Base station, base station addressing device, base station addressing method, and external device

Abstract

The invention discloses a base station, a base station addressing device, a base station addressing method and an external device. The base station comprises: a base station body; the base station addressing device comprises an acquisition module which is configured to acquire satellite observation data of a current observation point; the calculation module is configured to evaluate the observation quality of the observation point according to the satellite observation data; the output module is configured to output a first prompt according to the observation quality, and the first prompt indicates the appropriate degree of the observation point for installing the base station; wherein the base station addressing device is detachably connected with the base station main body so as to execute an addressing task after being detached from the base station main body.

Description

Technical Field

[0001] The present application relates to the technical field of power tools, and particularly to a base station, a base station addressing device, a base station addressing method, and an external device. Background Art

[0002] Self - moving devices represented by lawn mowers perform work tasks such as mowing grass within a certain working area. Considering that satellite positioning systems such as GPS (Global Positioning System) are affected by factors such as weather and occlusion, and the positioning accuracy is limited, the self - moving device constitutes a working system with an additional base station and uses differential positioning means to achieve its own positioning and navigation within the working area.

[0003] Although the use of differential positioning means can improve the positioning and navigation problems of self - moving devices after adding a base station, the relevant accuracy is also affected by the installation position of the base station. A base station installed in an inappropriate position will seriously affect the work of the self - moving device.

[0004] This part provides background information related to the present application, and these background information are not necessarily prior art. Summary of the Invention

[0005] An object of the present application is to solve or at least alleviate part or all of the above problems. For this purpose, an object of the present application is to provide a base station, a base station addressing device, a base station addressing method, and an external device.

[0006] To achieve the above - mentioned objectives, the present application adopts the following technical solutions:

[0007] A base station based on differential positioning technology is used for positioning and navigation of self - moving devices performing work tasks within a working area. The base station includes: a base station main body; a base station addressing device, and the base station addressing device includes: a collection module configured to obtain satellite observation data of the current observation point; a calculation module configured to evaluate the observation quality of the observation point according to the satellite observation data; an output module configured to output a first prompt according to the observation quality, and the first prompt indicates the suitability of the observation point for installing the base station; wherein, the base station addressing device is detachably connected to the base station main body to perform the addressing task after being detached from the base station main body.

[0008] In some embodiments, the base station addressing device includes an indicator light, the first prompt is the state of the indicator light, and the output module outputs the first prompt through the indicator light.

[0009] In some embodiments, the indicator light includes a plurality of lamp beads with different orientations, and the output module indicates the moving direction from the current observation point to the next observation point by lighting some of the lamp beads.

[0010] In some embodiments, the first prompt is the observation quality score of the observation point, and the output module transmits the observation quality score to an external device.

[0011] In some embodiments, after being disassembled from the base station main body, the base station addressing device is installed on the mowing robot to move with the mowing robot and perform the addressing task.

[0012] In some embodiments, the base station addressing device further includes a power supply module configured to supply electrical energy to at least the acquisition module, the calculation module, and the output module.

[0013] In some embodiments, the power supply module includes a primary battery or a secondary battery.

[0014] In some embodiments, the power supply module includes a power supply interface, and the power supply interface is electrically connected to an external device to supply power to the base station addressing device.

[0015] In some embodiments, the base station includes a radio station and a satellite antenna.

[0016] A base station addressing device includes: a device main body; a plurality of light beads disposed on the device main body and respectively having different orientations; wherein, each light bead lights up or goes out in response to the observation quality of the base station addressing device at the current observation point, and when some light beads light up, the lit light beads indicate the moving direction from the current observation point to the next observation point.

[0017] In some embodiments, when all the light beads light up, the base station addressing device has met the addressing condition for installing the base station at the current observation point.

[0018] In some embodiments, the number of light beads is 8.

[0019] In some embodiments, the plurality of light beads are annularly arranged at equal angular intervals on the same plane of the device main body.

[0020] In some embodiments, the plurality of light beads respectively correspond to different addressing intervals, and each light bead lights up or goes out in response to the observation quality of the corresponding addressing interval.

[0021] A base station addressing method based on differential positioning technology, wherein the method includes: obtaining satellite observation data of the current observation point; determining the measured values of the number of observable satellites, satellite elevation angle, and signal-to-noise ratio at the observation point according to the satellite observation data; guiding the base station addressing task based on at least the measured values of the number of satellites, satellite elevation angle, and signal-to-noise ratio of each observation point to finally determine the installation position of the base station.

[0022] In some embodiments, according to the measured values of the number of satellites, satellite elevation angle, and signal-to-noise ratio at each observation point, the base station addressing task is guided to finally determine the installation location of the base station, including: taking the observation point as the addressing center, dividing multiple addressing intervals; according to the satellite observation data and ephemeris data of the observation point, determining the addressing difference data corresponding to the measured values and ephemeris values of the number of satellites, satellite elevation angle, and signal-to-noise ratio in each addressing interval; according to the addressing difference data of each addressing interval, determining the observation quality score of the addressing interval, and guiding the base station addressing task according to the observation quality scores of each addressing interval.

[0023] In some embodiments, according to the satellite observation data and ephemeris data of the observation point, determining the addressing difference data corresponding to the measured values and ephemeris values of the number of satellites, satellite elevation angle, and signal-to-noise ratio in each addressing interval includes one or more of the following: counting the first addressing difference between the number of satellites existing in each addressing interval in the real-time ephemeris data and the number of observable satellites in each addressing interval in the satellite observation data; counting the second addressing difference between the number of satellites with satellite elevation angles exceeding the elevation threshold in each addressing interval in the real-time ephemeris data and the number of satellites with observable satellite elevation angles exceeding the elevation threshold in each addressing interval in the satellite observation data; counting the third addressing difference between the number of satellites with signal-to-noise ratios exceeding the signal-to-noise ratio threshold in each addressing interval in the real-time ephemeris data and the number of satellites with observable signal-to-noise ratios exceeding the signal-to-noise ratio threshold in each addressing interval in the satellite observation data.

[0024] In some embodiments, according to the addressing difference data of each addressing interval, determining the observation quality score of the addressing interval includes: performing a weighted sum of the first addressing difference, the second addressing difference, and the third addressing difference to obtain the observation quality score of the addressing interval.

[0025] In some embodiments, guiding the base station addressing task according to the observation quality scores of each addressing interval includes: in the case where the observation quality score of the addressing interval is lower than the score threshold, screening reference observation satellites from the multiple observable satellites at the observation point; according to the satellite azimuth angles of the multiple reference observation satellites, determining the moving direction from the current observation point to the next observation point.

[0026] In some embodiments, according to the satellite azimuth angles of the multiple reference observation satellites, determining the moving direction from the current observation point to the next observation point includes: determining the included angle of the satellite azimuth angles of adjacent reference observation satellites, where there are no other reference observation satellites between adjacent reference observation satellites in the same azimuth rotation direction; according to the satellite azimuth angles of the two reference observation satellites corresponding to the largest included angle value of the satellite azimuth angles, determining the moving direction from the current observation point to the next observation point, where the moving direction is located on the reverse extension line of the angular bisector of the largest included angle value of the satellite azimuth angles.

[0027] In some embodiments, guiding the base station addressing task according to the observation quality scores of each addressing interval includes: if the observation quality scores of all addressing intervals at any observation point exceed the first score threshold, determining that the observation point is the installation location of the base station.

[0028] In some embodiments, guiding the base station addressing task according to the observation quality scores of each addressing interval further includes: if the observation quality scores of all addressing intervals at multiple observation points do not exceed the first score threshold, using the second score threshold to replace the first score threshold to recalculate the observation quality scores of the addressing intervals at each observation point, where the second score threshold is lower than the first score threshold.

[0029] A base station addressing method based on differential positioning technology, where the method includes: jointly determining the installation location of the base station according to the first feature data and the second feature data of each observation point; where the first feature data is related to the satellite observation status when the base station is located at the observation point; the second feature data is related to the signal coverage status within the working area of the self-mobile device when the base station is located at the observation point, and the second feature data is obtained by the self-mobile device moving within the working area.

[0030] In some embodiments, the self-mobile device moves within the working area to obtain the second feature data, including: the self-mobile device moves to the first detection point that is the farthest from the first observation point where the base station is currently located within the working area, and detects the signal coverage status of the base station at the first observation point on the self-mobile device at the first detection point; in the case where the self-mobile device cannot receive the base station signal from the first observation point, the base station moves towards the first detection point within the preset distance range of the first observation point to the second observation point.

[0031] In some embodiments, jointly determining the installation location of the base station according to the first feature data and the second feature data of each observation point includes: detecting the signal coverage status of the base station at the second observation point on the self-mobile device at the first detection point; calculating the observation quality score of the second observation point according to the first feature data of the second observation point, and in the case where the observation quality score exceeds the score threshold and the self-mobile device receives the base station signal from the second observation point, determining that the second observation point is the installation location of the base station.

[0032] An external device includes: a display device and an electronic processor; where the electronic processor is configured to: display, through the display device, a map of the working area of the self-mobile device and an addressing questionnaire corresponding to the working area, and collect the user's site selection data; determine at least the recommended installation point of the base station according to the site selection data, and display the recommended installation point on the map through the display device.

[0033] In some embodiments, the external device collects the user's site selection data including one or more of the following: obtaining or modifying the regional boundary of the work area in response to a user operation; obtaining or modifying the occlusion range in the map in response to a user operation; obtaining or modifying the occlusion height in the map in response to a user operation; obtaining the candidate installation points selected by the user in response to a user operation.

[0034] In some embodiments, the electronic processor evaluates the observation quality of each candidate installation point according to one or more of the regional boundary, the occlusion range, and the occlusion height, and determines the recommended installation point from multiple candidate installation points according to the observation quality of each candidate installation point.

[0035] In some embodiments, the external device further includes: a communication device that interacts with the base station and / or the self-moving device; the electronic processor is further configured to: obtain the satellite observation data collected by the base station at the recommended installation point through the communication device, and according to the satellite observation data, guide the base station to perform addressing fine-tuning tasks near the recommended installation point through the display device.

[0036] In some embodiments, the external device further includes: a communication device that interacts with the base station and / or the self-moving device; the electronic processor is further configured to: obtain the first feature data and the second feature data of the base station at the recommended installation point through the communication device, and according to the first feature data and the second feature data, guide the base station to perform addressing fine-tuning tasks near the recommended installation point through the display device.

[0037] In some embodiments, the base station performs an addressing fine-tuning task within a preset distance range of the recommended installation point to determine a new recommended installation point.

[0038] A base station based on differential positioning technology is used for positioning and navigating a self-moving device that performs work tasks in a work area. The base station includes: a base station main body, a power consumption module, and a power supply module electrically connected to the power consumption module; the power consumption module is used for receiving or sending data to perform positioning and navigation on the self-moving device; the power supply module is at least used for supplying power to the power consumption module; the power supply module includes a first battery pack detachably connected to the base station main body, and after the first battery pack is detached from the base station main body, it is electrically connected to a power tool and supplies power to the power tool.

[0039] In some embodiments, the self-moving device is powered by the same battery pack as the first battery pack.

[0040] In some embodiments, the self-moving device is powered by a second battery pack different from the first battery pack.

[0041] In some embodiments, the capacity of the second battery pack is greater than the capacity of the first battery pack.

[0042] In some embodiments, the power supply voltage of the second battery pack is less than that of the first battery pack.

[0043] In some embodiments, the base station main body includes a storage bin located at the bottom of the base station main body, and at least part of the power supply module is accommodated in the storage bin.

[0044] In some embodiments, the power-consuming module includes a radio station communicatively connected to the self-mobile device for receiving the status signal of the self-mobile device transmitted by the self-mobile device; the power supply module enters the standby state after receiving the charging status signal.

[0045] In some embodiments, the power supply module exits the standby state after receiving the working status signal.

[0046] In some embodiments, the power-consuming module includes a radio station communicatively connected to the self-mobile device for receiving the distance parameter between the self-mobile device and the base station transmitted by the self-mobile device; the power-consuming module stores the preset segmented interval of the distance parameter and transmits data to the self-mobile device at a segmented frequency through the radio station.

[0047] In some embodiments, the power-consuming module includes a radio station communicatively connected to the self-mobile device for receiving the distance parameter between the self-mobile device and the base station transmitted by the self-mobile device; the power-consuming module stores the preset segmented interval of the distance parameter and transmits data to the self-mobile device at a segmented power through the radio station.

[0048] The advantages of this application are as follows: using satellite observation data at different observation points to evaluate the observation quality of the observation point, so as to accurately find an effective base station installation location within the working area of the self-mobile device, which can improve the performance when the base station assists the self-mobile device to achieve positioning and navigation. The execution process of the addressing task in this application is convenient and efficient, and a detachable and easy-to-operate base station addressing device / base station addressing equipment is further designed for the base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a schematic diagram of the working area of the self-mobile device where the base station and the base station addressing equipment are located in this application;

[0050] Figure 2 is a perspective view of the base station as an embodiment in this application;

[0051] Figure 3 is Figure 2 the electrical control schematic diagram of the base station shown;

[0052] Figure 4 is a perspective view of the base station as another embodiment in this application;

[0053] Figure 5 isFigure 4 The electrical control schematic diagram of the base station shown

[0054] Figure 6a is the plan view of the base station addressing device as an embodiment in the present application;

[0055] Figure 6b is Figure 6a another plan view of the base station addressing device shown

[0056] Figure 7 is Figure 6a 、 Figure 6b the schematic diagram of the addressing interval corresponding to each lamp bead in the base station addressing device shown

[0057] Figure 8 is the control flow chart of the base station addressing method as an embodiment in the present application;

[0058] Figure 9 is Figure 8 the schematic diagram of the moving direction from the current observation point to the next observation point in the base station addressing method shown

[0059] Figure 10 is the schematic diagram of the base station addressing method as another embodiment in the present application;

[0060] Figure 11 is the electrical control schematic diagram of the external device as an embodiment in the present application.

[0061] Figure caption:

[0062] 10, Self - moving device; 20 / 20a / 20b, Base station; 30, Satellite positioning system / Satellite; 40, External device; 50 / 50a, Base station addressing device; 60, Electric tool;

[0063] 210, Base station main body; 220, Power - consuming module; 230, Power - supply module; 211, Storage bin; 212, Support rod; 221, Radio station; 222, Satellite antenna; 231, First battery pack;

[0064] 41, Display device; 42, Electronic processor; 43, Communication device;

[0065] 51, Device main body; 52, Indicator lamp / Lamp bead; 510, Acquisition module; 520, Calculation module; 530, Output module. Detailed implementation manners

[0066] Before explaining in detail any embodiment of the present application, it should be understood that the present application is not limited to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0067] In this application, the terms "comprise", "include", "have" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not preclude the presence of additional identical elements in the process, method, article or apparatus comprising that element.

[0068] In this application, the term "and / or" describes an associative relationship between associated objects and indicates that three relationships can exist. For example, A and / or B can represent three cases: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, in this application, the character " / " generally indicates that the associated objects before and after are in an "and / or" relationship.

[0069] In this application, the terms "connect", "combine", "couple", "mount" can be direct connection, combination, coupling or mounting, or can be indirect connection, combination, coupling or mounting. Among them, by way of example, direct connection means that two parts or components are connected together without the need to provide an intermediate member, and indirect connection means that two parts or components are respectively connected to at least one intermediate member, and these two parts or components are connected through the intermediate member. In addition, "connect" and "couple" are not limited to physical or mechanical connection or coupling, and can include electrical connection or coupling.

[0070] In this application, those of ordinary skill in the art will understand that relative terms used in connection with a quantity or condition (such as "about", "approximately", "substantially", etc.) are intended to include the stated value and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances resulting from manufacturing, assembly, use in relation to a particular value, etc. Such terms should also be considered to disclose a range defined by the absolute values of two endpoints. The relative term may refer to a plus or minus of a certain percentage (such as 1%, 5%, 10% or more) of the indicated value. A numerical value without using a relative term should also be disclosed as a particular value with tolerances. In addition, when expressing a relative angular positional relationship (such as substantially parallel, substantially perpendicular), "substantially" may refer to a plus or minus of a certain number of degrees (such as 1 degree, 5 degrees, 10 degrees or more) based on the indicated angle.

[0071] In this application, those of ordinary skill in the art will understand that the functions performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the functions performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0072] 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.

[0073] 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.

[0074] In the present application, the terms “device”, “module” or “unit” may be implemented in the form of hardware or software to achieve specific functions.

[0075] 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.).

[0076] The technical solution proposed in this application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0077] like Figure 1 As shown, a base station 20 is arranged in the working area of ​​the self-mobile device 10. Based on its own installation position and the observation data of the satellite positioning system, the base station 20 can calculate the differential data that can be used to correct the positioning error of the satellite positioning system and transmit it to the self-mobile device 10. However, in the working area of ​​the self-mobile device 10, due to the influence of the terrain and the existence of obstructions such as buildings, the installation of the base station 20 at different positions may cause a large difference in accuracy. How to effectively address the installation position of the base station 20 is closely related to the subsequent work of the self-mobile device 10, and is an important problem to be solved in the relevant field.

[0078] Figure 2 The base station 20a as an embodiment of the present application is shown. The base station 20a is a base station 20a used to implement differential positioning in the working area of ​​the mobile device 10, that is, a base station 20a based on differential positioning technology. Figure 2As shown in the figure, the base station 20a includes a base station main body 210 and a base station addressing device 50a. Among them, the base station main body 210 and the base station addressing device 50a are detachably connected. The base station main body 210 at least includes a housing and other supporting / accommodating components. The base station addressing device 50a includes functional modules with functions such as communication and logical operation. The base station addressing device 50a can be detached from the base station main body 210 and then perform the base station addressing task, making the base station addressing process more portable, flexible, and convenient for relevant personnel.

[0079] Reference Figure 3 , the base station addressing device 50a may include a collection module 510, a calculation module 520, and an output module 530. Among them, the collection module 510 is communicatively connected to the satellite positioning system 30. In the drawings, the satellite 30 will be used to represent the satellite positioning system 30. The collection module 510 is also connected to the calculation module 520, and the calculation module 520 is also connected to the output module 530. Generally, the connection between the three modules in the base station addressing device 50a is an electrical connection, but it does not exclude the situation that some intermediate processes may also involve communication connections. For example, whether the calculation and analysis of the calculation module 520 involves the assistance of relevant servers, and whether the prompt output of the output module 530 involves interaction with external devices 40, etc.

[0080] The collection module 510 interacts with the satellite positioning system 30 to obtain satellite observation data at the current observation point and transmits it to the calculation module 520; the calculation module 520 evaluates the observation quality of the current observation point based on the satellite observation data from the collection module 510 and transmits it to the output module 530; the output module 530 outputs a first prompt based on the observation quality from the calculation module 520. Relevant personnel can refer to the first prompt at the current observation point or each observation point to decide where to install the base station 20a. The first prompt indicates the suitability of the current observation point for installing the differential positioning base station 20a, and there are various optional expression forms. The specific way for the output module 530 to output the first prompt should have a corresponding relationship with the specific form of the first prompt. There are also various optional implementation methods for the calculation module 520 to obtain the observation quality of the current observation point based on the satellite observation data at the current observation point, which will be specifically described later.

[0081] In some embodiments, the base station addressing device 50a includes an indicator light 52. The output module 530 can output a first prompt through the indicator light 52. Specifically, the first prompt can be the state of the indicator light 52, including but not limited to: the lighting or extinguishing of the indicator light 52, the number of lit indicator lights 52, and the direction corresponding to the lit indicator light 52, etc. In some embodiments, the base station addressing device 50a includes a plurality of lamp beads 52 with different orientations. The output module 530 gives first prompts with different meanings by not lighting the lamp beads 52, lighting some of the plurality of lamp beads 52, or lighting all the lamp beads 52. For example, the output module 530 can indicate the moving direction from the current observation point to the next observation point by lighting some of the lamp beads 52, and the suitability of installing the differential positioning base station 20a at the next observation point should be better than that of the current observation point; the output module 530 can indicate that the current observation point meets the installation addressing condition and can be used as the installation position of the base station 20a by lighting all the lamp beads 52.

[0082] In some other embodiments, the first prompt can be expressed in the form of a score. The first prompt is the observation quality score of the current observation point. The output module 530 can transmit the observation quality score of the current observation point to the external device 40. The external device 40 can include user devices with visualization functions such as smart phones, tablets, and portable computers, or can also include a server or a server cluster for unified addressing management. Relevant personnel can obtain the observation quality scores of each observation point by viewing the above external device 40 or establishing a communication connection with the above external device 40. In some other embodiments, the external device 40 can present a display interface similar to the plurality of lamp beads 52 described above through a relevant program, and the user can observe the lit lamp beads 52 in the device display interface to determine the moving direction.

[0083] In some embodiments, after the base station addressing device 50a is disassembled and detached from the base station body 210, it can be installed on a self - moving device 10 such as a lawn mowing robot, and can follow the self - moving device 10 such as a lawn mowing robot to perform the base station addressing task during its movement to execute the work task. For example, while the lawn mowing robot moves in the work area and performs the mowing task, the base station addressing device 50a disassembled and installed on the lawn mowing robot can find the best position to install the base station 20a in this work area, thus saving the time and effort of manually carrying the base station addressing device 50a for addressing and improving the efficiency and cost issues of base station addressing.

[0084] In some embodiments, the base station addressing device 50a further includes a power supply module 230. The power supply module 230 can at least supply electrical energy to the acquisition module 510, the calculation module 520, and the output module 530 in the base station addressing device 50a, so as to ensure that the base station addressing device 50a can smoothly perform base station addressing after being disassembled from the base station main body 210. In some embodiments, the power supply module 230 may include a secondary battery, that is, a battery that can be used cyclically through charging and discharging, which is more energy-efficient. In some other embodiments, the power supply module 230 may also include a primary battery, that is, a battery that can only be used once, which has the advantages of being easy to purchase and use. In still some other embodiments, the power supply module 230 may include a power supply interface, and the base station addressing device 50a can be electrically connected to the external device 40 or the self-mobile device 10 through the power supply interface, so as to be powered by the external device 40 or the self-mobile device 10.

[0085] In some embodiments, the base station 20a further includes a radio station 221 and a satellite antenna 222. The radio station 221 of the base station 20a is used to realize data interaction between it and the self-mobile device 10, and the satellite antenna 222 is used to realize data interaction between it and the satellite positioning system 30. The radio station 221 and the satellite antenna 222 can follow the base station addressing device 50a to be disassembled from the base station main body 210 to perform the base station addressing task. That is, the base station addressing device 50a may also include a radio station 221 and a satellite antenna 222. Specifically, the acquisition module 510 of the base station addressing device 50a may include a satellite antenna 222, and the above-mentioned power supply module 230 also supplies electrical energy to the radio station 221 and the satellite antenna 222.

[0086] Figure 4 Fig. shows the base station 20b as another embodiment in the present application. Similarly, the base station 20b is a base station 20b for realizing differential positioning in the working area of the self-mobile device 10, that is, a base station 20b based on differential positioning technology. As Figure 4 、 Figure 5As shown in the figure, the base station 20b includes a base station main body 210, a power consumption module 220, and a power supply module 230. Among them, the base station main body 210 at least includes a support / accommodation member such as a housing. The power consumption module 220 can at least receive or transmit data to achieve the positioning and navigation of the self-mobile device 10. For example, the power consumption module 220 may include the acquisition module, calculation module, and output module described above, or may also include the radio station and satellite antenna described above. The power supply module 230 includes a first battery pack 231 and related power supply circuits, which can be electrically connected to the power consumption module 220 when installed on the base station main body 210 and can at least supply power to the above-mentioned power consumption module 220. Moreover, the first battery pack 231 in the power supply module 230 is detachably connected to the base station main body 210. After being detached from the base station main body 210, it can be electrically connected to the power tool 60 and supply power to the power tool 60, so that the self-mobile device 10 or other power tools 60 in its working area have additional power supply options and the endurance is improved.

[0087] In some embodiments, the base station main body 210 includes a storage bin 211. The storage bin 211 is located at the bottom of the base station main body 210, and the power supply module 230 can be at least partially accommodated in the storage bin 211. In other embodiments, part of the power consumption module 220 can also be accommodated in the storage bin 211. In still other embodiments, the storage bin 211 is also provided with a waterproof and openable cover to cope with rainy and snowy weather. In still other embodiments, the base station main body 210 can also include a support rod 212. The support rod 212 is located in the upper middle part of the base station main body 210 and can support power consumption modules such as radio stations and satellite antennas, and the power supply module 230 can be at least partially accommodated in the support rod 212.

[0088] In some embodiments, the self-mobile device 10 can be powered by the detachable first battery pack 231 in the power supply module 230 of the base station 20b. For example, the battery pack used by the self-mobile device 10 is the same model as the first battery pack 231 of the base station 20b, and the capacity of both is 10Ah. In other embodiments, the self-mobile device 10 can also be powered by a second battery pack, and the second battery pack is different from the detachable first battery pack 231 in the power supply module 230 of the base station 20. For example, parameters such as the supply current of the two are different.

[0089] In some embodiments, the self-mobile device 10 is powered by a second battery pack different from the first battery pack 231 of the base station 20b, and the capacity of the second battery pack used by the self-mobile device 10 is greater than the capacity of the first battery pack 231 of the base station 20b. For example, the capacity of the first battery pack 231 of the base station 20b is 10Ah, and the capacity of the second battery pack of the self-mobile device 10 is 20Ah. In other embodiments, the capacity of the second battery pack used by the self-mobile device 10 may also be smaller than the capacity of the first battery pack 231 of the base station 20b.

[0090] In some embodiments, the self - moving device 10 is powered by a second battery pack different from the first battery pack 231 of the base station 20b, and the supply voltage of the second battery pack adopted by the self - moving device 10 is less than the supply voltage of the first battery pack 231 of the base station 20b. For example, the supply voltage of the first battery pack 231 of the base station 20b is 56V, and the first battery pack 231 can be accommodated in a wrapped shape in the storage bin 211, and the supply voltage of the second battery pack of the self - moving device 10 is 24V; or, the supply voltage of the first battery pack 231 of the base station 20b is 12V, and the first battery pack 231 can be accommodated in a cylindrical shape in the support rod 212, and the supply voltage of the second battery pack of the self - moving device 10 is 24V.

[0091] In some embodiments, the power - consuming module 220 includes a radio station 221 and a satellite antenna 222. The base station 20b can establish a communication connection with the self - moving device 10 through the radio station 221 and establish a communication connection with the satellite positioning system 30 through the satellite antenna 222 to interact data such as satellite observation data and differential data. The base station 20b can also receive the status signal transmitted by the self - moving device 10 through the radio station 221. The status signal characterizes the state of the self - moving device 10, including the working status signal when the self - moving device 10 normally executes various work tasks and the charging status signal when the self - moving device 10 returns to the charging pile for charging. After receiving the charging status signal, the power - supply module 230 can enter the standby state. For example, cut off the power supply circuit, reduce the supply voltage, etc., and can exit the standby state after receiving the working status signal. For example, restore the power supply circuit, increase the supply voltage, etc.

[0092] In other embodiments, the base station 20b can also receive the distance parameter between the self - moving device 10 and the base station 20b transmitted by the self - moving device 10 through the radio station 221. The power - consuming module 220 pre - stores the preset segmented intervals of the distance parameter. After receiving the distance parameter transmitted by the self - moving device 10, correspondingly, it can transmit the above - mentioned satellite observation data and / or differential data, etc. to the self - moving device 10 through the radio station 221 at a segmented frequency to achieve data variable - frequency transmission adapted to the distance between the two. The segmented frequency has a corresponding relationship with the segmented interval of the distance parameter. Specifically, the base station 20b can use a lower frequency to transmit the above - mentioned data when the distance from the self - moving device 10 is closer. In still other embodiments, after receiving the distance parameter transmitted by the self - moving device 10, the power - consuming module 220 can, correspondingly, transmit the above - mentioned satellite observation data and / or differential data, etc. to the self - moving device 10 through the radio station 221 at a segmented power to achieve data variable - power transmission adapted to the distance between the two. The segmented power has a corresponding relationship with the segmented interval of the distance parameter. Specifically, the base station 20b can use a lower power to transmit the above - mentioned data when the distance from the self - moving device 10 is closer.

[0093] It is understandable that Figures 2 to 5 the solutions of the base stations 20a and 20b shown may be independent of each other or combined into the same base station 20. That is, a base station 20 based on differential positioning technology may only have the function of performing base station addressing tasks after the differential addressing device is removable, or only have the function of powering an electric tool after the battery pack is removable. It may also have both a removable differential addressing device and a removable battery pack.

[0094] In addition, another base station based on differential positioning technology is proposed. It also includes a base station main body, a power consumption module, and a power supply module. Among them, the power supply module of the base station includes a secondary battery that can be recycled through charging and discharging, and a solar-electricity conversion unit. The solar-electricity conversion unit can be installed at a position on the base station main body that is beneficial for absorbing solar energy and can convert solar energy into electric energy for charging the above-mentioned secondary battery. The above-mentioned secondary battery can at least supply power to the power consumption module in the base station. In some embodiments, it can also be detached from the base station main body and supply power to a self-moving device or other electric tools. In some other embodiments, the solar-electricity conversion unit may not be adopted in the power supply module of the base station, but other energy conversion units such as a wind-electricity conversion unit or a geothermal-electricity conversion unit may be adopted. The specific design can be adapted to the actual scenario to further achieve the technical effects of environmental protection and cost savings. Another base station based on differential positioning technology is proposed. It also includes a base station main body, a power consumption module, and a power supply module. Among them, the power supply module of the base station includes an access unit that can access the commercial power. The base station can be set at a position in the working area, such as near a charging pile, close to the commercial power access socket, for wired power supply, so as to avoid the purchase and arrangement of components such as battery packs and solar-electricity conversion boards, which is cheaper and more convenient.

[0095] Next, a base station addressing device 50 is introduced. In some embodiments, the base station addressing device 50 can be used as the base station addressing device 50a that can be detachably connected to the base station main body 210 in the base station 20a described above. Of course, the base station addressing device 50 can also exist as an independent device, and there is no specific limitation here.

[0096] Figure 6a , Figure 6b shows the base station addressing device 50 as an embodiment in the present application. As Figure 6a , Figure 6bAs shown, the base station addressing device 50 includes a device main body 51 and a plurality of lamp beads 52 disposed on the device main body. The plurality of lamp beads 52 each have different orientations and are generally arranged on the same plane of the device main body 51. In some embodiments, the number of lamp beads 52 can be eight; in other embodiments, the lamp beads 52 can be arranged in an equiangular interval in a ring on the same plane of the device main body 51. Among them, each lamp bead 52 will light up or go out in response to the observation quality of the base station addressing device 50 at the current observation point. When some of the lamp beads 52 are lit, the lit lamp beads 52 indicate the moving direction from the current observation point to the next observation point, and the observation quality of the next observation point should generally be better than that of the current observation point, so that the base station addressing device 50 continuously approaches the optimal position where the base station 20 is installed. In some embodiments, the number of lit lamp beads 52 each time is one, and this lamp bead 52 indicates the best moving direction from the current observation point to the next observation point. In other embodiments, the number of lit lamp beads 52 each time is one or more, and the one or more lit lamp beads 52 indicate one or more selectable moving directions from the current observation point to the next observation point.

[0097] In some embodiments, when all the lamp beads 52 are lit, the base station addressing device 50 can already meet the addressing conditions for installing the base station 20 at the current observation point, and relevant personnel can choose to install the base station 20 at the current observation point.

[0098] In some embodiments, each lamp bead 52 on the base station addressing device 50 respectively represents a different addressing interval, and the lighting or extinguishing of a lamp bead 52 is related to the observation quality of the addressing interval corresponding to this lamp bead 52. Taking Figure 6a 、 Figure 6b the base station addressing device 50 with eight lamp beads 52 shown as an example, the azimuth range is used to illustrate the addressing interval. Taking the due north direction as the azimuth 0°, it will sequentially pass through due east 90°, due south 180°, due west 270° and reach 360° in the clockwise direction. In some cases, such as Figure 7As shown in the figure, the azimuth range corresponding to the addressing range of each lamp bead 52 can be constant and does not change with the rotation of the base station addressing device 50 itself. For example, the azimuth ranges of 8 addressing ranges can be set as 0° to 45°, 45° to 90°, 90° to 135°, 135° to 180°, 180° to 225°, 225° to 270°, 270° to 315°, and 315° to 360°. The 8 lamp beads 52 on the base station addressing device 50 can correspond to the above 8 addressing ranges one by one. During the rotation of the base station addressing device 50, the actual orientation of each lamp bead 52 in the physical world may not be consistent with the azimuth range of the addressing range it corresponds to. In some other cases, the azimuth range corresponding to the addressing range of each lamp bead 52 can also be non-constant and changes with the rotation of the base station addressing device 50 itself. Specifically, the azimuth range corresponding to the addressing range of each lamp bead 52 can be designed to be consistent with the actual orientation of the lamp bead 52 in the physical world. For example, if the azimuth range of the addressing range corresponding to a certain lamp bead 52 is 0° to 45° currently, and the base station addressing device 50 rotates 180°, then the azimuth range of the addressing range corresponding to this lamp bead 52 changes to 180° to 225° accordingly.

[0099] The following introduces a base station addressing method based on differential positioning technology. In some embodiments, this base station addressing method can be applied to the base station addressing device 50a or the base station addressing device 50 described above. Of course, this base station addressing method can also be applied to various devices performing base station addressing tasks, such as the base station 20 can directly perform addressing, which will not constitute a specific limitation here. In the following, the base station addressing device 50 will be used as the execution entity of this solution for convenient subsequent exemplary description.

[0100] Figure 8 The figure shows a base station addressing solution as an embodiment in the present application. This solution is applied to a differential positioning system composed of a self-mobile device 10, a base station 20, and a satellite positioning system, that is, a base station addressing method based on differential positioning technology, and its control process includes:

[0101] 810. Obtain satellite observation data of the current observation point;

[0102] 820. Determine the measured values of the number of observable satellites, satellite elevation angle, and signal-to-noise ratio of the observable satellites at the observation point according to the satellite observation data;

[0103] 830. Guide the base station addressing task at least according to the measured values of the number of satellites, satellite elevation angle, and signal-to-noise ratio of each observation point to finally determine the installation position of the base station.

[0104] The base station addressing device 50 first interacts with the satellite positioning system 30 to obtain the satellite observation data of the current observation point, that is, to simulate the data interaction situation between the analog base station 20 installed at the current observation point and the satellite positioning system 30. Then, based on this satellite observation data, the base station addressing device 50 can determine the number of observable satellites at the current observation point, as well as the measured values of the satellite elevation angle and signal-to-noise ratio of each observable satellite. Thus, at least based on the number of satellites, satellite elevation angle, and measured signal-to-noise ratio at each observation point, the base station addressing task can be guided to finally determine the installation location of the base station 20.

[0105] Among them, the number of observable satellites, satellite elevation angle, and measured signal-to-noise ratio at the current observation point obtained from the satellite observation data can actually reflect the suitability of the current observation point as the installation location of the base station 20. The observable satellites at the current observation point are the satellites in the satellite positioning system 30 that can actually communicate smoothly with the base station addressing device 50 at this observation point. The satellite elevation angle is the elevation angle of the line connecting the satellite and the current observation point with respect to the local ground plane at this observation point, which will affect the inherent communication quality between the satellite and the base station addressing device 50 at the current observation point. The signal-to-noise ratio is the power ratio of the effective signal to the noise in the channel between the satellite and the base station addressing device 50 at the current observation point. Both the signal-to-noise ratio and the number of observable satellites can reflect the actual communication quality between the current observation point and the satellite positioning system 30. As Figure 9 shown, Figure 9 the outermost outer circle in the figure represents the range of observable satellites at the current observation point. The center of the outer circle is the current observation point. The multiple concentric circles of the outer circle are the marks of different satellite elevation angles. The satellite elevation angle at the center is 90°, and it decreases by 15° until the satellite elevation angle at the outer circle drops to 0°. The values on the circumference of the outer circle are the marks of different satellite azimuth angles. The due north direction is the azimuth angle of 0°, and it increases by 45° clockwise, passing through due east 90°, due south 180°, due west 270°, until 360° returns to the due north direction. And the multiple small circles distributed everywhere in the outer circle represent the observable satellites at the current observation point. The satellite elevation angle corresponding to the concentric circle where the small circle falls is the measured value of the satellite elevation angle of the observable satellite, and the value inside the small circle is the measured value of the signal-to-noise ratio of the observable satellite. The number of small circles inside the outer circle is the total number of observable satellites at the current observation point. Simply put, the more observable satellites there are at an observation point, and the higher the satellite elevation angle and signal-to-noise ratio, the more suitable this observation point is as the installation location of the base station 20.

[0106] In one embodiment, corresponding to the content of the base station addressing device 50 described above, in the implementation process of guiding the base station addressing task based on the measured values of the number of satellites, satellite elevation angle, and signal-to-noise ratio at different observation points to finally determine the installation location of the base station 20, first, the current observation point can be used as the addressing center to divide multiple addressing intervals, so as to Figure 9For example, interval division can be performed based on the azimuth angle to obtain eight addressing intervals with azimuth angles of [0°, 45°], [45°, 90°], [90°, 135°], [135°, 180°], [180°, 225°], [225°, 270°], [270°, 315°], and [315°, 360°]. Subsequently, based on the satellite observation data and ephemeris data of the current observation point, the number of observable satellites, satellite elevation angle, and measured and ephemeris values of the signal-to-noise ratio within each addressing interval of the current observation point can be determined, and the corresponding addressing difference data can be obtained therefrom. Among them, the ephemeris data at each observation point is the satellite data of all satellites in the satellite positioning system. The ephemeris values of the number of satellites, satellite elevation angle, and signal-to-noise ratio obtained from the ephemeris data reflect the ideal situation when there is no occlusion interference at the observation point and can be used as a reference. Combining with the measured values at the observation point to obtain the addressing difference data can more accurately reflect the suitability of the observation point as the installation location of the base station 20. Subsequently, based on the addressing difference data of each addressing interval, the observation quality of the addressing interval can be evaluated, the observation quality score corresponding to the addressing interval can be calculated, and the next base station addressing task can be guided by the observation quality scores of each addressing interval. In some embodiments, in combination with the relevant content of the base station addressing device 50 described above, assuming that the base station addressing device 50 has lamp beads 52 corresponding to the above eight addressing intervals, after obtaining the observation quality scores of each addressing interval, the base station addressing device 50 can light up the lamp beads 52 corresponding to the highest score addressing interval, or can light up the lamp beads 52 corresponding to one or more addressing intervals whose scores exceed the preset score threshold to guide the base station addressing device 50 to move to a better installation location of the base station 20.

[0107] In some embodiments, when the observation quality scores of all addressing intervals of the current observation point exceed the first score threshold, the base station addressing device 50 can determine that the current observation point is used as the installation location of the base station 20. In some other embodiments, if the observation quality scores of all addressing intervals of multiple observation points do not exceed the first score threshold, the base station addressing device 50 can replace the first score threshold with a second score threshold with a slightly lower value to adapt to special sites with naturally poor observation quality, and enhance the applicability of the addressing scheme by using a stepped threshold. In some other embodiments, the base station addressing device 50 can also be provided with a third score threshold for further replacing the second score threshold, and the value of the third score threshold is slightly lower than the second score threshold.

[0108] In some embodiments, the above-mentioned addressing difference data includes one or more of a first addressing difference, a second addressing difference, and a third addressing difference, where

[0109] The first addressing difference is the difference between the number of satellites existing in each addressing interval in the real-time ephemeris data and the number of observable satellites in each addressing interval in the actual satellite observation data. For example, in the real-time ephemeris data, there are N1 satellites in the addressing interval [0°, 45°] of the current observation point, and in the actual satellite observation data, there are N1' observable satellites in the addressing interval [0°, 45°] of the current observation point. The first addressing difference includes N1 - N1'. The second addressing difference is the difference between the number of satellites with elevation angles lower than the preset elevation threshold in each addressing interval in the real-time ephemeris data and the number of satellites with observable elevation angles exceeding the elevation threshold in each addressing interval in the actual satellite observation data. For example, in the real-time ephemeris data, there are N2 satellites with elevation angles exceeding the threshold in the addressing interval [0°, 45°] of the current observation point, and in the actual satellite observation data, there are N2' observable satellites with elevation angles exceeding the threshold in the addressing interval [0°, 45°] of the current observation point. The second addressing difference includes N2 - N2'. The third addressing difference is the difference between the number of satellites with signal-to-noise ratios exceeding the preset signal-to-noise ratio threshold in each addressing interval in the real-time ephemeris data and the number of satellites with observable signal-to-noise ratios exceeding the signal-to-noise ratio threshold in each addressing interval in the actual satellite observation data. For example, in the real-time ephemeris data, there are N3 satellites with signal-to-noise ratios exceeding the threshold in the addressing interval [0°, 45°] of the current observation point, and in the actual satellite observation data, there are N3' observable satellites with signal-to-noise ratios exceeding the threshold in the addressing interval [0°, 45°] of the current observation point. The third addressing difference includes N3 - N3'. The first, second, and third addressing differences can comprehensively reflect the satellite distribution of the satellite positioning system and the influence of factors such as the surrounding terrain and building occlusion on the observations at different observation points, thereby reflecting the suitability of installing the base station 20 at each observation point.

[0110] In some embodiments, the base station addressing device 50 performs a weighted sum of the above first addressing difference, second addressing difference, and third addressing difference for each addressing interval to obtain the observation quality score for that addressing interval. Among them, the summation weights of the first, second, and third addressing differences can be different. In some embodiments, the observation quality score for an addressing interval can be 100 - k1*(N1 - N1') - k2*(N2 - N2') - k3*(N3 - N3').

[0111] In some embodiments, when there is an addressing interval with an observation quality score lower than the score threshold, the base station addressing device 50 may screen reference observation satellites from multiple observable satellites at the current observation point, and determine the moving direction from the current observation point to the next observation point based on the satellite azimuth angles of the reference observation satellites. In some embodiments, the reference observation satellites may be satellites among the observable satellites whose satellite elevation angles exceed a preset elevation angle threshold and whose signal-to-noise ratios exceed a preset signal-to-noise ratio threshold. Of course, in some other embodiments, there may be other requirements for the reference observation satellites.

[0112] In some embodiments, with the goal of ensuring balanced scores for each addressing interval and all meeting the observation requirements, the base station addressing may determine the direction that can avoid or reduce relevant occlusion interference based on the reference observation satellites as the moving direction of the base station addressing device 50. The base station addressing device 50 may first determine the included angle of the satellite azimuth angles of adjacent reference observation satellites. There are no other reference observation satellites between the adjacent reference observation satellites in the same azimuth rotation direction. As Figure 9 shown, rotating clockwise, the satellite azimuth angle of the reference observation satellite with satellite number a is 295°, and the satellite azimuth angle of the reference observation satellite with satellite number b is 5°. There are no other observable satellites between azimuth angles 295° and 5°. Then the reference observation satellites a and b are adjacent reference observation satellites. The included angle of the satellite azimuth angles of the adjacent reference observation satellites corresponds to the azimuth range without other observable satellites between them. Continuing with the previous example, the included angle of the satellite azimuth angles of the adjacent reference observation satellites a and b is the azimuth range from 295° to 5° in the clockwise direction. Then, the base station addressing device 50 may determine the moving direction from the current observation point to the next observation point based on the satellite azimuth angles of the two reference observation satellites corresponding to the largest satellite azimuth angle included angle. The largest satellite azimuth angle included angle represents the disadvantaged direction where it is difficult to achieve satellite observation at the current observation point. The reverse extension line of the angular bisector of the largest satellite azimuth angle included angle may be taken as the moving direction. Continuing with the previous example, assuming that the included angle of the satellite azimuth angles between the reference observation satellites a and b is the largest, at the Figure 9 observation point shown, it can move in the direction of 150°, which is the reverse extension line of the angular bisector 330° of the included angle of the satellite azimuth angles between the reference observation satellites a and b, to move away from the above-mentioned disadvantaged observation azimuth and improve the observation quality.

[0113] The following introduces another base station addressing method based on differential positioning technology. Similarly, this base station addressing method can be applied to the base station addressing device 50a or the base station addressing device 50 described above, and can also be applied to the base station 20 or other devices. The following uses the base station 20 as the execution subject for exemplary illustration.

[0114] As a base station addressing scheme for another embodiment in this application, it can be applied to a differential positioning system composed of a self-mobile device 10, a base station 20, and a satellite positioning system 30, that is, a base station addressing scheme based on differential positioning technology. In terms of the control process, it includes: jointly determining the installation position of the base station 20 according to the first feature data and the second feature data of each observation point.

[0115] Among them, the first feature data is related to the satellite observation status when the base station 20 is at the current observation point. In some embodiments, the first feature data can be the satellite observation data, ephemeris data, etc. of the current observation point described above; the second feature data is related to the signal coverage status within the working area of the self-mobile device 10 when the base station 20 is at the current observation point. In some embodiments, the second feature data can be the signal strength of the base station 20, etc. The second feature data can be obtained during the process of the self-mobile device 10 moving within the working area.

[0116] In some embodiments, the base station 20 can obtain the first feature data and the second feature data of each observation point to comprehensively determine the observation quality of the observation point. For example, calculate the observation quality score according to the first feature data and the second feature data of the observation point, so as to select the final installation position of the base station 20 based on the observation quality of each observation point. The relevant data types involved and the scoring methods such as weighted summation can refer to the above, and of course, other types of data or other evaluation methods can also be used.

[0117] In some embodiments, referring to Figure 10 , the base station 20 can also cooperate with the self-mobile device 10 within the working area to find the best installation position of the base station 20 through their relative movement. Assume that the base station 20 is currently at the first observation point. The self-mobile device 10 can move to the first detection point farthest from the first observation point within the working area, and detect the signal coverage status of the base station 20 at the first observation point on the self-mobile device 10 at the first detection point. For example, the self-mobile device 10 can detect whether it can receive the signal from the base station 20 or detect whether the signal strength of the base station 20 it receives is too weak. If the self-mobile device 10 cannot receive the signal from the base station 20 at the first observation point or the signal strength of the base station 20 received is too weak at the first detection point, then the base station 20 moves towards the self-mobile device 10 within the preset distance range of the first observation point to the second observation point.

[0118] Generally, since the self - moving device 10 has made a minor position adjustment within the preset distance range of the first observation point, after the base station 20 moves to the second observation point, the first detection point is still the point farthest from the second observation point within the working area. Calculate the observation quality score of the second observation point based on the first characteristic data of the base station 20 at the second observation point, and re - detect the signal coverage status of the base station 20 on the second observation point for the self - moving device 10 at the first detection point. If the observation quality score of the second observation point can exceed the score threshold and the self - moving device 10 can receive the signal from the base station 20 at the second observation point or the received signal strength of the base station 20 is no longer too weak at the first detection point, then it can be determined that the second observation point is the installation position of the base station 20.

[0119] In some embodiments, Figure 10 the addressing scheme shown can be used as Figure 8 a supplementary optimization of the addressing scheme shown. When starting to execute the above - mentioned scheme, the base station 20 can select the installation position of the base station 20 obtained by executing Figure 8 the scheme as the first observation point, and perform an addressing fine - tuning task within the preset distance range of the first observation point to take into account the signal coverage of the base station 20 for the self - moving device 10 at each position within the working area, further optimizing the installation position of the base station 20.

[0120] Referring to Figure 11 , an external device 40 can be introduced into the working system of the self - moving device 10. The external device 40 includes a display device 41 and an electronic processor 42. Among them, the display device 41 and the electronic processor 42 are electrically connected or communicatively connected. The electronic processor 42 can call the display device 41 to display the map of the working area of the self - moving device 10 and the addressing questionnaire corresponding to the working area. The map of the working area can be pre - constructed or pre - obtained. The addressing questionnaire can have a unified template, and the corresponding questionnaire can be obtained after substituting the current map. The questionnaire can be in the form of graphics, text, audio - video, etc. Then, in response to the user's operation, the electronic processor 42 can collect the site - selection data given by the user, and then at least analyze and calculate based on the collected site - selection data to determine the recommended installation points of the base station 20, and then display the recommended installation points on the map through the display device 41. The number of the recommended installation points is one or more.

[0121] In some embodiments, during the implementation of collecting the user's site selection data, the electronic processor 42 of the external device 40 can, in response to user operations, obtain or modify the regional boundary of the working area, obtain or modify the range of obstacles in the map, obtain or modify the height of obstacles in the map, and can also obtain the candidate installation points selected by the user, where the number of the candidate installation points is one or more. Specifically, the external device 40 can have functions such as touch and click and be equipped with corresponding modules / devices, and the electronic processor 41 can be electrically connected or communicatively connected thereto to obtain the above data or modify the obtained data.

[0122] In some embodiments, during the implementation of determining the recommended installation points of the base station 20, the electronic processor 42 can evaluate the observation quality of each candidate installation point based on one or more of the obtained regional boundary, range of obstacles, and height of obstacles, and then select one or several with the best observation quality as the recommended installation points according to the observation quality of each candidate installation point. The evaluation of the observation quality can refer to the relevant content such as the calculation of the observation quality score in the foregoing. The regional boundary in the site selection data is related to the signal coverage of the base station 20, and the range and height of obstacles will affect the data interaction between the base station 20 and the satellite positioning system. Using the above regional boundary, range of obstacles, and height of obstacles can simulate the working conditions of the base station at various positions in the working area.

[0123] In some embodiments, in addition to the display device 41 and the electronic processor 42, the external device 40 further includes a communication device 43. The communication device 43 can be electrically connected to the electronic processor 42 and communicatively connected to the base station 20 and / or the self-mobile device 10. The electronic processor 42 can call the communication device 43 to obtain the satellite observation data collected by the base station 20 at the recommended installation point, and then, based on the above satellite observation data, guide the base station 20 to perform an addressing fine-tuning task near the recommended installation point through the display device 41. Guiding the base station addressing according to the satellite observation data can refer to the relevant content in the foregoing. In some other embodiments, the electronic processor 42 can also call the communication device 43 to obtain the first feature data and the second feature data collected by the base station 20 at the recommended installation point, and then, based on the above first and second feature data, guide the base station 20 to perform an addressing fine-tuning task near the recommended installation point, which can specifically refer to the relevant content in the foregoing. Among them, the electronic processor 42 can display the moving direction from the current observation point to the next observation point through the display device 41 to conduct the addressing task guidance, and the addressing fine-tuning task can require a limited adjustment of the installation position of the base station 20 within a preset distance range of the recommended installation point. In some other embodiments, the satellite observation data, the first feature data, or the second feature data obtained by the communication device 43 through interaction with the base station 20 and / or the self-mobile device 10 can also be used for the calculation of the observation quality score of the candidate installation points.

[0124] The basic principles, main features and advantages of the present application have been shown and described above. Those skilled in the art should understand that the above embodiments do not limit the present application in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present application.

Claims

1. A base station based on differential positioning technology is used to locate and navigate self - moving devices performing work tasks in a work area. Among them, The base station includes: The base station main body; The base station addressing device, and the base station addressing device includes: An acquisition module configured to obtain satellite observation data of the current observation point; A calculation module configured to evaluate the observation quality of the observation point according to the satellite observation data; An output module configured to output a first prompt according to the observation quality, and the first prompt indicates the suitability of the observation point for installing the base station; Among them, the base station addressing device is detachably connected to the base station main body to perform the addressing task after being detached from the base station main body.

2. The base station according to claim 1, Among them, The base station addressing device includes an indicator light, the first prompt is the state of the indicator light, and the output module outputs the first prompt through the indicator light.

3. The base station according to claim 2, Among them, The indicator light includes a plurality of lamp beads with different orientations, and the output module indicates the moving direction from the current observation point to the next observation point by lighting some of the lamp beads.

4. The base station according to claim 1, Among them, The first prompt is the observation quality score of the observation point, and the output module transmits the observation quality score to an external device.

5. The base station according to claim 1, Among them, After being detached from the base station main body, the base station addressing device is installed on a lawn mowing robot to move with the lawn mowing robot and perform the addressing task.

6. The base station according to claim 1, Among them, The base station addressing device further includes a power supply module configured to supply electrical energy to at least the acquisition module, the calculation module, and the output module.

7. The base station according to claim 6, Among them, The power supply module includes a primary battery or a secondary battery.

8. The base station according to claim 6, Among them, The power supply module includes a power supply interface, and the power supply interface is electrically connected to an external device to supply power to the base station addressing device.

9. The base station according to claim 1, Among them, The base station includes a radio station and a satellite antenna.

10. A base station addressing device, including: The device main body; A plurality of lamp beads are arranged on the device main body and have different orientations respectively; Among them, each of the lamp beads is lit or extinguished in response to the observation quality of the base station addressing device at the current observation point. When some of the lamp beads are lit, the lit lamp beads indicate the moving direction from the current observation point to the next observation point.

11. The device according to claim 10, Among them, When all the lamp beads are lit, the base station addressing device meets the addressing conditions for installing a base station at the current observation point.

12. The device according to claim 10, Among them, The number of the lamp beads is 8.

13. The device according to claim 10, Among them, The plurality of lamp beads are arranged in an equiangular interval in a circular shape on the same plane of the device main body.

14. The device according to claim 13, Among them, The multiple light beads respectively correspond to different addressing intervals, and each of the light beads lights up or goes out in response to the observed quality of the corresponding addressing interval.

15. A base station addressing method based on differential positioning technology, wherein, the method includes: acquiring satellite observation data of a current observation point; determining the number of observable satellites, the satellite elevation angle, and the measured values of the signal-to-noise ratio on the observation point according to the satellite observation data; guiding the base station addressing task at least according to the measured values of the number of satellites, the satellite elevation angle, and the signal-to-noise ratio of each observation point to finally determine the installation position of the base station.

16. The method according to claim 15, wherein, the guiding the base station addressing task at least according to the measured values of the number of satellites, the satellite elevation angle, and the signal-to-noise ratio of each observation point to finally determine the installation position of the base station includes: dividing a plurality of addressing intervals with the observation point as the addressing center; determining the addressing difference data corresponding to the measured values and ephemeris values of the number of satellites, the satellite elevation angle, and the signal-to-noise ratio in each addressing interval according to the satellite observation data and ephemeris data of the observation point; determining the observed quality score of the addressing interval according to the addressing difference data of each addressing interval, and guiding the base station addressing task according to the observed quality score of each addressing interval.

17. The method according to claim 16, wherein, the determining the addressing difference data corresponding to the measured values and ephemeris values of the number of satellites, the satellite elevation angle, and the signal-to-noise ratio in each addressing interval according to the satellite observation data and ephemeris data of the observation point includes one or more of the following: counting the first addressing difference between the number of satellites existing in each addressing interval in the real-time ephemeris data and the number of observable satellites in each addressing interval in the satellite observation data; counting the second addressing difference between the number of satellites with a satellite elevation angle exceeding the elevation threshold in each addressing interval in the real-time ephemeris data and the number of satellites with an observable satellite elevation angle exceeding the elevation threshold in each addressing interval in the satellite observation data; counting the third addressing difference between the number of satellites with a signal-to-noise ratio exceeding the signal-to-noise ratio threshold in each addressing interval in the real-time ephemeris data and the number of satellites with an observable signal-to-noise ratio exceeding the signal-to-noise ratio threshold in each addressing interval in the satellite observation data.

18. The method according to claim 17, wherein, the determining the observed quality score of the addressing interval according to the addressing difference data of each addressing interval includes: performing weighted summation on the first addressing difference, the second addressing difference, and the third addressing difference to obtain the observed quality score of the addressing interval.

19. The method according to claim 16, wherein, the guiding the base station addressing task according to the observed quality score of each addressing interval includes: screening reference observation satellites from the multiple observable satellites of the observation point when the observed quality score of the addressing interval is lower than the score threshold; determining the moving direction from the current observation point to the next observation point according to the satellite azimuth angles of the multiple reference observation satellites.

20. The method according to claim 19, wherein, determining the moving direction from the current observation point to the next observation point according to the satellite azimuth angles of the multiple reference observation satellites includes: determining the included angle of the satellite azimuth angles of adjacent reference observation satellites, wherein there are no other reference observation satellites between the adjacent reference observation satellites in the same azimuth rotation direction; determining the moving direction from the current observation point to the next observation point according to the satellite azimuth angles of the two reference observation satellites corresponding to the largest included angle of the satellite azimuth angles, wherein the moving direction is located on the reverse extension line of the angular bisector of the largest included angle of the satellite azimuth angles.

21. The method according to claim 16, wherein, guiding the base station addressing task according to the observation quality scores of the respective addressing intervals includes: if the observation quality scores of all the addressing intervals at any observation point exceed a first score threshold, determining that the observation point is the installation location of the base station.

22. The method according to claim 21, wherein, guiding the base station addressing task according to the observation quality scores of the respective addressing intervals further includes: if the observation quality scores of all the addressing intervals at multiple observation points do not exceed the first score threshold, replacing the first score threshold with a second score threshold to recalculate the observation quality scores of the addressing intervals at each observation point, wherein the second score threshold is lower than the first score threshold.

23. A base station addressing method based on differential positioning technology, wherein, the method includes: jointly determining the installation location of the base station according to the first characteristic data and the second characteristic data of each observation point; wherein the first characteristic data is related to the satellite observation status when the base station is at the observation point; the second characteristic data is related to the signal coverage status within the working area of the self-mobile device when the base station is at the observation point, and the second characteristic data is obtained by the self-mobile device moving within the working area.

24. The method according to claim 23, wherein, the self-mobile device moving within the working area to obtain the second characteristic data includes: the self-mobile device moving to a first detection point that is the farthest from the first observation point where the base station is currently located within the working area, and detecting the signal coverage status of the base station at the first observation point on the self-mobile device at the first detection point; in the case where the self-mobile device cannot receive the base station signal from the first observation point, the base station moves within a preset distance range of the first observation point towards the first detection point to a second observation point.

25. The method according to claim 24, wherein, jointly determining the installation location of the base station according to the first characteristic data and the second characteristic data of each observation point includes: detecting the signal coverage status of the base station at the second observation point on the self-mobile device at the first detection point; Calculate the observation quality score of the second observation point based on the first characteristic data of the second observation point. When the observation quality score exceeds the score threshold and the self-mobile device receives the base station signal from the second observation point, determine that the second observation point is the installation position of the base station.

26. An external device, comprising: a display device and an electronic processor; wherein, the electronic processor is configured to: display, through the display device, a map of the working area of the self-mobile device and an addressing questionnaire corresponding to the working area, and collect the site selection data of the user; determine at least the recommended installation points of the base station according to the site selection data, and display the recommended installation points in the map through the display device.

27. The device according to claim 26, wherein, the external device collecting the site selection data of the user includes one or more of the following: obtaining or correcting the regional boundary of the working area in response to a user operation; obtaining or correcting the occlusion range in the map in response to a user operation; obtaining or correcting the occlusion height in the map in response to a user operation; obtaining the candidate installation points selected by the user in response to a user operation.

28. The device according to claim 27, wherein, the electronic processor evaluates the observation quality of each candidate installation point according to one or more of the regional boundary, the occlusion range, and the occlusion height, and determines the recommended installation points from multiple candidate installation points according to the observation quality of each candidate installation point.

29. The device according to claim 26, wherein, the external device further includes: a communication device, which interacts with the base station and / or the self-mobile device; the electronic processor is further configured to: obtain the satellite observation data collected by the base station at the recommended installation point through the communication device, and guide the base station to perform an addressing fine-tuning task near the recommended installation point through the display device according to the satellite observation data.

30. The device according to claim 26, wherein, the external device further includes: a communication device, which interacts with the base station and / or the self-mobile device; the electronic processor is further configured to: obtain the first characteristic data and the second characteristic data of the base station at the recommended installation point through the communication device, and guide the base station to perform an addressing fine-tuning task near the recommended installation point through the display device according to the first characteristic data and the second characteristic data.

31. The device according to claim 29 or 30, wherein, the base station performs an addressing fine-tuning task within a preset distance range of the recommended installation point to determine a new recommended installation point.

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