, and then sends the identity code to the electronic processor 120. The electronic processor 120 queries the database whether there is a map corresponding to the identity code. If not, it means that the workplace corresponding to the identity code has not been configured with a corresponding map in the database. At this time, the mobile device 100 can construct a map with a virtual boundary on-site in the workplace, store the constructed map in the database, and establish a connection with the corresponding identity code.

[0054] Through the implementation of the above scheme, when it is found that there is no map of the current workplace in the database, the corresponding map can be constructed in time and stored in the database, so that when the mobile device 100 comes to the current workplace again in the future, the corresponding map can be directly obtained from the database for use, thereby improving the convenience of working in the current workplace when the mobile device 100 comes to the current workplace again in the future.

[0055] In one embodiment, referring to Figure 1 and Figure 2 , the mobile device 100 also includes a device radio 130; the electronic processor 120 is also configured to query and obtain the base station location information corresponding to the identity code in the database according to the identity code, and transmit the base station location information to the base station 200 through the device radio 130.

[0056] It should be noted that when controlling the self-mobile device 100 to move in a predetermined work site, it is necessary to position the self-mobile device 100 so as to obtain the accurate position of the self-mobile device 100; in order to achieve the positioning of the self-mobile device 100, a fixed base station 200 can also be set in the work site of the self-mobile device 100 for differential positioning, and the location information of the base station 200 can also be recorded in the database and linked to the corresponding identity code; the device body of the self-mobile device 100 is also provided with a device radio 130, and the device radio 130 is used to send the base station location information recorded in the queried database to the corresponding base station 200.

[0057] In implementation, after the mobile device 100 reaches the predetermined work site, the scanning device 110 scans the scanned object set in the work site to obtain the corresponding identity code, and then sends the identity code to the electronic processor 120. The electronic processor 120 queries and obtains the base station location information corresponding to the identity code in the database, and then sends the base station identity information to the corresponding base station 200 through the device radio 130.

[0058] By implementing the above solution, the self-mobile device 100 can send the base station location information of the base station 200 to the base station 200 before officially starting to work, so that the base station 200 can calculate the corresponding differential data based on the base station location information, and send the differential data to the self-mobile device 100, so that the self-mobile device 100 can calculate its own accurate position based on the differential data, so as to facilitate the accurate navigation of the self-mobile device 100 during the working process of the self-mobile device 100. In some cases, the base station 200 itself also stores the location information of the fixed installation at the current working site. After receiving the base station location information transferred by the self-mobile device 100, the information recorded in the database can be compared with the information stored by itself to ensure accurate positioning when the data is consistent.

[0059] In one embodiment, referring to Figure 2 The base station 200 is equipped with a base station radio 210; when the self-mobile device 100 cannot obtain the base station location information corresponding to the identity code in the database, the base station 200 responds to the request for obtaining the base station location information from the self-mobile device 100, and transmits the base station location information of the base station 200 to the self-mobile device 100 through the base station radio 210, and the self-mobile device 100 stores the base station location information in the database.

[0060] It should be noted that the base station 200 itself can determine its own base station location information. The base station 200 is provided with a base station radio 210, which is used to send the base station location information to the mobile device 100. In addition, if the electronic processor 120 in the mobile device 100 fails to query and obtain the corresponding base station 200 information in the database according to the identity code, the mobile device 100 will actively send a request to the base station 200 to obtain the base station location information.

[0061] In the implementation, after the mobile device 100 reaches the predetermined work site, the scanning device 110 scans the scanned object set in the work site to obtain the corresponding identity code, and then sends the identity code to the electronic processor 120. The electronic processor 120 determines whether there is base station location information corresponding to the identity code in the database based on the identity code. If not, it means that the base station location information corresponding to the identity code has not been stored in the database in advance. Then the mobile device 100 actively sends a request to the base station 200 to obtain the base station location information. After the base station 200 receives the corresponding request, it sends the current base station location information to the mobile device 100 according to the base station radio 210. After the mobile device 100 receives the base station location information, it further stores the base station location information in the database and establishes a connection with the corresponding identity code. Through the implementation of the above scheme, when the mobile device 100 fails to query the corresponding base station location information from the database, the corresponding base station location information can be obtained from the base station 200 and stored in the database; this facilitates the subsequent acquisition of the base station location information by the mobile device 100 directly from the database, so as to improve the efficiency of the mobile device 100 in acquiring the base station location information.

[0062] In one embodiment, the database is a local database or a cloud node.

[0063] It should be noted that the database in the above embodiment may be a local database, or a cloud node that is in communication with the mobile device 100 .

[0064] In one embodiment, the scanned object is disposed on a base of the base station 200 .

[0065] It should be noted that a base for installing the base station 200 is preset in the workplace. After the self-mobile device 100 arrives at the corresponding workplace, the staff will install the base station 200 corresponding to the self-mobile device 100 on the preset base; in addition, in this embodiment, the scanned document is set on the base.

[0066] In one embodiment, the scanned document is placed in a working area of ​​the mobile device 100 .

[0067] It should be noted that the scanned document can be set at a certain location in the working place where the mobile device 100 needs to work.

[0068] In one embodiment, the scanning device 110 of the mobile device 100 is a camera, and the scanned object is a QR code or a barcode.

[0069] It should be noted that, in this embodiment, the scanning device 110 is a camera installed on the mobile device 100, and in this embodiment, the scanned object is a QR code or a barcode that can be scanned by the camera.

[0070] In one embodiment, after the mobile device 100 obtains the map corresponding to the identity code, it performs the current work task in the current work place according to the map.

[0071] It should be noted that after the mobile device 100 searches the database for the corresponding map based on the acquired identity code, the current work task at the current work site is further performed based on the map. In a specific embodiment, the automatic lawn mower can search the database for the corresponding map based on the acquired identity code, and then plan the travel path based on the map, so as to perform the mowing task and avoid obstacles in the work site.

[0072] Reference Figure 3 , this embodiment provides a working system 10 of a self-mobile device 100, and the working system 10 of the self-mobile device 100 may include the self-mobile device 100, a base station 200 and an external device 300, wherein the self-mobile device 100 is configured to walk autonomously and perform work tasks; the base station 200 is configured to obtain satellite observation data, generate differential data according to the satellite observation data analysis and transmit the differential data to the self-mobile device 100. The external device 300 may include a scanning device 310, a communication device 320 and an electronic processor 330, wherein the electronic processor 330 is electrically connected to the scanning device 310 and the communication device 320, and is configured to scan the scanned object through the scanning device 310 to obtain the identity code of the scanned object, and transmit the identity code to the self-mobile device 100 through the communication device 320.

[0073] It should be noted that the self-mobile device 100 is connected in communication with the corresponding base station 200, and the base station 200 is also connected in communication with the satellite system to obtain the satellite observation data of the satellite system on the base station 200, and further parse the satellite observation data to obtain differential data, and then send the differential data to the self-mobile device 100, so that the self-mobile device 100 can calculate its own accurate position based on the differential data. In addition, the self-mobile device 100 is connected in communication with an external device 300, specifically, the external device 300 includes a scanning device 310, a communication device 320 and an electronic processor 330, wherein, under the control of the electronic processor 330, the scanning device 310 can be used to scan the scanned object preset in the work site and obtain the corresponding identity code; the communication device 320 can be used to establish a communication connection with the self-mobile device 100, and send the scanned identity code to the self-mobile device 100.

[0074] During implementation, the self-mobile device 100 calculates its own accurate position by receiving the differential data sent by the base station 200; at the same time, the staff can scan the scanned objects in the workplace through the external device 300 to obtain the corresponding identity code, and then send the identity code to the self-mobile device 100, so that the self-mobile device 100 can perform automated work in the workplace based on the identity code and its own accurate position.

[0075] By implementing the above solution, it is easy to realize the automated operation of the self-moving device 100 in the workplace, thereby improving the automation level of the self-moving device 100 when working.

[0076] In one embodiment, the scanned object is set on the base of the base station 200. It should be noted that in this embodiment, a base for installing the base station 200 is fixed in the workplace, and the scanned object for scanning by the scanning device 310 is set on the base. In implementation, if the external device 300 needs to scan the scanned object, the scanning device 310 on the external device 300 sets the scanned object on the base to obtain the identity code corresponding to the scanned object; then the identity code is sent to the self-mobile device 100 through the communication device 320.

[0077] In one embodiment, the scanning device 310 of the external device 300 is a camera, and the scanned object is a QR code or a barcode. It should be noted that in this embodiment, the scanning device 310 on the external device 300 is specifically a camera for scanning the scanned object, and the scanned object is specifically a QR code or a barcode. In implementation, when it is necessary to scan the scanned object, the camera can be controlled to scan the QR code or barcode to obtain the corresponding identity code.

[0078] In one embodiment, the scanning device 310 of the external device 300 is a radio frequency identification reader / writer, and the scanned object is a radio frequency identification tag. It should be noted that in this embodiment, the scanning device 310 on the external device 300 is specifically a radio frequency identification reader / writer that can be connected to the scanned object for communication, and the scanned object is specifically a radio frequency identification tag. In implementation, when it is necessary to scan the scanned object, the radio frequency identification reader / writer can be controlled to be close to the radio frequency identification tag to obtain the corresponding identity code.

[0079] In one embodiment, the self-mobile device 100 queries and obtains a map corresponding to the identity code in the database according to the identity code. It should be noted that in this embodiment, a database is provided, and a map with a virtual boundary constructed for the workplace is pre-stored in the database. After the self-mobile device obtains the identity code, the identity code is further stored in the database and a connection is established with the corresponding map. In implementation, when the self-mobile device 100 needs to work in the workplace based on the map, it first queries and obtains the map corresponding to the identity code in the database based on the obtained identity code.

[0080] In one embodiment, when the mobile device 100 cannot obtain a map corresponding to the identity code in the database, the mobile device 100 constructs a map corresponding to the identity code in the workplace and stores it in the database. It should be noted that if the mobile device 100 arrives at the predetermined workplace for the first time, no map corresponding to the workplace is stored in the database. In implementation, after the mobile device 100 arrives at the predetermined workplace, the staff scans the identity code corresponding to the scanned document through the external device 300, and the external device sends the identity code to the mobile device 100. Then, the mobile device 100 determines whether there is a corresponding map in the database based on the identity code. If not, the mobile device 100 constructs a map corresponding to the identity code in the workplace, stores the constructed map in the database, and establishes a connection between the map and the corresponding identity code.

[0081] Through the implementation of the above solution, when the mobile device arrives at the workplace again, the corresponding map can be directly obtained from the database after the identity code is scanned by the external device 300, thereby improving the efficiency of obtaining the map and further improving the working efficiency of the mobile device 100.

[0082] In one embodiment, the self-mobile device 100 is equipped with a device radio, and the self-mobile device 100 queries and obtains the base station location information corresponding to the identity code in the database according to the identity code, and transmits the base station location information to the base station 200 through the device radio. It should be noted that in this embodiment, the self-mobile device 100 is also provided with a device radio, and the database also pre-stores the base station location information corresponding to the identity code, and the device radio is used to send the base station location information to the base station 200. In implementation, after the self-mobile device 100 obtains the identity code corresponding to the work site, it further queries and obtains the corresponding base station location information in the database based on the identity code, and then sends the base station location information to the corresponding base station 200 through the device radio.

[0083] In one embodiment, the base station 200 is equipped with a base station radio 210. When the self-mobile device 100 is unable to obtain the base station location information corresponding to the identity code from the database, the base station 200 responds to the request for obtaining the base station location information from the self-mobile device 100, and transmits the base station location information of the base station 200 to the self-mobile device 100 via the base station radio 210, and the self-mobile device 100 stores the base station location information in the database.

[0084] It should be noted that, in the present embodiment, the base station 200 is provided with a base station radio 210 for communicating with the self-mobile device 100; in addition, on the premise that the self-mobile device 100 fails to find the corresponding base station location information in the database based on the identity code, the self-mobile device 100 will actively send a request to the base station 200 to obtain the base station location information; after receiving the corresponding request, the base station 200 will send the base station location information stored or generated by itself to the self-mobile device 100 through the base station radio 210, so that the self-mobile device 100 will then store the received base station location information in the database.

[0085] In implementation, after obtaining the identity code, the self-mobile device 100 further queries in the database whether there is corresponding base station location information based on the identity code. If not, the self-mobile device 100 actively sends a request to the base station 200 to obtain the base station location information; after receiving the request, the base station 200 sends the base station location information stored or generated by itself to the self-mobile device 100 through the base station radio 210; after receiving the base station location information, the self-mobile device 100 stores the base station location information in the database and establishes a connection with the corresponding identity code.

[0086] In one embodiment, the electronic processor 330 of the external device 300 is also configured to query and obtain the map and / or base station location information corresponding to the identity code in the database according to the identity code, and transmit the map and / or base station location information to the mobile device 100 through the communication device 320.

[0087] It should be noted that the database pre-stores maps and / or base station location information corresponding to the identity code.

[0088] In implementation, the electronic processor 330 searches the database for the corresponding map and / or base station location information according to the identity code, and then sends the map and / or base station location information to the mobile device 100 via the communication device 320 .

[0089] In addition, in some embodiments, the maps of different work sites stored in the database may not be indexed by the identity code obtained by scanning the scanned document. For example, the maps of each work site stored in the database may be indexed by the base station location information of the base station 200 in the current work site.

[0090] Specifically, after the self-mobile device 100 arrives at a work site for the first time, it constructs a map of the work site and stores the constructed map in the database. After arriving at the work site next time, the self-mobile device 100 can receive the base station location information from the base station 200 using the device radio 130, and query the database for a map whose map range covers the above base station location information. The map can be loaded for positioning and navigation in subsequent work. Among them, the base station location information transmitted by the base station 200 to the self-mobile device 100 using the base station radio 210 can be the base station location information stored by itself. In the case that some base stations 200 are detachably installed in the work site and rotated in different work sites, the base station location information transmitted by the base station 200 to the self-mobile device 100 can also be the base station location information obtained by calculating after receiving the satellite observation data transmitted by the satellite system. In other cases, after the mobile device 100 arrives at a work site for the first time, in addition to constructing a map, it can also request the base station 200 in the work site for its location information through the device radio 130, and then store the constructed map and the received base station location information in the database, and establish a correspondence between the map and the base station location information during the storage process. After arriving at the work site next time, the mobile device 100 can directly query the database for the map corresponding to this base station location information after receiving the base station location information transmitted by the base station 200.

[0091] Reference Figure 4 This embodiment provides a base 400, which may include a fixed installation portion 410 and a base station combination portion 420. The fixed installation portion 410 is used to fix the base 400 at a fixed position in the work site, and the base station combination portion 420 is used to place or install a differential positioning base station at the fixed position where the base 400 is located.

[0092] It should be noted that the work site is pre-equipped with a base 400 for installing a differential positioning base station. In implementation, the base 400 will be fixed at a fixed position for installing the differential positioning base station in the work site. This fixed position is generally the best position for installing the differential positioning base station in the current work site obtained by base station addressing. Specifically, the base 400 can be fixed at the above-mentioned fixed position by a fixed installation part 410, and the base station combination part 420 on the base 400 is used for placement or detachable installation of the differential positioning base station.

[0093] In one embodiment, the base 400 further includes an identification mark 430. It should be noted that, in this embodiment, the base 400 is further provided with an identification mark 430 for scanning by a scanning device.

[0094] In one embodiment, the identity identifier 430 is a two-dimensional code or a barcode. It should be noted that, in this embodiment, the identity identifier 430 is specifically a two-dimensional code or a barcode for scanning by the scanning device 110 or 310. In implementation, the scanning device 110 or 310 such as a camera can obtain the corresponding identity code by scanning the two-dimensional code or the barcode.

[0095] In one embodiment, the identification mark 430 is a radio frequency identification tag. It should be noted that, in this embodiment, the identification mark 430 is specifically a radio frequency identification tag for communication connection with the scanning device 110 or 310. In implementation, the scanning device 110 or 310, such as a radio frequency identification reader, can obtain the corresponding identity code by communicating with the radio frequency identification tag.

[0096] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. A working system of a self-moving device, comprising: Self-mobile equipment, configured to move autonomously and perform work tasks; A base station configured to acquire satellite observation data, generate differential data according to the satellite observation data and transmit the differential data to the mobile device; External devices, including: Scanning device; communication devices; The electronic processor is electrically connected to the scanning device and the communication device, and is configured to: scan the scanned object through the scanning device to obtain the identity code of the scanned object; and transmit the identity code to the self-mobile device through the communication device.

2. The working system according to claim 1, wherein: The scanned object is arranged on the base of the base station.

3. The working system according to claim 1, wherein: The scanning device of the external device is a camera, and the scanned object is a QR code or a barcode; and / or, the scanning device of the external device is a radio frequency identification reader / writer, and the scanned object is a radio frequency identification tag.

4. The working system according to claim 1, wherein: The self-mobile device searches the database according to the identity code and obtains the map corresponding to the identity code.

5. The working system according to claim 4, wherein: In the case that the self-mobile device cannot obtain the map corresponding to the identity code from the database, the self-mobile device constructs a map corresponding to the identity code in the workplace and stores it in the database.

6. The working system according to claim 1, wherein: The self-mobile device is equipped with a device radio. The self-mobile device searches and obtains the base station location information corresponding to the identity code in the database according to the identity code, and transmits the base station location information to the base station through the device radio.

7. The working system according to claim 1, wherein: The electronic processor of the external device is also configured to query and obtain the map and / or base station location information corresponding to the identity code in the database according to the identity code, and transmit the map and / or the base station location information to the self-mobile device through the communication device.

8. A self-propelled device, wherein: The self-mobile device comprises: A scanning device configured to scan a scanned document to obtain an identity code of the scanned document; The electronic processor is configured to query and obtain a map corresponding to the identity code in a database according to the identity code.

9. The self-moving device according to claim 8, wherein: The electronic processor is also configured to construct a map corresponding to the identity code in the workplace and store it in the database when the map corresponding to the identity code cannot be found in the database.

10. The self-moving device according to claim 8, wherein: The self-mobile device also includes a device radio; the electronic processor is also configured to query and obtain base station location information corresponding to the identity code in the database according to the identity code, and transmit the base station location information to the base station through the device radio.

11. The system according to claim 8, wherein: The scanned article is arranged on the base of the base station and / or in the working area of ​​the self-moving device.

12. The system according to claim 8, wherein: The scanning device of the self-mobile device is a camera, and the scanned object is a QR code or a barcode.

13. The system according to claim 8, wherein: After the self-mobile device obtains the map corresponding to the identity code through query, the self-mobile device performs the current work task in the current work place according to the map.

14. A base, wherein: The base comprises: A base station combining part, used for placing or installing a differential positioning base station at a fixed position where the base is located; The fixed installation part is used to fix the base to the fixed position in the workplace.

15. The base according to claim 14, wherein: The base also includes an identity tag, which includes one or more of a QR code, a bar code, and a radio frequency identification tag.

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