Self-moving equipment and base station switching method thereof

Abstract

The invention discloses a self-moving device and a base station switching method thereof. The method comprises the following steps: in a current period, setting a radio station to receive a first signal from a first base station, and acquiring a first common-view satellite parameter and a first communication parameter of the self-mobile device and the first base station according to the first signal; after the current period is ended, the set radio station receives a second signal from a second base station, and obtains a second common-view satellite parameter and a second communication parameter of the self-moving device and the second base station through the second signal; the signal quality of the first base station is evaluated based on the first common-view satellite parameter and the first communication parameter, the signal quality of the second base station is evaluated based on the second common-view satellite parameter and the second communication parameter, and under the condition that the signal quality of the second base station is superior to that of the first base station, the signal quality of the first base station is evaluated. And setting the radio station to receive a second signal from the second base station.

Description

Technical Field

[0001] This application relates to the technical field of power tools, and particularly to a self - moving device and a method for switching its base station. Background Art

[0002] Self - moving devices represented by lawn mowers perform work tasks such as mowing in a certain working area. Considering that satellite positioning systems such as GPS (Global Positioning System) are affected by factors such as weather and 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. The base station in the working system can calculate differential data for the self - moving device to correct the satellite positioning system error based on the known installation position of itself and the satellite observation data obtained by interacting with the satellite positioning system, and transmit it to the self - moving device.

[0003] However, due to the limited signal coverage range of the base station, when the working area of the self - moving device is large, generally more than one base station needs to be set up in the area. Related problems such as multi - base - station deployment and self - moving device control in similar scenarios still need to be solved.

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

[0005] An object of this application is to solve or at least mitigate part or all of the above problems. For this purpose, an object of this application is to provide a self - moving device and a method for switching its base station.

[0006] To achieve the above objective, this application adopts the following technical solutions:

[0007] A method for switching the base station of a self - moving device. At least a first base station and a second base station are included in the working area of the self - moving device. The self - moving device is equipped with a radio station. The method includes: within the current cycle, setting the radio station to receive a first signal from the first base station, and obtaining a first common - view satellite parameter and a first communication parameter between the self - moving device and the first base station from the first signal; after the end of the current cycle, setting the radio station to receive a second signal from the second base station, and obtaining a second common - view satellite parameter and a second communication parameter between the self - moving device and the second base station from the second signal; evaluating the signal quality of the first base station based on the first common - view satellite parameter and the first communication parameter, and evaluating the signal quality of the second base station based on the second common - view satellite parameter and the second communication parameter. In the case where the signal quality of the second base station is better than that of the first base station, within the next cycle, setting the radio station to receive the second signal from the second base station.

[0008] In some embodiments, the case where the signal quality of the second base station is better than that of the first base station includes: the difference between the second co-view satellite parameter and the first co-view satellite parameter exceeds the first threshold, and the difference between the first communication parameter and the second communication parameter exceeds the second threshold.

[0009] In some embodiments, the first co-view satellite parameter or the second co-view satellite parameter includes one or more of the following: the number of co-view satellites of the mobile device with the first base station or the second base station; the distribution angle ratio of the co-view satellites of the mobile device with the first base station or the second base station.

[0010] In some embodiments, the first communication parameter or the second communication parameter includes the time interval for the mobile device to receive the first signal or the second signal.

[0011] In some embodiments, obtaining the first co-view satellite parameter of the mobile device and the first base station from the first signal includes: obtaining the satellite observation data of the first base station from the first signal, and determining the co-view satellites of the two based on the satellite observation data of the mobile device and the satellite observation data of the first base station; the satellite observation data of the first base station at least includes the satellite number, satellite elevation angle, and signal-to-noise ratio of each visible satellite of the first base station, and the satellite observation data of the mobile device at least includes the satellite number, satellite elevation angle, and signal-to-noise ratio of each visible satellite of the mobile device.

[0012] In some embodiments, the satellite elevation angle of the co-view satellite of the mobile device and the first base station exceeds the elevation angle threshold and the signal-to-noise ratio exceeds the signal-to-noise ratio threshold.

[0013] In some embodiments, the method further includes: when the signal quality of the first base station is better than that of the second base station, in the next cycle, setting the radio to receive the first signal from the first base station.

[0014] A mobile device includes a radio and an electronic processor; wherein, the electronic processor is configured to execute the above base station switching method.

[0015] A working system of a mobile device includes a first base station, a second base station, and a mobile device; wherein, the mobile device includes a radio and an electronic processor, and the electronic processor is configured to execute the above base station switching method.

[0016] A self - moving device, comprising: a housing; a traveling assembly including a traveling motor and traveling wheels, the traveling assembly being coupled to the housing; wherein, the self - moving device further includes: a mobile station including a satellite receiving antenna, a first radio, a second radio, and a computing unit; the satellite receiving antenna is configured to acquire satellite signals; the first radio is configured to receive a first signal from a first base station, the first signal including first differential data of the first base station; the second radio is configured to receive a second signal from a second base station, the second signal including second differential data of the second base station; the computing unit is configured to correct an initial coordinate of the self - moving device obtained by resolving the satellite signals according to the first differential data and / or the second differential data to obtain a corrected device coordinate of the self - moving device; a controller is configured to control the self - moving device according to the device coordinate output by the computing unit.

[0017] In some embodiments, the computing unit is configured to correct the initial coordinate based on the first differential data to obtain a first device coordinate, and correct the initial coordinate based on the second differential data to obtain a second device coordinate; compare the solution accuracies of the first device coordinate and the second device coordinate, and select the device coordinate with a higher solution accuracy as the finally output device coordinate.

[0018] In some embodiments, the computing unit is configured to, when the first device coordinate is a fixed solution and the second device coordinate is a floating - point solution, output the first device coordinate as the final device coordinate; when the first device coordinate is a floating - point solution and the second device coordinate is a fixed solution, output the second device coordinate as the final device coordinate.

[0019] In some embodiments, the computing unit is configured to, when both the first device coordinate and the second device coordinate are fixed solutions or both are floating - point solutions, evaluate the signal qualities of the first base station and the second base station, and select the device coordinate obtained from the differential data of the base station with a better signal quality as the finally output device coordinate.

[0020] In some embodiments, the computing unit is configured to evaluate the signal quality of the first base station based on a first common - view satellite parameter and a first communication parameter between the self - moving device and the first base station, and evaluate the signal quality of the second base station based on a second common - view satellite parameter and a second communication parameter between the self - moving device and the second base station.

[0021] An external device, comprising: a display; an electronic processor for loading and running an intelligent mowing program; wherein, the intelligent mowing program is configured to: display a map of the working site of the self - moving device through the display; display a questionnaire corresponding to the working site through the display, and collect user interaction information for the questionnaire; calculate and output at least the number of base stations required for the working site based on the interaction information.

[0022] In some embodiments, the intelligent mowing program is configured to: collect the position range of the working area in the work site marked or corrected by the user for the questionnaire.

[0023] In some embodiments, the intelligent mowing program is configured to: collect the position range of the obstacles in the work site marked or corrected by the user for the questionnaire; the obstacles include walls.

[0024] In some embodiments, the intelligent mowing program is configured to: divide the working area into multiple working sub-areas based on the position ranges of the working area and the obstacles.

[0025] In some embodiments, the intelligent mowing program is configured to: divide the working area into multiple working sub-areas based on the extending direction of the wall and the positional relationship between the wall and the area boundary of the working area.

[0026] In some embodiments, the intelligent mowing program is configured to: tile a preset standard graphic in each working sub-area until the working sub-area is completely covered, and determine the number of the standard graphics tiled in the working sub-area as the number of base stations required for the working sub-area.

[0027] In some embodiments, the number of base stations required for the work site is the sum of the number of base stations required for each working sub-area.

[0028] In some embodiments, the standard graphic is a regular quadrilateral or a regular hexagon.

[0029] In some embodiments, the diagonal length of the standard graphic is twice the signal coverage radius of the base station.

[0030] In some embodiments, the intelligent mowing program is further configured to: display the tiling effect of the standard graphic in the work site through the display.

[0031] An external device includes: a display; an electronic processor for loading and running the intelligent mowing program; wherein, the intelligent mowing program is configured to: display a map of the work site of the self-moving device through the display; the map includes at least two base stations for transmitting differential data to the self-moving device; display a questionnaire corresponding to the work site through the display and collect the interactive information of the user for the questionnaire; divide the work site into multiple sub-areas at least based on the interactive information; each sub-area corresponds to one of the at least two base stations respectively, and the self-moving device receives the differential data of the base station corresponding to the sub-area when moving in the sub-area.

[0032] In some embodiments, the intelligent mowing program is configured to: collect the position range of the working area in the work site marked or corrected by the user for the questionnaire.

[0033] In some embodiments, the intelligent mowing program is configured to: collect the position range of the obstacles in the work site marked or corrected by the user for the questionnaire; the obstacles include walls.

[0034] In some embodiments, the intelligent mowing program is configured to: divide the work site into multiple sub-regions based on the interaction information and the signal coverage radius of the base station, and determine the corresponding relationship between each sub-region and one of at least two base stations.

[0035] In some embodiments, some of the multiple sub-regions correspond to the same base station.

[0036] In some embodiments, some of the multiple sub-regions overlap with each other.

[0037] A working system for a self-mobile device, comprising: at least two base stations, each base station is configured to obtain satellite observation data, calculate and generate differential data of the base station based on the satellite observation data, and transmit it to the self-mobile device; the self-mobile device walks autonomously in the working area and completes the work task, the working area includes multiple sub-regions, and each sub-region corresponds to one of at least two base stations respectively; the self-mobile device includes: a satellite receiving antenna configured to obtain satellite signals; a radio configured to receive radio signals from one of at least two base stations; wherein, the self-mobile device is configured to: calculate the device coordinates of the self-mobile device based on the satellite signals and radio signals; determine the current sub-region where it is located based on the device coordinates, and set the radio to receive the radio signals of the base station corresponding to the sub-region.

[0038] In some embodiments, the self-mobile device is configured to: when it is determined based on the device coordinates that the sub-region where the self-mobile device is located does not overlap with other sub-regions, set the radio to receive the radio signals of the base station corresponding to the sub-region; when it is determined based on the device coordinates that the sub-region where the self-mobile device is located overlaps with other sub-regions, evaluate the signal quality of the base stations corresponding to the overlapping sub-regions, and set the radio to receive the radio signals of the base station with the best signal quality.

[0039] In some embodiments, the self-mobile device is configured to: when the number of co-visible satellites between the base station corresponding to the sub-region where the self-mobile device is located and the self-mobile device is lower than the number threshold, set the radio to receive the radio signals of other base stations.

[0040] In some embodiments, the system further includes a charging pile; the self-mobile device is configured to: when starting to execute the current work task, set the radio to receive the radio signals of the base station corresponding to the sub-region where the charging pile is located in the working area.

[0041] A calibration method for a multi-base station system based on differential positioning technology, wherein the method includes: after the first base station is installed, determining the first installation coordinate of the first base station, and setting the first base station to the base station mode with the first installation coordinate; after the second base station is installed, setting the second base station to the mobile station mode, calculating the second installation coordinate of the second base station in the coordinate system of the first base station, and setting the second base station to the base station mode with the second installation coordinate.

[0042] In some embodiments, the first installation coordinate is obtained manually.

[0043] In some embodiments, the first installation coordinate is obtained by the first base station through single-point convergence.

[0044] In some embodiments, the first installation coordinate is obtained by the first base station through network RTK.

[0045] In some embodiments, the method further includes: after setting the first base station to the base station mode, restarting the first base station; and / or, after setting the second base station to the base station mode, restarting the second base station.

[0046] In some embodiments, the method further includes: after the third base station is installed, setting the third base station to the mobile station mode, calculating the third installation coordinate of the third base station in the coordinate system of the first base station or the second base station, and setting the third base station to the base station mode with the third installation coordinate.

[0047] A multi-base station system based on differential positioning technology, wherein the system includes: a first base station configured to, after installation, determine the first installation coordinate of the first base station, and set the first base station to the base station mode with the first installation coordinate; a second base station configured to, after installation, set the second base station to the mobile station mode, calculate the second installation coordinate of the second base station in the coordinate system of the first base station, and set the second base station to the base station mode with the second installation coordinate.

[0048] A base station based on differential positioning technology, wherein the base station includes a base station radio and an electronic processor; the electronic processor is configured to: after the base station is installed, set the base station to the mobile station mode, and obtain the installation coordinate of the base station in the coordinate system of other base stations calculated by other base stations through the base station radio, and set the base station to the base station mode with the installation coordinate.

[0049] A working system of a self-mobile device, including: a self-mobile device configured to autonomously walk and complete work tasks; a base station configured to obtain satellite observation data of the base station, calculate and generate differential data of the base station based on the satellite observation data and transmit it to the self-mobile device; wherein, the self-mobile device is further configured to: in the case where the communication parameters between the self-mobile device and the base station do not meet the corresponding parameter requirements, obtain differential data from a network RTK service provider.

[0050] In some embodiments, the self - moving device is configured to: obtain differential data from a network RTK service provider when the communication parameter or its calculated value exceeds the corresponding parameter threshold.

[0051] In some embodiments, the communication parameter includes the distance parameter between the self - moving device and the base station; the self - moving device is configured to: obtain differential data from a network RTK service provider when the distance parameter or its calculated value exceeds the distance threshold.

[0052] In some embodiments, the communication parameter includes the data loss parameter between the self - moving device and the base station; the self - moving device is configured to: obtain differential data from a network RTK service provider when the data loss parameter or its calculated value exceeds the data loss threshold.

[0053] In some embodiments, the communication parameter includes the common - view satellite parameter between the self - moving device and the base station; the self - moving device is configured to: obtain differential data from a network RTK service provider when the common - view satellite parameter or its calculated value exceeds the common - view threshold.

[0054] In some embodiments, the base station is further configured to: transmit the satellite observation data of the base station to the self - moving device; the self - moving device is configured to: obtain the satellite data of the base - station - visible satellites based on the satellite observation data of the base station, and obtain the satellite data of the device - visible satellites based on the satellite observation data of the self - moving device; determine the common - view satellite parameter between the self - moving device and the base station based on the satellite data of the base - station - visible satellites and the device - visible satellites.

[0055] In some embodiments, the common - view satellite parameter includes the number of common - view satellites; the self - moving device is configured to: screen out each base - station - visible satellite whose satellite elevation angle exceeds the elevation threshold and whose signal - to - noise ratio exceeds the signal - to - noise ratio threshold based on the satellite observation data of the base station; screen out each device - visible satellite whose satellite elevation angle exceeds the elevation threshold and whose signal - to - noise ratio exceeds the signal - to - noise ratio threshold based on the satellite observation data of the self - moving device; compare the satellite numbers of the base - station - visible satellites and the device - visible satellites to determine the number of common - view satellites, and obtain differential data from a network RTK service provider when the number of common - view satellites is lower than the number threshold.

[0056] In some embodiments, the base station is further configured to: in the initial power - on stage, obtain differential data from a network RTK service provider, and calculate the differential positioning coordinates of the base station based on the differential data from the network RTK service provider; stop obtaining differential data from the network RTK service provider, store the differential positioning coordinates, and use the differential positioning coordinates to calculate the differential data transmitted to the self - moving device subsequently.

[0057] In some embodiments, the self - moving device is further configured to: periodically detect whether communication parameters meet corresponding parameter requirements, and when the communication parameters meet the corresponding parameter requirements, stop obtaining differential data from the network RTK service provider and instead obtain differential data from the base station.

[0058] In some embodiments, the self - moving device is configured to: send verification information to the network RTK service provider so that the network RTK service provider transmits differential data to the self - moving device after successful authentication. The verification information includes the identity information of the self - moving device and the target mounting point information.

[0059] In some embodiments, the base station is equipped with a radio station, and the base station transmits differential data and / or satellite observation data of the base station to the self - moving device through the radio station.

[0060] In some embodiments, the self - moving device is provided with an Internet communication module, and the self - moving device obtains differential data from the network RTK service provider through the Internet communication module.

[0061] A control method for a self - moving device, wherein the method includes: the self - moving device obtains differential data of the base station; the differential data of the base station is generated by the base station based on satellite observation data after obtaining the satellite observation data of the base station and is transmitted to the self - moving device; when the communication parameters between the self - moving device and the base station do not meet the corresponding parameter requirements, the self - moving device obtains differential data from the network RTK service provider. Description of the Drawings

[0062] Figure 1 is a schematic diagram of the working system of the self - moving device shown in an embodiment of the present application;

[0063] Figure 2 is a perspective view of the self - moving device shown in an embodiment of the present application;

[0064] Figure 3 is Figure 1 the electrical control schematic diagram of the working system of the self - moving device shown;

[0065] Figure 4 is a plan view of the base station shown in an embodiment of the present application;

[0066] Figure 5 is the electrical control schematic diagram of the working system of the self - moving device shown in an embodiment of the present application;

[0067] Figure 6a is Figure 5 the control flowchart of the self - moving device switching to obtain differential data in the working system of the self - moving device shown;

[0068] Figure 6b is Figure 5Another control flowchart for the self - moving device to switch and obtain differential data in the working system of the self - moving device shown;

[0069] Figure 6c Is Figure 5 Another control flowchart for the self - moving device to switch and obtain differential data in the working system of the self - moving device shown;

[0070] Figure 7 A schematic diagram of the working system of the self - moving device shown in another embodiment of the present application;

[0071] Figure 8 Is Figure 7 The electrical control schematic diagram of the working system of the self - moving device shown;

[0072] Figure 9a Is Figure 7 The control flowchart for the self - moving device to select the best base station in the working system of the self - moving device shown;

[0073] Figure 9b Is Figure 7 Another control flowchart for the self - moving device to select the best base station in the working system of the self - moving device shown;

[0074] Figure 10 The electrical control schematic diagram of the working system of the self - moving device shown in another embodiment of the present application;

[0075] Figure 11a Is Figure 10 The control flowchart for determining the device coordinates in the working system of the self - moving device shown;

[0076] Figure 11b Is Figure 10 Another control flowchart for determining the device coordinates in the working system of the self - moving device shown;

[0077] Figure 12 The electrical control schematic diagram of the working system of the self - moving device shown in another embodiment of the present application;

[0078] Figure 13 Is Figure 12 The control flowchart for the intelligent mowing program loaded and run by the external device in the working system of the self - moving device shown;

[0079] Figure 14a Is Figure 12 Shown in the external device operation Figure 13 A schematic diagram of dividing the working area and tiling the standard graphics in the intelligent mowing program shown;

[0080] Figure 14b Is Figure 12 Shown in the external device operation Figure 13Another schematic diagram of dividing the working area and tiling the standard graphics in the shown intelligent mowing program;

[0081] Figure 15 is Figure 12 The control flowchart of another intelligent mowing program loaded and run by an external device in the working system of the shown self - moving device;

[0082] Figure 16 is Figure 12 shown in the operation of the external device Figure 15 The schematic diagram of dividing sub - regions and determining the corresponding relationship between sub - regions and the base station in the shown intelligent mowing program;

[0083] Figure 17 It is the control flowchart of base station calibration in the multi - base - station system shown in an embodiment of the present application.

[0084] Figure note description:

[0085] 100 / 100a / 100b / 100c / 100d, the working system of the self - moving device;

[0086] 10, self - moving device; 20, base station; 21, first base station; 22, second base station; 30, satellite positioning system / satellite system / satellite; 40, network RTK service provider; 50, external device;

[0087] 110, housing; 120, walking component; 121, walking motor; 122, walking part; 130, working component; 131, working motor; 132, working part; 140, controller; 150, mobile station; 151, satellite receiving antenna / antenna; 152, radio station; 1521, first radio station; 1522, second radio station; 153, calculation unit; 160, Internet communication module;

[0088] 210, base station main body; 220, power - using module, 230, power - supply module;

[0089] 510, display; 520, electronic processor. Detailed implementation manners

[0090] Before explaining any embodiment of the present application in detail, 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.

[0091] In this application, the terms "comprise", "include", "have" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element.

[0092] In this application, the term "and / or" describes the associative relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent three situations: 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.

[0093] 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 for 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.

[0094] 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, etc. associated with a particular value. 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 the use of a relative term should also be disclosed as a particular value with a tolerance. 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.

[0095] 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.

[0096] In this application, the directional terms such as "upper", "lower", "left", "right", "front", and "back" are described based on the orientation and positional relationship shown in the drawings, and should not be construed as a limitation on the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element. It should also be understood that directional terms such as the upper side, the lower side, the left side, the right side, the front side, and the back side not only represent the positive direction, but can also be understood as the side direction. For example, the lower side can include directly below, lower left, lower right, lower front, and lower back, etc.

[0097] In this application, the terms "controller", "processor", "central processor", "CPU", and "MCU" can be used interchangeably. When using the units "controller", "processor", "central processor", "CPU", or "MCU" to perform specific functions, unless otherwise specified, these functions can be performed by a single one of the above units or multiple of the above units.

[0098] In this application, the terms "device", "module", or "unit" can be implemented in the form of hardware or software in order to achieve specific functions.

[0099] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or a similar electronic computing device (for example, a controller, a processor, etc.).

[0100] The technical solutions proposed in this application will be further described in detail below in conjunction with the drawings and specific embodiments.

[0101] Reference Figure 1, a base station 20 is provided within the working area of the self - moving device 10. The self - moving device 10 and the base station 20 can form a differential positioning system with a satellite positioning system 30 such as GPS, Beidou, etc. (the satellite 30 may be used to refer to the satellite positioning system 30 in the following text and drawings), that is, the working system 100 of the self - moving device 10. The self - moving device 10 that freely moves in the working area and the base station 20 pre - installed at a known installation position can both receive satellite observation data for themselves from the satellite positioning system 30. The base station 20 can calculate differential data based on its own installation position and satellite observation data and transmit it to the self - moving device 10. The self - moving device 10 can then correct the error of the satellite positioning system 30 based on the differential data and satellite observation data, and use the more accurate self - positioning after differential positioning for navigation and obstacle avoidance when performing various operations. It should be noted that the number of base stations 20 set within the working area of the same self - moving device 10 can be one or multiple. The same base station 20 can serve one or more self - moving devices 10 within its signal coverage area, or can be manually controlled to only serve several specific self - moving devices 10.

[0102] Reference Figure 2 , Figure 3 , the self - moving device 10 at least has a traveling component 120 and a working component 130. The traveling component 120 includes a traveling motor 121 and traveling parts 122 such as traveling wheels driven by the traveling motor. The working component 130 includes a working motor 131 and working parts 132 such as mowing elements, cleaning elements, etc. driven by the working motor. Relying on the traveling component 120 and the working component 130, the self - moving device 10 can autonomously walk within its working area and perform various operations such as mowing, snow sweeping, floor sweeping, irrigation, etc. As Figure 2 shown, in this embodiment, the self - moving device 10 is an intelligent lawn mower or a lawn mowing robot. In addition to the traveling component 120 and the working component 130, the self - moving device 10 also includes a housing 110, component parts or devices such as a power supply device like a battery pack required to realize the basic functions of the device. In addition, as Figure 3 shown, the self - moving device 10 also includes a controller 140 and a mobile station 150 for realizing differential positioning. The mobile station 150 at least includes a satellite receiving antenna 151 (the antenna 151 may be used to refer to the satellite receiving antenna 151 in the following text and drawings) that interacts with the satellite positioning system 30 to receive satellite signals, a radio 152 that interacts with the base station 20 to receive signals from the base station 20, and a calculation unit 153 that calculates the device coordinates of the self - moving device 10. The controller 140 will then control the traveling component 120 for navigation and obstacle avoidance based on its own device coordinates, and further control the working component 130 to perform operations such as mowing. It can be understood that the self - moving device 10 in this application can also be an intelligent snow sweeper, a floor cleaning robot, a self - moving irrigation device, etc.

[0103] Reference Figure 4 In this application, the base station 20 based on the differential positioning technology may include a base station main body 210 for supporting and accommodating, a power consumption module 220 for transmitting and receiving data and performing logical operations, and a power supply module 230 such as a battery pack connected to the power consumption module 220 and supplying power to it, etc.

[0104] Based on the foregoing, a simple description of the working system of the above-mentioned self - moving device 10 has been given. Observing Figure 1 It is not difficult to find that the quality of differential positioning performed by the self - moving device 10 and the base station 20 is affected by many factors. More importantly, the quality of differential positioning within the system can be reflected in the communication quality between the self - moving device 10 and the base station 20. For example, the above - mentioned differential positioning quality or communication quality is affected by irresistible factors such as terrain and building occlusion on the one hand, and may also be affected by uncertain factors such as pedestrian and vehicle occlusion, and is also affected by the performance of the transceiver devices of the equipment itself; on the other hand, when the number of base stations 20 set in the working site is limited, the signal coverage range of the base station 20 is also limited.

[0105] To improve the above problems, ensure the differential positioning quality of the self - moving device 10, and ensure its smooth realization of navigation and obstacle avoidance to work normally. From one perspective, there are currently some network RTK service providers 40 that provide third - party differential positioning data, that is, the network RTK service providers 40 are responsible for deploying the base stations 20 by themselves. Users or devices that purchase their RTK services can establish a communication connection with them and request differential data for correcting their own positioning errors. The self - moving device 10 in this application can use the differential data of the network RTK service providers 40 as an alternative in addition to using the differential data provided by the base stations 20 in the working site; from another perspective, more base stations 20 can be set in the working site. The self - moving device 10 in this application can independently evaluate and select a base station 20 with better data quality as the data source during the movement process; from yet another perspective, the number and location deployment of the base stations 20 will have a significant impact on the communication and positioning quality within the system. This application can provide a solution for determining the appropriate number and location of base stations according to the working area of the self - moving device 10.

[0106] Continuing from the foregoing, as Figures 1 to 5As shown, the present application proposes a working system 100a for a self - moving device 10. Similarly to the foregoing, the working system 100a of the self - moving device 10 may at least include the self - moving device 10 that walks and operates, and a base station 20 that calculates and transmits data. Among them, the self - moving device 10 will obtain differential data from a network RTK service provider 40 when the communication parameters between it and the base station 20 do not meet the corresponding parameter requirements. Specifically, the self - moving device 10 defaults to obtaining the differential data calculated by the base station 20 from the base station 20 within the working system 100a. At the same time, the self - moving device 10 can periodically or irregularly detect whether the communication parameters between it and the base station 20 meet the corresponding parameter requirements. If the above - mentioned communication parameters do not meet the corresponding parameter requirements in one detection, the self - moving device 10 switches to using the differential data of the network RTK service provider 40, stops obtaining the differential data of the base station 20, and instead requests its differential data from the network RTK service provider 40. In some embodiments, the self - moving device 10 is equipped with a mobile station 150 including an antenna 151 and a radio 152. The base station 20 is also equipped with an antenna and a radio. The two interact with satellites through the antenna and with each other through the radio. In other embodiments, the self - moving device 10 is further equipped with an Internet communication module 160. The self - moving device 10 interacts with the network platform, nodes, servers, etc. of the network RTK service provider 40 through the Internet communication module 160 to obtain the above - mentioned differential data. The Internet communication module 160 and the above - mentioned radio 152 can be independent in hardware or partially functionally related.

[0107] In some embodiments, the differential data of the network RTK service provider 40 is not obtained unconditionally. Only users or devices that have pre - purchased its service can obtain its differential data. When the self - moving device 10 switches to using the differential data of the network RTK service provider 40, it needs to send verification information to the network RTK service provider 40 for authentication of the self - moving device 10. The above - mentioned verification information at least carries the identity information and target mounting point information of the self - moving device 10, and can reflect the account number, password, permissions, etc. of the purchased network RTK service. The self - moving device 10 will receive the differential data provided by the network RTK service provider 40 after the above - mentioned verification information passes the authentication.

[0108] In some embodiments, the self - moving device 10 periodically detects whether the communication parameters between it and the base station 20 meet the corresponding parameter requirements. When the parameters meet the requirements, if the currently obtained differential data is that of the base station 20 in the system, it continues to obtain the differential data of the base station 20. If the currently obtained differential data is that of the network RTK service provider 40, it switches to obtaining the differential data of the base station 20 within the system 100a, so as to achieve effects such as reducing traffic consumption and reducing related costs.

[0109] There are various different types of communication parameters between the above-mentioned self-moving device 10 and the base station 20, including but not limited to the distance parameter, data loss parameter, and co-visible satellite parameter between the self-moving device 10 and the base station 20. The situation where the above communication parameters do not meet the corresponding parameter requirements can be that one communication parameter does not meet the parameter requirements corresponding to it, that is, one parameter one requirement; it can also be that multiple communication parameters do not meet the parameter requirements corresponding to them jointly, that is, multiple parameters one requirement. In some embodiments, the communication parameter not meeting the corresponding parameter requirement means that any communication parameter or its calculated value exceeds the parameter threshold corresponding to the communication parameter; in other embodiments, the communication parameter not meeting the corresponding parameter requirement includes that the calculated values of multiple communication parameters exceed the corresponding parameter thresholds; the self-moving device 10 can obtain the differential data of the network RTK service provider 40 in the above situations.

[0110] In some embodiments, the self-moving device 10 can obtain the differential data of the network RTK service provider 40 when the distance parameter between it and the base station 20 exceeds the distance threshold. Among them, the above distance parameter can be the current distance between the self-moving device 10 and the base station 20 or its calculated value, etc. For example, the average distance between the two in a current period of time, etc. Correspondingly, the above distance threshold can be the signal coverage radius of the base station 20, etc. Then, in one example, the self-moving device 10 can request its differential data from the network RTK service provider 40 when its current distance from the base station 20 exceeds the signal coverage radius of the base station 20.

[0111] In other embodiments, the self-moving device 10 can obtain the differential data of the network RTK service provider 40 when the data loss parameter between it and the base station 20 exceeds the data loss threshold. Among them, the above data loss parameter can be the number of lost packets or the packet loss rate or its calculated value, etc. between the self-moving device 10 and the base station 20 in a current period of time. Correspondingly, the above data loss threshold can be the packet loss number threshold or the packet loss rate threshold, etc. Then, in one example, the self-moving device 10 can request its differential data from the network RTK service provider 40 when the packet loss rate during its current single communication with the base station 20 exceeds the packet loss rate threshold.

[0112] In some other embodiments, the self - moving device 10 can obtain the differential data of the network RTK service provider 40 when the common - view satellite parameters between it and the base station 20 exceed the common - view threshold. Among them, the above - mentioned common - view satellite parameters can be the current number of common - view satellites between the self - moving device 10 and the base station 20, etc. Correspondingly, the above - mentioned common - view threshold can be the threshold of the number of common - view satellites, etc. Then, in one example, the self - moving device 10 can request its differential data from the network RTK service provider 40 when the current number of common - view satellites between it and the base station 20 is lower than the number threshold. In some embodiments, the common - view satellites of the self - moving device 10 and the base station 20 can be determined based on the satellite observation data of the two by the satellite positioning system 30; the self - moving device 10 receives the satellite observation data of the self - moving device 10 transmitted by the satellite positioning system 30, and receives the satellite observation data of the base station 20 forwarded by the base station 20. The above - mentioned satellite observation data includes the data of several satellites in the satellite positioning system 30 that can observe the self - moving device 10 or the base station 20 at the current position. Among them, the data of several device - visible satellites can be obtained from the satellite observation data of the self - moving device 10, and the data of several base - station - visible satellites can be obtained from the satellite observation data of the base station 20. The above - mentioned data can at least include the satellite number, satellite coordinates, channel signal - to - noise ratio, etc. of the device - visible satellites or the base - station - visible satellites. In one example, the self - moving device 10 can determine the common - view satellites between the two by comparing the satellite numbers of several device - visible satellites and several base - station - visible satellites; in another example, the self - moving device 10 can also add conditions for determining the common - view satellites. For example, the self - moving device 10 can map the satellite coordinates of several device - visible satellites to the navigation coordinate system of the self - moving device 10, and then based on the connection vectors between each device - visible satellite and the self - moving device 10 in the navigation coordinate system, filter out the satellites with an elevation angle lower than the elevation threshold, and further filter out the satellites with a channel signal - to - noise ratio lower than the signal - to - noise ratio threshold, so as to finally obtain the device - visible satellites with an elevation angle exceeding the elevation threshold and a channel signal - to - noise ratio exceeding the signal - to - noise ratio threshold. Similarly, filter out the base - station - visible satellites with the elevation angle and signal - to - noise ratio meeting the requirements, and compare the satellite numbers of the filtered device - visible satellites and base - station - visible satellites to obtain more accurate common - view satellites.

[0113] In some embodiments, the detection of the above distance parameter, data loss parameter, and common-view satellite parameter can be parallel. If any communication parameter does not meet the corresponding parameter requirements, the self-moving device 10 can switch to obtaining differential data from the network RTK service provider 40. However, it can be understood that the above parameter detection can also be progressive. For example, the self-moving device 10 can first detect whether the distance parameter and data loss parameter no longer meet the corresponding parameter requirements. Only when both do not meet the requirements, it further detects whether the common-view satellite parameter meets the requirements. Then, when all three do not meet the corresponding parameter requirements, it switches to using the differential data of the network RTK service provider 40. In other embodiments, it is possible to comprehensively determine whether to switch to the differential data of the network RTK service provider 40 based on the above distance parameter, data loss parameter, and common-view satellite parameter.

[0114] In some embodiments, to ensure the accuracy, effectiveness, unity, and coherence of the differential data used by the self-moving device 10, the base station 20 in the working system can, at the initial power-on stage, obtain the differential data of the network RTK service provider 40 and use the differential data of the network RTK service provider 40 to correct the base station installation coordinates stored in itself to obtain the differential positioning coordinates of the base station 20. Subsequently, the base station 20 will use the differential positioning coordinates to replace the original installation coordinates for differential data calculation and transmit the differential data obtained by calculating based on the differential positioning coordinates to the self-moving device 10.

[0115] Reference Figure 6a , the control process for the self-moving device 10 to switch to obtain differential data in the above working system 100a can include:

[0116] 610, the self-moving device 10 obtains the differential data of the base station 20;

[0117] 620, the self-moving device 10 detects whether its communication parameters with the base station 20 meet the corresponding parameter requirements, and when the above communication parameters do not meet the corresponding parameter requirements, it obtains the differential data of the network RTK service provider 40.

[0118] Reference Figure 6b , another control process for the self-moving device 10 to switch to obtain differential data in the above working system can include:

[0119] 610a, the self-moving device 10 obtains the differential data of the base station 20 through the radio at the initial power-on stage;

[0120] 620a, the self-moving device 10 periodically detects whether its communication parameters with the base station 20 meet the corresponding parameter requirements;

[0121] 620b, when the above communication parameters meet the corresponding parameter requirements, the self-moving device 10 obtains the differential data of the base station 20 in the system through the radio;

[0122] 620c. When the above communication parameters do not meet the corresponding parameter requirements, the self - moving device 10 obtains differential data from the network RTK service provider 40 through the Internet communication module.

[0123] Figure 6c Fig. 6 shows a specific control flow for the self - moving device 10 to switch and obtain differential data in the working system 100a of the self - moving device 10.

[0124] Continuing from the previous text, refer to Figure 7 、 Figure 8 This application proposes another working system 100b of the self - moving device 10. Similarly to the previous text, the working system 100b of the self - moving device 10 may at least include the self - moving device 10 that walks and operates and the base station 20 that resolves and sends data. And there are at least two base stations 20 in this working system: the first base station 21 and the second base station 22. The self - moving device 10 includes a housing 110, a walking component 120, a working component 130, a controller 140, and a mobile station 150. The mobile station 150 of the self - moving device 10 includes a satellite receiving antenna 151 and a calculation unit 153, and there is only one radio 152. Among them, the self - moving device 10 can receive signals from different base stations 20 respectively, and thereby evaluate the base station signal quality, so as to select the base station 20 with the best signal quality for data interaction. Specifically, the self - moving device 10 can adopt a time - slice rotation scheme to select the best base station 20 used as the data source for interaction in the next cycle based on the signal quality of each base station 20 in the current cycle. The following mainly takes the working system including the first base station 21 and the second base station 22 as an example for illustration. It can be understood that the relevant solutions can also be naturally extended to systems including more base stations 20 for application. Refer to Figure 9a In the above - mentioned working system, the control flow for the self - moving device 10 to select the best base station 20 may include:

[0125] 910. In the current cycle, set the radio 152 to receive the first signal from the first base station 21, and obtain the first common - view satellite parameters and the first communication parameters of the self - moving device 10 and the first base station 21 from the first signal;

[0126] 920. After the current cycle ends, set the radio 152 to receive the second signal from the second base station 22, and obtain the second common - view satellite parameters and the second communication parameters of the self - moving device 10 and the second base station 22 from the second signal;

[0127] 930. Evaluate the signal quality of the first base station 21 based on the first common - view satellite parameters and the first communication parameters, and evaluate the signal quality of the second base station 22 based on the second common - view satellite parameters and the second communication parameters;

[0128] 940. When the signal quality of the second base station 22 is better than that of the first base station 21, in the next cycle, the radio 152 of the mobile device 10 is set to receive the second signal from the second base station 22.

[0129] Figure 9b FIG. shows a specific control process for the mobile device 10 to select the best base station 20 in the working system 100b of the mobile device 10.

[0130] In the above embodiments, the mobile device 10 periodically selects the base station 20 for communication with the radio 152 during the mobile operation. Assuming that the above period is set as T, within the current period T0, that is, in the time period (t0, t0 + T), the radio 152 of the mobile device 10 can be set to receive the first signal from the first base station 21. The first signal can at least include the satellite observation data of the first base station 21. The satellite observation data of the first base station 21 can include the satellite numbers, satellite coordinates, channel signal-to-noise ratios, etc. of the visible satellites of the first base station 21. Based on the first signal, the first common-view satellite parameters and the first communication parameters of the first base station 21 can be obtained. Among them, the first common-view satellite parameters are the parameters of the common-view satellites of the first base station 21 and the mobile device 10 at a certain moment within the current period T0, including the number of common-view satellites, the distribution ratio angle of the common-view satellites, etc., while the first communication parameters are the communication parameters of the first base station 21 and the mobile device 10 at a certain moment within the current period T0, including distance, packet loss rate, data reception time interval, etc.

[0131] At the end of the current period T0, such as at the moment (t0 + T), the radio 152 of the mobile device 10 can be set to receive the second signal from the second base station 22. The second signal can at least include the satellite observation data of the second base station 22. The satellite observation data of the second base station 22 can include the satellite numbers, satellite coordinates, channel signal-to-noise ratios, etc. of the visible satellites of the second base station 22. Based on the second signal, the second common-view satellite parameters and the second communication parameters of the second base station 22 can be obtained. Among them, the second common-view satellite parameters are the parameters of the common-view satellites of the second base station 22 and the automatic mapping device at the end (t0 + T) of the current period T0, including the number of common-view satellites, the distribution ratio angle of the common-view satellites, etc., while the second communication parameters are the communication parameters of the second base station 22 and the mobile device 10 at the moment (t0 + T), including distance, packet loss rate, data reception time interval, etc. The method for determining the common-view satellites of the base station 20 and the mobile device 10 is the same as described above. The above distance and packet loss rate will not be further explained. The data reception interval duration of the base station 20 is the time interval between two times when the mobile device 10 receives the signal of the base station 20.

[0132] Based on the first common-view satellite parameters and first communication parameters of the first base station 21, as well as the second common-view satellite parameters and second communication parameters of the second base station 22, it is possible to determine whether the signal quality of the first base station 21 is superior to that of the second base station 22. In principle, the more common-view satellites the base station 20 has, the larger the distribution proportion angle of the common-view satellites, and the smaller the parameters such as the distance, packet loss rate, and time interval of data reception of the base station 20, the better the signal quality of the base station 20. When the signal quality of the first base station 21 is superior to that of the second base station 22, in the next cycle T1, that is, in the time period (t1, t1 + T), it will be set that the radio 152 of the mobile device 10 continues to receive the first signal from the first base station 21, and the navigation, obstacle avoidance, lawn mowing, etc. of the mobile device 10 in the next cycle T1 will be executed with reference to the differential data provided by the first base station 21; while when the signal quality of the second base station 22 is superior to that of the first base station 21, in the next cycle T1, that is, in the time period (t1, t1 + T), it will be set that the radio 152 of the mobile device 10 switches to receive the second signal from the second base station 22, and the navigation, obstacle avoidance, lawn mowing, etc. of the mobile device 10 in the next cycle T1 will be executed with reference to the differential data provided by the second base station 22. In some examples, t1 is (t0 + T).

[0133] In some embodiments, if the difference between the second common-view satellite parameters of the second base station 22 and the first common-view satellite parameters of the first base station 21 exceeds a first threshold, and the difference between the first communication parameters of the first base station 21 and the second communication parameters of the second base station 22 exceeds a second threshold, it can be determined that the signal quality of the second base station 22 is better than that of the first base station 21. Specifically, if the difference (N2 - N1) between the number of second common-view satellites N2 of the second base station 22 and the mobile device 10 itself and the number of first common-view satellites N1 of the first base station 21 and the mobile device 10 itself exceeds a threshold N', and the difference (θ2 - θ1) between the distribution ratio angle θ2 of the second common-view satellites of the second base station 22 and the mobile device 10 itself and the distribution ratio angle θ1 of the first common-view satellites of the first base station 21 and the mobile device 10 itself exceeds a threshold θ', and the difference (ΔT1 - ΔT2) between the data reception time interval ΔT1 of the first base station 21 and the data reception time interval ΔT2 of the second base station 22 exceeds a threshold ΔT', it can be determined that the signal quality of the second base station 22 is better than that of the first base station 21. In some other embodiments, among the three conditions that the difference in the number of common-view satellites exceeds the threshold, the difference in the distribution ratio angle of the common-view satellites exceeds the threshold, and the difference in the data reception time interval exceeds the threshold, if two of them are satisfied, it can be determined that the signal quality of the second base station 22 is better than that of the first base station 21. In still some other embodiments, the signal quality of the first and second base stations 21 and 22 can be comprehensively judged based on the above three factors. For example, the difference in the number of common-view satellites, the difference in the distribution ratio angle of the common-view satellites, and the difference in the data reception time interval can be weighted and summed. If S = k1*(N2 - N1) + k2*(θ2 - θ1) + k3*(ΔT1 - ΔT2) exceeds a threshold S', it can be determined that the signal quality of the second base station 22 is better than that of the first base station 21.

[0134] In some embodiments, the mobile device 10 itself defaults to receiving a first signal from the first base station 21 at the initial power-on stage. The first base station 21 can be a base station 20 that is uniformly defaulted by each mobile device 10 itself, or can be the base station 20 that is closest to the mobile device 10 itself at the initial power-on stage.

[0135] In some embodiments, the communication frequency bands of the first base station 21 and the second base station 22 are different, and the radio 152 of the mobile device 10 itself is set to enable the corresponding frequency band to receive the first signal from the first base station 21 or the second signal from the second base station 22.

[0136] In some embodiments, a third base station 23 is further included in the working system of the self - moving device 10. At the end of the current cycle, the radio stations 152 of the self - moving device 10 can be set to receive a second signal from the second base station 22 and a third signal from the third base station 23 respectively. The second common - view satellite parameters and second communication parameters of the second base station 22 are obtained from the second signal, and the third common - view satellite parameters and third communication parameters of the third base station 23 are obtained from the third signal. Then, based on the first, second, and third common - view satellite parameters and the first, second, and third communication parameters, the best base station 20 is selected. The case where more base stations 20 are included in the working system can be deduced by analogy and will not be elaborated here.

[0137] Correspondingly, referring to Figure 10 , the working system 100c of the self - moving device 10 still includes two base stations 20: a first base station 21 and a second base station 22. The self - moving device 10 includes a housing 110, a traveling assembly 120, a working assembly 130, a controller 140, and a mobile station 150. The mobile station 150 of the self - moving device 10 includes a satellite receiving antenna 151 and a calculation unit 153, and is provided with two radio stations 152: a first radio station 1521 and a second radio station 1522. Among them, the self - moving device 10 can be set such that the two radio stations 152 receive signals from the two base stations 20 respectively. The first radio station 1521 receives a first signal from the first base station 21, and the first signal may include first differential data calculated by the first base station 21. The second radio station 1522 receives a second signal from the second base station 22, and the second signal may include second differential data calculated by the second base station 22. The satellite receiving antenna 151 can receive satellite signals from the satellite positioning system 30 to obtain satellite observation data of the self - moving device 10. The calculation unit 153 can use the first differential data obtained by the first radio station 1521 or the second differential data obtained by the second radio station 1522 to correct the initial coordinates of the mobile station 150 based on the satellite observation data to obtain the device coordinates of the self - moving device 10, that is, the differential positioning coordinates of the mobile station 150. Subsequently, the controller 140 will control the traveling assembly 120 and / or the working assembly 130 based on the device coordinates of the self - moving device 10 to implement functions such as navigation, obstacle avoidance, and mowing.

[0138] In some embodiments, the computing unit 153 in the mobile station 150 of the self - moving device 10 uses the first differential data of the first base station 21 to correct the initial coordinates of the mobile station 150 to obtain the first device coordinates, and uses the second differential data of the second base station 22 to correct the initial coordinates of the mobile station 150 to obtain the second device coordinates; compares the solution accuracies of the first device coordinates and the second device coordinates, and selects the coordinates with higher solution accuracy as the device coordinates finally output to the controller 140 for its subsequent reference. Specifically, when using differential positioning technology to solve coordinates, the possible solutions include fixed solutions, floating - point solutions, single - point solutions, etc., and their solution accuracies decrease in turn. The computing unit 153 can select the device coordinates with higher solution accuracy for output according to the type of the solution obtained when solving the device coordinates. In some embodiments, if the first device coordinates are a fixed solution and the second device coordinates are a floating - point solution, the computing unit 153 outputs the first device coordinates to the controller 140 for subsequent use. In other embodiments, if the first device coordinates are a floating - point solution and the second device coordinates are a fixed solution, the computing unit 153 outputs the second device coordinates to the controller 140.

[0139] In other embodiments, when the solution accuracies of the first device coordinates and the second device coordinates are the same, for example, when both the first device coordinates and the second device coordinates are fixed solutions or both are floating - point solutions, the computing unit 153 can evaluate the signal quality of the first base station 21 based on the first signal, and evaluate the signal quality of the second base station 22 based on the second signal, and then select the device coordinates obtained from the differential data of the base station 20 with better signal quality. In some embodiments, the computing unit 153 can obtain the first common - view satellite parameters and the first communication parameters of the first base station 21 from the first signal, and obtain the second common - view satellite parameters and the second communication parameters of the second base station 22 from the second signal, and then judge the base station 20 with better signal quality between the first base station 21 and the second base station 22 based on the first and second common - view satellite parameters and the first and second communication parameters. The relevant evaluation method is the same as that in the previous text. In other embodiments, when the solution accuracies of the first device coordinates and the second device coordinates are the same, the mean value of the difference between the first device coordinates and the second device coordinates within a certain time duration can be calculated, and the device coordinates corresponding to the secondary base station with slightly worse signal quality are corrected using this difference mean value.

[0140] Reference Figure 11a , the control process for the self - moving device 10 to determine the device coordinates in the above - mentioned working system may include:

[0141] 1110, obtaining satellite signals through the satellite receiving antenna 151;

[0142] 1120, setting the first radio 1521 to receive the first signal from the first base station 21, where the first signal includes the first differential data of the first base station 21;

[0143] At 1130, the second radio 1522 is set to receive a second signal from the second base station 22, and the second signal includes second differential data of the second base station 22;

[0144] At 1140, the initial coordinates of the self - moving device 10 obtained by satellite signal resolution are corrected based on the first differential data and / or the second differential data to obtain the device coordinates of the corrected self - moving device 10;

[0145] At 1150, the self - moving device 10 is controlled based on the device coordinates.

[0146] Figure 11b Shows a specific control flow for determining the device coordinates in the self - moving device 10.

[0147] It can be understood that in the above - mentioned embodiments, each control scheme can be executed by the self - moving device 10. However, in some embodiments, the self - moving device 10 can also transmit the base station 20 signal to other external devices 50 so that the other external devices 50 can evaluate the base station signal quality and feedback the best - selected base station 20 to the self - moving device 10.

[0148] Continuing from the previous text, referring to Figure 12 , the present application proposes another working system 100d of the self - moving device 10. To meet some optimization requirements, in addition to the self - moving device 10 and the base station 20, the working system of the above - mentioned self - moving device 10 may further include an external device 50. The external device 50 can be a user device such as a smart phone, a tablet computer, a portable computer, etc., or a server or a server cluster such as a cloud platform for unified management of the self - moving device 10 and / or the base station 20.

[0149] As Figure 12 shown, the external device 50 may at least include a display 510 and an electronic processor 520. Among them, the display 510 is electrically connected or communicatively connected to the electronic processor 520, and the electronic processor 520 can call the display 510. Referring to Figure 13 , the electronic processor 520 can also load and run the following intelligent mowing program, which is denoted as the first intelligent mowing program:

[0150] At 1310, display the map of the working area of the self - moving device 10 through the display 510;

[0151] At 1320, display a questionnaire corresponding to the working area through the display 510 and collect the interaction information of the user for the questionnaire;

[0152] At 1330, calculate and output the number of base stations 20 required for the working area based on at least the above - mentioned interaction information.

[0153] In the above embodiments, the electronic processor 520 of the external device 50 calls the display 510 to display a map of the working area of the self-mobile device 10 and a questionnaire corresponding to the working area. The map can at least reflect information such as the positions and outlines of various objects within the working area of the self-mobile device 10. In some cases, the map can be a real-scene mapping of the working area of the self-mobile device 10, such as a satellite map. The questionnaire corresponding to the working area can request users to give answers to specific questions in various ways such as text, images, audio, and video. The electronic processor 520 can collect the interaction information of the user for the above questionnaire in response to various operations of the user, such as touch, click, file input, etc.

[0154] In some embodiments, the interaction information collected by the electronic processor 520 through questionnaire requests and in response to user operations includes the position range of the working area in the above working area marked or corrected by the user, that is, the boundary information of the working area. In other embodiments, the above interaction information includes the position range of the obstacles in the working area marked or corrected by the user. In some examples, the obstacles include walls. In still other embodiments, the interaction information such as the position range of the above working area and / or obstacles is collected after the user performs operations such as outlining, touching, and clicking on the map of the working area displayed on the display 510.

[0155] In some embodiments, when the electronic processor 520 calculates and outputs the number of base stations 20 required for the working area based on the above interaction information, first, based on the position ranges of the working area and the obstacles, the working area can be divided into multiple working sub-areas, and the number of base stations 20 required for the corresponding working area can be determined based on the divided working sub-areas. Among them, the division of the working sub-areas should aim to cover the working area of the self-mobile device 10 and have as few sub-areas as possible. In addition, the division of the working sub-areas can aim to have basically no obstacles within the same sub-area to facilitate subsequent determination of the number of base stations 20 required for the sub-area based on the signal coverage range of the base station 20. Or, the division of the working sub-areas can also aim to have basically balanced areas for each sub-area. In some embodiments, the electronic processor 520 can divide the working area of the self-mobile device 10 based on the length and position of the area boundary, as well as the edge positions of obstacles such as walls, to obtain multiple working sub-areas. In one example, referring to Figure 14a , first, the edge line parallel to the shorter area boundary among the edges of the obstacles such as walls can be determined. For example, Figure 14aThe edge lines in [the figure] include l1, l2, l3, etc., and determine the parallel line spacing between the edge lines of these obstacles and the boundary of the shorter area. The area between each edge line and the area boundary farther from it is its corresponding candidate area. Among the candidate areas corresponding to each edge line, determine multiple candidate areas that can cover the entire working area and have the smallest overlapping area after combination as the working areas. In principle, the number of working areas should be as small as possible, and the working areas do not include the areas occupied by obstacles such as walls. The same working area is not separated by the areas occupied by obstacles such as walls. For example, Figure 14a in [the figure], the working area can be divided into the working area A - B - C1’ - E - F - G - H - A2’ obtained from the edge line l3 and the working area A2 - H - G - F - E - C1’ - C - D obtained from the edge line l2. In some other embodiments, the electronic processor 520 can also determine whether to divide the working area based on the obstacle according to the adjacency relationship between the obstacle such as the wall and the working area. For example, in the case where only two adjacent edges of a building are connected to the working area, the edge line confirmation and area division for this building can be omitted.

[0156] In some embodiments, after dividing the working areas, the electronic processor 520 can tile standard figures in each working area until the working area is completely covered. The number of standard figures tiled in the working area is the number of base stations 20 required for this working area. In some embodiments, the above standard figure is a regular quadrilateral or a regular hexagon; in some other embodiments, the diagonal length of the above standard figure is twice the signal coverage radius of the base station 20. In an example, when the signal coverage radius of the base station 20 is a, the above standard image is a regular quadrilateral with a diagonal length of 2a. For example, Figure 14a in [the figure], 2 standard figures can be tiled in the working area, which are the standard figure A1 - B1 - C1 - D1 tiled under the working area A - B - C1’ - E - F - G - H - A2, and the standard figure A2 - B2 - C2 - D2 tiled under the working area A2 - H - G - F - E - C1’ - C - D; and Figure 14b in [the figure], a total of 6 standard images can be tiled in the working area.

[0157] In some embodiments, the electronic processor 520 can determine the number of base stations 20 required for the working area of the self - moving device 10 based on the standard figures tiled in the above - mentioned working areas. In some embodiments, the number of base stations 20 to be deployed in the working area of the self - moving device 10 is the sum of the standard figures tiled in each working area. In some other embodiments, the standard figures repeatedly tiled at the overlapping areas of multiple working areas can be screened out, and the number of base stations 20 to be deployed in the working area of the self - moving device 10 is less than the sum of the standard figures tiled in each working area.

[0158] In some embodiments, when the electronic processor 520 loads and runs the first intelligent mowing program, it also calls the display 510 to display a tiling effect diagram of tiling the above standard image within the working area in the working site of the self - moving device 10.

[0159] Correspondingly, as Figure 12 shown, the external device 50 may at least include a display 510 and an electronic processor 520. Among them, the display 510 is electrically connected or communicatively connected to the electronic processor 520, and the electronic processor 520 can call the display 510. Referring to Figure 15 , the electronic processor 520 can also load and run the following intelligent mowing program, which is denoted as the second intelligent mowing program:

[0160] 1510, display, through the display 510, a map of the working site of the self - moving device 10, where the map includes at least two base stations 20 for transmitting differential data to the self - moving device 10;

[0161] 1520, display, through the display 510, a questionnaire corresponding to the working site and collect the user's interaction information for the questionnaire;

[0162] 1530, divide the working site into multiple sub - regions at least based on the interaction information; each sub - region corresponds to one of at least two base stations 20 respectively, and the self - moving device 10 receives the differential data of the base station 20 corresponding to the sub - region when moving within the sub - region.

[0163] In the above embodiments, the electronic processor 520 of the external device 50 calls the display 510 to display a map of the working site of the self - moving device 10 and a questionnaire corresponding to the working site. Similarly to the previous text, the map can at least reflect information such as the positions and outlines of various objects within the working site of the self - moving device 10. In some cases, the map can be a real - scene mapping of the working site of the self - moving device 10, such as a satellite map, etc. In addition, the map also includes information of at least two base stations 20 for transmitting differential data to the self - moving device 10, and the questionnaire corresponding to the working site can request the user to give answers to specific questions in various ways such as text, pictures, audio, and video. The electronic processor 520 can collect the user's interaction information for the above questionnaire in response to various operations of the user such as touch, click, and file input.

[0164] In some embodiments, the interaction information collected by the electronic processor 520 through questionnaire requests and responses and user operations includes the position range of the working area in the above-mentioned work site marked or corrected by the user, that is, the boundary information of the working area. In other embodiments, the above-mentioned interaction information includes the position range of the obstacles in the work site marked or corrected by the user. In some examples, the obstacles include walls. In still other embodiments, the interaction information such as the position range of the above-mentioned working area and / or obstacles is collected in response to operations such as outlining, touching, and clicking performed by the user on the map of the work site displayed on the display 510.

[0165] In some embodiments, the electronic processor 520 may divide the above-mentioned work site into multiple sub-regions based on the above-mentioned interaction information and the signal coverage radius of each base station 20, and determine the corresponding relationship between each sub-region and one of the at least two base stations 20. Specifically, the electronic processor 520 may determine the installation positions of the base stations 20 based on the map. Under the limitation of the regional boundary, a circle is drawn with the installation position of the base station 20 as the center and the signal coverage radius of the base station 20 as the radius to determine the signal coverage range of each base station 20 within the work site. When there are obstacles such as walls within the signal coverage range of the base station 20, the signal coverage range of the base station 20 is divided by the two radii that intersect with the obstacle and form the largest included angle, and then several corresponding sub-regions are obtained from the signal coverage range of the base station 20. It is determined that the sub-regions in which the connection line with the installation position of the base station 20 is not blocked by the obstacle have a corresponding relationship with the base station 20. Refer to Figure 16 , the signal coverage range of the first base station 21 is divided into sub-regions D11 to D15 by the radii r11 and r12, and the sub-regions D11 to D13 have a corresponding relationship with the first base station 21; similarly, as Figure 16 shown, the signal coverage range of the second base station 22 is divided into sub-regions D21 to D24 by the radii r21 and r22, and the sub-regions D21 to D23 have a corresponding relationship with the second base station 22.

[0166] It should be noted that in some embodiments, some of the multiple sub-regions may correspond to the same base station 20. For example, sub-regions D11 and D13 both correspond to the first base station 21, and sub-regions D21 and D22 both correspond to the second base station 22. In some other embodiments, some of the multiple sub-regions may overlap with each other. For example, sub-region D12 is generated by the signal coverage range of the first base station 21, sub-region D22 is generated by the signal coverage range of the second base station 22, and there is partial overlap between sub-regions D12 and D22. In some other embodiments, a location point in the work site may belong to different sub-regions but only correspond to one base station 20. For example, location point P1 belongs to both sub-region D14 generated by the signal coverage range of the first base station 21 and sub-region D23 generated by the signal coverage range of the second base station 22. However, since the direction of location point P1 towards the first base station 21 is blocked by an obstacle, sub-region D14 does not have a corresponding relationship with the first base station 21, while the direction of location point P1 towards the second base station 22 is not blocked by an obstacle, and sub-region D23 has a corresponding relationship with the second base station 22. In some other embodiments, a location point in the work site may belong to different sub-regions and correspond to different base stations 20. For example, location point P2 belongs to both sub-region D12 generated by the signal coverage range of the first base station 21 and sub-region D22 generated by the signal coverage range of the second base station 22, and the directions of location point P2 towards the first and second base stations 20 are not blocked by obstacles. There are corresponding relationships between sub-region D12 and the first base station 21, and between sub-region D22 and the second base station 22.

[0167] In some embodiments, after the above work system completes the division of sub-regions and the correspondence between sub-regions and base stations 20 through the external device 50, when the mobile station 150 of the self-mobile device 10 is equipped with a single radio, the initial coordinates of the self-mobile device 10 can be preliminarily calculated based on the satellite signal including the satellite observation data of the self-mobile device 10 received by the satellite receiving antenna, and based on the sub-region to which the initial coordinates belong and the base station 20 corresponding to the sub-region, the base station 20 that the self-mobile device 10 should select at the current position can be determined.

[0168] In some embodiments, if the initial coordinates belong to only one sub-region, then it is determined to select the base station 20 corresponding to the sub-region, and the differential data of the base station 20 is used to correct the above initial coordinates to obtain the differential positioning coordinates, that is, the device coordinates.

[0169] In some other embodiments, the initial coordinate belongs to multiple sub-regions and there is only one sub-region corresponding to a base station 20. For example, if the initial coordinate belongs to sub-regions D14 and D23 but only sub-region D23 has a corresponding relationship with the second base station 22, then select the second base station 22 with the corresponding relationship and use the differential data of the second base station 22 to correct the above initial coordinate to obtain the device coordinate. In still some other embodiments, the initial coordinate belongs to multiple sub-regions and different corresponding base stations 20 exist in multiple sub-regions. For example, if the initial coordinate belongs to sub-regions D12 and D22, and sub-region D12 has a corresponding relationship with the first base station 21, and sub-region D22 has a corresponding relationship with the second base station 22, then the mobile device 10 can set up a radio to receive the first signal from the first base station 21 and the second signal from the second base station 22 respectively, to determine the first common-view satellite parameters and first communication parameters of the mobile device 10 with the first base station 21, as well as the second common-view satellite parameters and second communication parameters with the second base station 22, etc. Then, based on the above parameters, evaluate the signal quality of the first and second base stations 21 and 22, and then select the base station 20 with better signal quality. The related method is the same as that described above and will not be elaborated here.

[0170] In still some other embodiments, it is also possible to use the differential data used in the previous calculation of the device coordinate to correct the current initial coordinate, and then determine which sub-region the position point where the mobile device 10 is located at the current moment belongs to.

[0171] Continuing from the previous text, in the working area of the mobile device 10, multiple base stations 20 are set up, and when the mobile device 10 switches to use the differential data of different base stations 20 during the mobile operation process, the above multiple base stations 20 form a multi-base station 20 system based on differential positioning technology. Each base station 20 is respectively installed at its own fixed installation position. In order to ensure the accuracy, effectiveness, unity, and coherence of the data during the mobile operation process of the mobile device 10, the above multi-base station 20 system needs to perform calibration between multiple base stations 20. The following mainly takes the multi-base station system including the first base station 21 and the second base station 22 as an example for illustration. It can be understood that the related solutions can also be naturally extended to systems including more base stations 20 for application. Refer to Figure 17 , the control process for calibrating the base station 20 in the above multi-base station 20 system may include:

[0172] 1710, after the first base station 21 is installed, determine the first installation coordinate of the first base station 21, and set the first base station 21 to the base station mode with the first installation coordinate;

[0173] 1720, after the second base station 22 is installed, set the second base station 22 to the mobile station 150 mode, calculate the second installation coordinate of the second base station 22 in the coordinate system of the first base station 21, and set the second base station 22 to the base station mode with the second installation coordinate.

[0174] In the above embodiments, after the first base station 21 is installed at the corresponding installation position in the site of the mobile device 10, first, the first installation coordinates of the first base station 21 can be determined, and the first base station 21 is set to the base station mode with the first installation coordinates. In some embodiments, the above first installation coordinates are obtained in a non-manual manner. For example, the first base station 21 can calculate the above first installation coordinates by itself through PPP convergence, single-point convergence, etc. Another example is that the first base station 21 can be set to the mobile station 150 mode and the above first installation coordinates can be calculated through network RTK. In other embodiments, the above first installation coordinates can also be set manually.

[0175] Then, the second base station 22 is installed at the corresponding installation position in the site, the second base station 22 is set to the mobile station 150 mode, and the differential positioning coordinates of the second base station 22 are calculated based on the differential data of the first base station 21, that is, the second installation coordinates of the second base station 22 in the coordinate system of the first base station 21 are obtained, and the second base station 22 is set to the base station mode with the second installation coordinates. The difference between the above mobile station 150 mode and the base station mode is that the position of the mobile station 150 changes, and its differential positioning coordinates can be calculated from satellite observation data and differential data. The position of the base station 20 is fixed, and the differential data for the mobile station 150 can be calculated from satellite observation data and the fixed installation position.

[0176] In some embodiments, the multi-base station 20 system may further include a third base station 23. After the third base station 23 is installed at the corresponding installation position in the site, the third base station 23 can be set to the mobile station 150 mode, and the differential positioning coordinates of the second base station 22 are calculated based on the differential data of the first base station 21, that is, the third installation coordinates of the third base station 23 in the coordinate system of the first base station 21 are obtained, and the third base station 23 is set to the base station mode with the third installation coordinates. The case where more base stations 20 are included in the system can be inferred in this way and will not be elaborated here.

[0177] In some embodiments, each base station 20 needs to be restarted after being set to the base station mode.

[0178] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form. Any technical solutions obtained by using equivalent replacement or equivalent transformation fall within the protection scope of the present application.

Claims

1. A base station switching method for a self - moving device. There are at least a first base station and a second base station within the working area of the self - moving device. The self - moving device is equipped with a radio station. The method includes: In the current cycle, set the radio station to receive a first signal from the first base station, and obtain the first common - view satellite parameters and the first communication parameters between the self - moving device and the first base station from the first signal; After the current cycle ends, set the radio station to receive a second signal from the second base station, and obtain the second common - view satellite parameters and the second communication parameters between the self - moving device and the second base station from the second signal; Evaluate the signal quality of the first base station based on the first common - view satellite parameters and the first communication parameters, and evaluate the signal quality of the second base station based on the second common - view satellite parameters and the second communication parameters. In the case where the signal quality of the second base station is better than that of the first base station, in the next cycle, set the radio station to receive the second signal from the second base station.

2. The base station handover method according to claim 1, wherein, The case where the signal quality of the second base station is better than that of the first base station includes: the difference between the second common - view satellite parameters and the first common - view satellite parameters exceeds a first threshold, and the difference between the first communication parameters and the second communication parameters exceeds a second threshold.

3. The base station handover method according to claim 2, wherein, The first common - view satellite parameters or the second common - view satellite parameters include one or more of the following: the number of common - view satellites between the self - moving device and the first base station or the second base station; the distribution - occupancy angle of the common - view satellites between the self - moving device and the first base station or the second base station.

4. The base station handover method according to claim 2, wherein, The first communication parameter or the second communication parameter includes the time interval for the self - moving device to receive the first signal or the second signal.

5. The base station handover method according to claim 1, wherein, Obtaining the first common - view satellite parameters between the self - moving device and the first base station from the first signal includes: obtaining the satellite observation data of the first base station from the first signal, and determining the common - view satellites of the two based on the satellite observation data of the self - moving device and the satellite observation data of the first base station; the satellite observation data of the first base station at least includes the satellite number, satellite elevation angle, and signal - to - noise ratio of each visible satellite of the first base station, and the satellite observation data of the self - moving device at least includes the satellite number, satellite elevation angle, and signal - to - noise ratio of each visible satellite of the self - moving device.

6. The base station handover method according to claim 5, wherein, The satellite elevation angle of the common - view satellites between the self - moving device and the first base station exceeds the elevation - angle threshold and the signal - to - noise ratio exceeds the signal - to - noise ratio threshold.

7. The base station handover method according to claim 1, wherein, The method further includes: in the case where the signal quality of the first base station is better than that of the second base station, in the next cycle, set the radio station to receive the first signal from the first base station.

8. A self-moving device, comprising a radio station and a controller; wherein, The controller is configured to execute the base station switching method according to any one of claims 1 to 7.

9. A self - moving device, including: A housing; A walking assembly, including a walking motor and walking wheels, and the walking assembly is coupled to the housing; Wherein, the self - moving device further includes: A mobile station, including a satellite receiving antenna, a first radio station, a second radio station, and a calculation unit; The satellite receiving antenna is configured to obtain satellite signals; The first radio station is configured to receive a first signal from a first base station, and the first signal includes first differential data of the first base station; The second radio station is configured to receive a second signal from a second base station, and the second signal includes second differential data of the second base station; A calculation unit is configured to correct an initial coordinate of the self-moving device obtained by resolving a satellite signal according to the first differential data and / or the second differential data, so as to obtain a corrected device coordinate of the self-moving device; A controller is configured to control the self-moving device according to the device coordinate output by the calculation unit.

10. The self - moving device according to claim 9, wherein, The calculation unit is configured to correct the initial coordinate based on the first differential data to obtain a first device coordinate, and correct the initial coordinate based on the second differential data to obtain a second device coordinate; compare the solution accuracies of the first device coordinate and the second device coordinate, and select the device coordinate with a higher solution accuracy as the finally output device coordinate.

11. The self-moving device according to claim 10, wherein, The calculation unit is configured to, when the first device coordinate is a fixed solution and the second device coordinate is a floating solution, output the first device coordinate as the finally obtained device coordinate; when the first device coordinate is a floating solution and the second device coordinate is a fixed solution, output the second device coordinate as the finally obtained device coordinate.

12. The self-moving device according to claim 10, wherein, The calculation unit is configured to, when both the first device coordinate and the second device coordinate are fixed solutions or both are floating solutions, evaluate the signal qualities of the first base station and the second base station, and select the device coordinate obtained from the differential data of the base station with better signal quality as the finally output device coordinate.

13. The self-moving device according to claim 12, wherein, The calculation unit is configured to evaluate the signal quality of the first base station based on first common-visible satellite parameters and first communication parameters between the self-moving device and the first base station, and evaluate the signal quality of the second base station based on second common-visible satellite parameters and second communication parameters between the self-moving device and the second base station.

14. A calibration method for a multi-base station system based on differential positioning technology, wherein, The method includes: After the first base station is installed, determine a first installation coordinate of the first base station, and set the first base station to a base station mode with the first installation coordinate; After the second base station is installed, set the second base station to a rover mode, resolve a second installation coordinate of the second base station in the coordinate system of the first base station, and set the second base station to a base station mode with the second installation coordinate.

15. The calibration method according to claim 14, wherein, The first installation coordinate is obtained manually; or, the first installation coordinate is obtained by single-point convergence by the first base station; or, the first installation coordinate is obtained by network RTK by the first base station.

16. The calibration method according to claim 14, wherein, The method further includes: After the third base station is installed, set the third base station to a rover mode, resolve a third installation coordinate of the third base station in the coordinate system of the first base station or the second base station, and set the third base station to a base station mode with the third installation coordinate.

17. A multi-base station system based on differential positioning technology, wherein, The system includes: The first base station, configured to determine the first installation coordinates of the first base station after installation is completed, and set the first base station to the base station mode with the first installation coordinates. The second base station, configured to set the second base station to the mobile station mode after installation is completed, solve the second installation coordinates of the second base station in the coordinate system of the first base station, and set the second base station to the base station mode with the second installation coordinates.

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