Self-moving garden equipment system and server for serving self-moving garden equipment

Abstract

The invention discloses a self-moving garden equipment system and a server serving self-moving garden equipment. The system comprises a first self-moving garden device, a second self-moving garden device and a server, wherein the self-moving garden device comprises a satellite positioning module configured to receive satellite positioning signals; the wireless communication module is configured to send a request carrying preliminary positioning to a server so as to obtain differential calibration data; and a controller configured to calculate a precise position of the self-moving garden device based on the satellite positioning signal and the differential calibration data; the server calls the same differential calibration data as first differential calibration data responding to the first request and second differential calibration data responding to the second request, the request time difference of the first request and the second request is smaller than or equal to a preset time difference threshold value, and the first preliminary positioning and the second preliminary positioning belong to the same preset area. According to the scheme, the system cost and efficiency can be improved while the positioning precision of the self-moving garden equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of outdoor power equipment, in particular to a self-moving garden equipment system and a server serving the self-moving garden equipment. BACKGROUND

[0002] The self-moving garden equipment includes lawn mowing robots, snow sweeping robots, irrigation robots, etc., which can perform tasks such as lawn mowing, snow sweeping, and vegetation irrigation while walking. Generally, the working area of the self-moving garden equipment represented by the lawn mowing robot can be limited by a physical or virtual boundary line, and the equipment should work within the boundary and should not move beyond the boundary line to the outside of the working area. In addition, the equipment can also make self-decision on the walking path and obstacle avoidance action while working. One of the keys to achieving the above functions is that the self-moving garden equipment needs to achieve relatively accurate self-positioning.

[0003] This part provides background information related to the present application, which may not be prior art. SUMMARY

[0004] The present application is part or all of the solution or at least alleviates the above problems. To this end, the present application provides a self-moving garden equipment system and a server serving the self-moving garden equipment.

[0005] A self-moving garden device system includes a first self-moving garden device, a second self-moving garden device, and a server. The first self-moving garden device includes: a first satellite positioning module configured to receive a first satellite positioning signal; a first wireless communication module communicatively connected to the server and configured to send a first request to the server to obtain first differential calibration data, the first request carrying a first preliminary location determined based on the first satellite positioning signal; and a first controller electrically connected to the first satellite positioning module and the first wireless communication module, configured to calculate the precise location of the first self-moving garden device based on the first satellite positioning signal and the first differential calibration data. The second self-moving garden device includes: a second satellite positioning module configured to receive a second satellite positioning signal; and a second wireless communication module. The system includes a communication module, which is connected to the server and configured to send a second request to the server to obtain second differential calibration data. The second request carries a second preliminary location determined based on a second satellite positioning signal. A second controller is electrically connected to the second satellite positioning module and the second wireless communication module, respectively, and is configured to calculate the precise location of the second self-moving garden device based on the second satellite positioning signal and the second differential calibration data. The server is configured to obtain differential calibration data from a continuously operating reference station. The server uses the same set of differential calibration data as first differential calibration data in response to the first request and as second differential calibration data in response to the second request, wherein the time difference between the first request and the second request is less than or equal to a preset time difference threshold, and the first preliminary location and the second preliminary location belong to the same preset area.

[0006] In some embodiments, the first wireless communication module and / or the second wireless communication module communicate with the server via a cellular network or Wi-Fi.

[0007] In some embodiments, the positioning accuracy of the precise location is better than that of the first preliminary positioning or the second preliminary positioning, and the average positioning accuracy of the precise location is less than or equal to 10 cm.

[0008] In some embodiments, the server includes a memory configured to store differential calibration data returned by a continuously operating reference station.

[0009] In some embodiments, the server is configured to read differential calibration data and return it to the mobile garden device if the differential calibration data of the preset area to which the preliminary positioning carried in the request sent by the mobile garden device is currently valid.

[0010] In some embodiments, the server is configured to obtain differential calibration data of the preset region from a continuously running reference station and store it in the memory if the differential calibration data of the preset region to which the preliminary location belongs is currently empty or invalid.

[0011] In some embodiments, the server is configured to periodically acquire differential calibration data of each preset region currently marked as active from a continuously running reference station and store it in memory.

[0012] In some embodiments, the server is configured to mark the preset region as an active region if the preset region to which the initial location belongs in the memory is currently marked as an inactive region, and the differential calibration data of the preset region is currently empty or invalid, so as to wait for the next cycle to obtain the differential calibration data of the preset region from the continuously running reference station.

[0013] In some embodiments, the self-moving garden device includes one or more of a lawnmower robot, a snowplow robot, and an irrigation robot.

[0014] In some embodiments, the first self-moving garden device and the second self-moving garden device are the same type of device or different devices.

[0015] In some embodiments, the preset area includes multiple areas divided according to a preset grid size and / or geographical boundaries.

[0016] In some embodiments, the preset time difference threshold is less than or equal to 10 seconds.

[0017] In some embodiments, the self-moving garden device system further includes: a base station configured to acquire satellite observation data, calculate differential calibration data based on the satellite observation data, and transmit the differential calibration data to the self-moving garden device via a radio; the self-moving garden device is configured to request differential calibration data from a server when the communication characteristic parameters between the self-moving garden device and the base station exceed a corresponding threshold.

[0018] In some embodiments, the communication characteristic parameters between the self-mobile garden device and the base station include one or more of the following: distance between the self-mobile garden device and the base station, number of co-viewing satellites, and number of data packet losses.

[0019] In some embodiments, the number of self-moving garden devices is greater than or equal to the number of servers.

[0020] A self-moving garden device system includes a self-moving garden device and a server. The self-moving garden device includes: a satellite positioning module configured to receive satellite positioning signals; a wireless communication module communicatively connected to the server and configured to send a request to the server to obtain differential calibration data; a controller electrically connected to both the satellite positioning module and the wireless communication module, and configured to calculate the precise position of the self-moving garden device based on the satellite positioning signals and the differential calibration data; the server includes: a request unit configured to obtain differential calibration data from a continuously operating reference station; a memory configured to store the differential calibration data returned by the continuously operating reference station; and a response unit configured to return the corresponding differential calibration data to the self-moving garden device in response to the self-moving garden device's request for differential calibration data.

[0021] In some embodiments, the request sent by the self-mobile garden device to the server carries the preliminary location and / or communication address of the self-mobile garden device.

[0022] In some embodiments, the communication connection between the wireless communication module of the self-mobile garden device and the server includes a cellular network or Wi-Fi.

[0023] In some embodiments, the server's response unit is configured to acquire or read corresponding differential calibration data from a continuously operating reference station based on the preliminary positioning and / or the communication address of the request carried in the request.

[0024] A server serving a self-moving garden device, comprising: a request unit configured to request differential calibration data from a continuously operating reference station; a memory configured to store the differential calibration data returned by the continuously operating reference station; and a response unit configured to, in response to the self-moving garden device's request for differential calibration data, search the memory for differential calibration data corresponding to the preliminary positioning of the self-moving garden device carried in the request; if the search is successful, send the differential calibration data to the self-moving garden device; if the search fails, invoke the request unit to obtain the differential calibration data corresponding to the preliminary positioning and send the differential calibration data to the self-moving garden device.

[0025] In some embodiments, the initial location is calculated based on the communication address and / or satellite positioning signal of the self-moving garden device.

[0026] In some embodiments, the memory is further configured to delete the differential calibration data after the differential calibration data has been stored in the memory for a period of time up to a first preset aging threshold.

[0027] In some embodiments, the number of requests by the requesting unit is less than or equal to the number of responses by the response unit.

[0028] In some embodiments, the requesting unit is configured to selectively request differential calibration data from one or more continuously operating reference stations.

[0029] In some embodiments, the server is a cloud server.

[0030] In some embodiments, the communication connection between the server's requesting unit and the continuously operating reference station includes WLAN.

[0031] In some embodiments, the communication connection between the server's response unit and the self-moving garden device includes a cellular network or Wi-Fi.

[0032] A server serving a self-moving garden device, comprising: a request unit configured to periodically request differential calibration data of one or more preset areas currently marked as active areas from a continuously operating reference station; a memory configured to store the differential calibration data returned by the continuously operating reference station; and a response unit configured to, in response to the self-moving garden device's request for differential calibration data, search the memory for differential calibration data corresponding to the preliminary positioning of the self-moving garden device carried in the request; if the search is successful, send the differential calibration data to the self-moving garden device; and if the search fails, mark the preset area to which the preliminary positioning belongs as an active area.

[0033] In some embodiments, the period during which the requesting unit requests differential calibration data from the continuously operating reference station is less than or equal to 3 seconds.

[0034] In some embodiments, differential calibration data in the memory is deleted after the acquisition time exceeds a first preset aging threshold.

[0035] In some embodiments, the first preset aging threshold is less than or equal to 20 seconds.

[0036] In some embodiments, if the duration for which no new requests are issued in a preset region marked as an active region exceeds a second preset aging threshold, the marking of the active region becomes invalid.

[0037] In some embodiments, the second preset aging threshold is less than or equal to 30 minutes.

[0038] In some embodiments, the initial location is calculated based on the communication address and / or satellite positioning signal of the self-moving garden device.

[0039] In some embodiments, the server is also configured to back up or roll back the differential calibration data.

[0040] In some embodiments, the requesting unit is configured with authentication accounts for continuously operating reference stations in different countries or regions.

[0041] In some embodiments, the preset area includes multiple areas divided according to a preset grid size and / or geographical boundaries.

[0042] In some embodiments, the radius or side length of the preset area is greater than or equal to 1 km and less than or equal to 20 km.

[0043] A self-moving garden device includes: a satellite positioning module configured to receive satellite positioning signals; a wireless communication module configured to communicate with a server and send a request to the server to cause the server to respond to the request and return corresponding differential calibration data; and a controller electrically connected to the satellite positioning module and the wireless communication module respectively, configured to calculate the precise position of the self-moving garden device based on the satellite positioning signals and the differential calibration data.

[0044] A data processing method is provided, wherein the data processing method is applied to a server that is communicatively connected to a client and a continuously operating reference station, the server including a memory, and the data processing method includes: receiving a request from the client for differential calibration data, the request carrying the client's preliminary location; searching in the memory for differential calibration data corresponding to the client's preliminary location carried in the request; if the search is successful, sending the differential calibration data to the client; if the search fails, requesting differential calibration data from the continuously operating reference station once or cyclically according to a preset program, and storing the differential calibration data returned by the continuously operating reference station in the memory.

[0045] In some embodiments, the data processing method further includes periodically deleting expired differential calibration data from the memory.

[0046] In some embodiments, the data processing method further includes: after obtaining differential calibration data in a single request, returning the differential calibration data to the client.

[0047] In some embodiments, the differential calibration data is requested from the continuously operating reference station cyclically based on a preset procedure, including: marking the preset area to which the initial positioning belongs as an active area; periodically requesting the differential calibration data of the preset area marked as an active area from the continuously operating reference station until the marking of the active area becomes invalid.

[0048] A non-volatile computer-readable storage medium storing computer program instructions thereon, wherein the computer program instructions, when executed by a processor, implement the data processing method as described above.

[0049] The advantage of this application lies in its system architecture that uses a server as an intermediary to transmit differential calibration data from continuously operating reference stations to the self-moving garden device. This improves the positioning accuracy of the self-moving garden device while effectively reducing the number or frequency of requests for differential calibration data from continuously operating reference stations by the self-moving garden device cluster, thus reducing related costs. Furthermore, it enables more flexible and efficient requests to multiple / different continuously operating reference stations to obtain more accurate data. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the system architecture of a self-moving garden device system as an embodiment of this application.

[0051] Figure 2 This is a perspective view of a self-moving garden device as one embodiment of this application.

[0052] Figure 3 This is an electrical control schematic diagram of a self-moving garden device system as an embodiment of this application.

[0053] Figure 4A This is a schematic diagram of multiple preset areas as one embodiment of this application.

[0054] Figure 4B This is a schematic diagram of multiple preset areas as another embodiment of this application.

[0055] Figure 4C This is a schematic diagram of multiple preset areas as yet another embodiment of this application.

[0056] Figure 5 This is a schematic diagram illustrating the interaction between the server, the self-moving garden device, and CROS, as one embodiment of this application.

[0057] Figure 6A This is a schematic diagram illustrating the interaction between the server, the self-moving garden device, and CROS, as another embodiment of this application.

[0058] Figure 6B This is a schematic diagram illustrating the interaction between the server, the self-moving garden device, and CROS, which is yet another embodiment of this application.

[0059] Figure 7 This is a flowchart of a data processing method as an embodiment of this application.

[0060] Figure captions: 100, Self-moving garden device system; 200, Continuously operating reference station system; 300 / 300a / 300b, Preset area; 110, Self-moving garden device; 110a, First self-moving garden device; 110b, Second self-moving garden device; 120 / 120a / 120b, Server serving the self-moving garden device; 111, Satellite positioning module; 112, Wireless communication module; 113, Controller; 114, Housing; 115, Working component; 116, Walking component; 111a, First satellite positioning module; 112a, First wireless communication module; 113a, First controller; 111b, Second satellite positioning module; 112b, Second wireless communication module; 113b, Second controller; 121, Request unit; 122, Response unit; 123, Memory; 210, Continuously operating reference station; 310, Active area; 320, Inactive area. Detailed Implementation

[0061] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0062] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0063] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0064] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0065] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​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 associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0066] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0067] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0068] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. When using the unit "controller," "processor," "central processing unit," "CPU," or "MCU" to perform a specific function, unless otherwise stated, these functions may be performed by a single or multiple of the aforementioned units.

[0069] In this application, the terms "device," "module," or "unit" are used to describe devices that can be implemented in hardware or software to perform a specific function.

[0070] In this application, the terms “calculation,” “judgment,” “control,” “determine,” “identify,” etc., refer to the operation and process of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0071] Thanks to technological advancements, increased public awareness of environmental protection, and policy support, outdoor powered equipment, widely used in various scenarios, is currently exhibiting a trend towards lithium-ion battery adoption and intelligent operation. Outdoor powered equipment includes autonomous gardening devices, which are devices capable of autonomously navigating outdoor spaces and performing various gardening tasks. Common examples include lawnmowers, snowplows, and irrigation robots. Typically, these devices operate within a work area defined by physical or virtual boundaries. Through self-localization, autonomous gardening devices can plan paths and avoid obstacles without venturing outside these boundaries, thus performing tasks such as lawnmowing, snowplowing, and irrigation. Therefore, accurate self-localization is crucial for the work efficiency and effectiveness of these autonomous gardening devices.

[0072] Currently, the positioning accuracy of Global Navigation Satellite Systems (GNSS), such as BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), GLONASS, and Galileo, is affected by multipath effects, atmospheric refraction effects, satellite ephemeris errors, and clock errors, making it difficult to meet the increasingly demanding industry requirements and user expectations for mobile garden equipment.

[0073] Based on the above problems and their further optimizations, this application proposes a self-moving garden equipment system 100. (Reference) Figure 1This diagram illustrates the architecture of the self-propelled garden device system 100. The system includes self-propelled garden devices 110 and servers 120 serving the devices 110. The number and type of the self-propelled garden devices 110 and servers 120 are not limited. The system 100 may include a cluster of self-propelled garden devices or a cluster of servers. In some embodiments, the number of self-propelled garden devices 110 in the system 100 is greater than or equal to the number of servers 120. For example, the system 100 may include a large number of self-propelled garden devices 110 and a small number of servers 120. The types of the multiple self-propelled garden devices 110 in the system 100 can be the same or different. In some embodiments, the multiple self-propelled garden devices 110 in the system 100 can be one or more of a lawnmower robot, a snowplow robot, and an irrigation robot. For example, the multiple self-propelled garden devices 110 in the system 100 can all be lawnmower robots, or some can be lawnmower robots and some can be irrigation robots. The server 120 within system 100 can be a traditional physical server or a cloud server. In some embodiments, multiple self-propelled garden devices 110 within system 100 can be devices of the same brand and belong to different users. The server 120 within system 100 can be built or leased by the brand owner to provide services to its devices. In some embodiments, the self-propelled garden devices 110 within system 100 can establish communication connections with the server 120 via cellular networks and / or Wi-Fi, to utilize feasible communication methods in the scenario and ensure fast and stable communication between the two. It is possible that other communication technologies are also used in combination for the communication connection between the two.

[0074] In this application, the specific location distribution of the multiple self-moving garden devices 110 in the aforementioned self-moving garden device system 100 is variable and unrestricted. Any two self-moving garden devices 110 can be located in the same work area, the same region, or the same country, or they can be located in different work areas, different regions, or different countries. They can be close to each other or far apart.

[0075] In addition to the aforementioned mobile garden device system 100, this application also includes one or more Continuous Operational Reference Systems (CROS 200) that can interact with the system 100. A CROS 200 may include one or more CROS 210s. The CROS 210s within the same CROS 200 can collaborate to implement network RTK (Real-Time Kinematic) technology, thereby providing the system 100 with differential calibration data used to correct positioning errors. In some embodiments, the server 120 within the system 100 can establish a communication connection with the CROS 210 via WLAN; it is possible that other communication technologies are also used in the communication connection between the two.

[0076] refer to Figure 2 , Figure 3 This illustrates the self-moving garden device 110 and its electronic control principle as one embodiment of this application. Specifically, Figure 2 The illustration shows a lawnmower robot. This self-propelled garden device 110 or lawnmower robot includes a housing 114, a working component 115, and a walking component 116. The housing 114 forms the main exterior of the device and has an internal storage space that supports and accommodates other components. The working component 115 includes at least working parts such as blades that actually perform the work tasks, and a motor that drives these working parts. The walking component 116 includes at least walking parts such as wheels, and a motor that drives these walking parts. In some embodiments, the self-propelled garden device 110 also includes a power supply device, such as a battery pack, detachably connected to the housing 114, which supplies electrical energy to the working motor and / or the walking motor, as well as other components described below.

[0077] like Figure 2 , Figure 3 As shown, in addition to the above-mentioned components, the self-propelled garden device 110 also includes a satellite positioning module 111, a wireless communication module 112, and a controller 113. The satellite positioning module 111 can interact with the GNSS described above to receive satellite positioning signals. These satellite positioning signals carry GNSS observation data of the current location of the self-propelled garden device 110. Based on this satellite observation data, a preliminary, albeit coarse, positioning of the self-propelled garden device 110 can be obtained. The satellite positioning module 111 may include an antenna for receiving the aforementioned satellite positioning signals, and may further include a computing unit for calculating the preliminary positioning.

[0078] The wireless communication module 112 can interact with the server 120 within the system 100 to send requests to it and obtain differential calibration data returned by it. This request may carry the aforementioned preliminary location of the self-moving garden device 110, allowing the server 120 to have a general understanding of the device's current location. The wireless communication module 112 may include a transceiver, radio, etc., and may further include a digital-to-analog / analog-to-digital converter, etc.

[0079] The controller 113 is electrically connected to the satellite positioning module 111 and the wireless communication module 112, respectively, and can calculate the precise position of the self-propelled garden device 110 based on the satellite positioning signal or preliminary positioning provided by the satellite positioning module 111 and the differential calibration data provided by the wireless communication module 112. The controller 113 can be an MCU (Microcontroller Unit) or MPU (Microprocessor Unit), etc. The specific process of calculating the precise position of the device 110 using the satellite positioning signal or preliminary positioning and differential calibration data can be found in the relevant technical principles of relative positioning and real-time differential calculation, and will not be elaborated here. The positioning accuracy of the precise position of the self-propelled garden device 110 calculated using satellite positioning signals and differential calibration data is higher than that of the preliminary positioning obtained using a single data source. In some embodiments, to better improve the working results of the self-propelled garden device 110, for example, to ensure the aesthetics of lawn mowing, the average positioning accuracy of the calculated precise position of the device 110 is less than or equal to 10 cm, that is, the average error between the calculated position and the actual position does not exceed 10 cm. In some embodiments, the average positioning accuracy of the aforementioned precise position may be less than or equal to 5 cm or less than or equal to 3 cm. It is understood that this describes an average situation, and the actual positioning accuracy of the calculated precise position of the device 110 may fluctuate between 0 and 15 cm.

[0080] like Figure 3The diagram illustrates a self-moving garden device system 100 as an embodiment of this application. The self-moving garden device system 100 includes a first self-moving garden device 110a, a second self-moving garden device 110b, and a server 120. The composition of the first self-moving garden device 110a or the second self-moving garden device 110b can be referred to the foregoing description. The first self-moving garden device 110a may include a first satellite positioning module 111a, a first wireless communication module 112a, and a first controller 113a. The second self-moving garden device 110b may include a second satellite positioning module 111b, a second wireless communication module 112b, and a second controller 113b. Furthermore, it is understood that in this embodiment, the number of self-moving garden devices 110 in the system 100 is at least two, and may also be more than two. For example, the system 100 may also include a third self-moving garden device, a fourth self-moving garden device, etc. Additionally, in this embodiment, the number of servers 120 in the system 100 is at least one, and may also be more than one. For example, the system 100 may also include a second server, a third server, etc. The location of the self-moving garden device 110 and the server 120 is not restricted. The following text and accompanying drawings will mainly describe the two self-moving garden devices 110 and one server 120.

[0081] In one alternative implementation, within system 100, the server 120 serving the self-mobile garden device 110 includes a request unit 121, a response unit 122, and a memory 123. The request unit 121 can interact with one or more continuously operating reference stations 210 to obtain the differential calibration data. The memory 123 can store the differential calibration data returned by the continuously operating reference stations 210. The response unit 122 can interact with the wireless communication modules of one or more self-mobile garden devices 110 to receive and respond to their requests for the differential calibration data. In some embodiments, the request unit 121 of server 120 establishes a communication connection with the continuously operating reference stations 210 via WLAN. In some embodiments, the response unit 122 of server 120 establishes a communication connection with the wireless communication module 112 of self-mobile garden devices 110 via cellular network or Wi-Fi. In some embodiments, the request unit 121, response unit 122, and memory 123 are electrically connected and can all be located within the same physically defined server 120. Because the differential calibration data is relatively small in volume and has high timeliness requirements, this method of directly reading and writing to the server 120's memory 123 is efficient and convenient in this embodiment. In other embodiments, the request unit 121, response unit 122, and memory 123 can also be connected. For example, in some distributed scenarios, the request for differential calibration data from the continuously operating reference station 210 and the return of differential calibration data to the self-mobile garden device 110 can be two separate cloud nodes. In some embodiments, the differential calibration data obtained by the server 120 can be stored in another database instead of its own memory 123, or the differential calibration data can be backed up in another database or cloud node. This can address the issue of increasing numbers of self-mobile garden devices 110, prevent data loss in case of server 120 failure, and allow for the collection of data for analysis and optimization.

[0082] Following the preceding text, within the aforementioned self-moving garden device system 100, the server 120, acting as an intermediary, can obtain and store corresponding differential calibration data from the continuously operating reference station 210 outside the system 100, and can return corresponding differential calibration data in response to requests from the self-moving garden device 110 within the system 100. Furthermore, in this application, for a first request issued by the first self-moving garden device 110a and a second request issued by the second self-moving garden device 110b, the server 120 can retrieve the same differential calibration data as the first differential calibration data returned to the first self-moving garden device 110a in response to the first request, and as the second differential calibration data returned to the second self-moving garden device 110b in response to the second request. Assuming that the first self-mobile garden device 110a sends a first request carrying a first preliminary location to the server 120 at time ta, and the second self-mobile garden device 110b sends a second request carrying a second preliminary location to the server 120 at time tb, the time difference |ta-tb| between the first and second requests, which can share the same differential calibration data, does not exceed a preset time difference threshold, and the first and second preliminary locations belong to the same preset region 300. It is understood that the server 120's actions of calling the same data to respond to the first and second self-mobile garden devices 110a and 110b do not occur simultaneously. This refers to the fact that, from the result, the differential calibration data received by the first and second self-mobile garden devices 110a and 110b is the same, and the server 120 only made one request to CROS 200 to obtain the data. The number of requests from server 120 to CROS 200 for differential calibration data will be less than or equal to the number of responses from server 120 to requests from mobile garden device 110. That is, the number of requests from server 120 to CROS 200 for data will be less than or equal to the number of requests from mobile garden device 110 to server 120 for data. Furthermore, as the number of mobile garden devices 110 increases, the reduction in the number of requests relative to the number of responses becomes more pronounced. In some embodiments, the aforementioned preset time difference threshold is less than or equal to 20 seconds. Alternatively, in some embodiments, the aforementioned preset time difference threshold is less than or equal to 10 seconds. Preferably, in some embodiments, the aforementioned preset time difference threshold is greater than or equal to 1 second and less than or equal to 10 seconds. It is understood that the preset time difference threshold here limits the maximum time interval between requests from two mobile garden devices sharing the same differential calibration data, rather than the special cases where mobile garden devices send requests separately at two points before and after data refresh. The preset time difference threshold may be related to the differential age of the two sets of data (satellite observation data and differential calibration data) that the self-moving garden device 110 can allow when calculating the precise location, the cycle of the server 120 requesting data from CROS200, the duration of the aging failure of a differential calibration data set, and the duration of the failure of an active area marker.

[0083] In other words, introducing the server 120 into system 100 allows multiple self-portable garden devices 110 that are located close to each other and need differential calibration data at the same time to uniformly request differential calibration data from CROS 200. This effectively reduces the number of times CROS 200 is accessed and the data download traffic from CROS 200, thereby reducing related costs and improving system operating efficiency. Furthermore, the sharing of the same differential calibration data by multiple self-portable garden devices 110 does not violate the requirements of differential calibration data regarding its geographical location and timeliness; it still retains the advantage of using differential calibration data to correct GNSS positioning and improve positioning accuracy. This is one aspect of the design considerations in this application. In addition, introducing the server 120 into system 100 can also provide a unified differential calibration data request interface for multiple self-portable garden devices 110 belonging to the same individual or enterprise user, or belonging to the same brand. By configuring server 120, individual or enterprise users and brand owners can freely choose or switch to CROS 200 suppliers with higher cost performance or better service. It can also be designed to enable server 120 to autonomously select a target CROS 200 to avoid congestion, or to integrate data from multiple CROS 200s to provide more accurate differential calibration data to the self-moving garden device 110 in system 100. These are other considerations of the concept of this application.

[0084] The following provides a further description of the self-moving garden device system 100 and the server 120 serving the self-moving garden device 110 proposed in this application. In one alternative implementation, after receiving a request for differential calibration data from the self-moving garden device 110 within the system 100, the server 120 first determines the preset region 300 to which the preliminary positioning carried in the request belongs, and then searches for the differential calibration data corresponding to the preset region 300 in the memory 123. If the differential calibration data corresponding to the preset region 300 is currently valid, the server returns the differential calibration data to the self-moving garden device 110 that sent the request. The preliminary positioning reflects the approximate location of the self-moving garden device 110, which can be calculated based on the satellite positioning signals described above. In some embodiments, it can also be calculated based on communication addresses such as IP address and MAC address when the self-moving garden device 110 issued the request. The preliminary location can be directly filled into the request message sent by the mobile garden device 110, that is, calculated by the mobile garden device 110 itself, or it can be calculated by the server 120 after parsing the request message to obtain satellite observation data and / or communication address.

[0085] refer to Figure 4A , Figure 4BIn this embodiment, the system 100 is provided with multiple preset regions 300. The rules followed in pre-dividing these regions can be a generally accepted rule or a custom rule. Each preset region 300 can be regular, for example, all circular, square, or hexagonal, or it can be irregular. In some embodiments, the radius or side length of the preset region is greater than or equal to 1 km and less than or equal to 20 km. For example, the radius or side length of the preset region can be 20 km, 5 km, or 2 km. Of course, the division of the preset regions can be adjusted according to actual needs. In some cases, the region division can be slightly denser or slightly sparser, but it should not violate the requirement described above that the same preset region can share the same differential calibration data. In some embodiments, such as... Figure 4A As shown, the multiple preset areas 300 can be multiple areas divided according to a preset grid size. Specifically, the total movable range of the entire mobile garden device 110 (such as the entire sales area of ​​the mobile garden device 110) can be regarded as a map, and the map can be divided according to a preset grid size to obtain multiple areas corresponding to each grid in the map. For example, the map can also be divided according to preset latitude and longitude intervals. Figure 4A The preset area where the self-moving garden device 110 that issued the request is located can be denoted as (32, 32). In some embodiments, such as Figure 4B As shown, a primary region corresponding to multiple countries or regions can be first divided geographically, and then a secondary region corresponding to each grid can be divided within the primary region corresponding to each country or region according to a preset grid size. The preset region described above is the secondary region here. For example, a primary region corresponding to the United Kingdom, France, and Germany can be first divided, and then the primary regions of the United Kingdom, France, and Germany can each be divided into corresponding secondary regions. The preset region where the self-moving garden device 110 that issued the request in Figure 4b is located can be denoted as DE(3,3). Or, as Figure 4C As shown, the map can first be divided according to a preset grid size to obtain multiple corresponding regions. Then, it can be further divided according to the geographic boundaries between countries or regions, thereby dividing the original grid into two regions 300a and 300b belonging to different countries or regions based on the boundary locations. It is understandable that the consideration of geographic factors of countries or regions in the above-mentioned preset region division process can enable the server 120 to avoid making the selection of requesting differential calibration data from CROS 200 or continuously running reference station 210 in different countries or regions for the self-moving garden device 110 located in the same preset region but in different countries / regions, thereby ensuring system efficiency.

[0086] like Figure 4A , Figure 4BAs shown, the initial positioning of the self-moving garden device 110 will fall into any one of the multiple preset areas 300. The memory 123 stores each preset area 300 and the differential calibration data in a corresponding manner, such as using a dictionary or linked list. Then, the server 120 can search for the differential calibration data corresponding to the preset area 300 to which the initial positioning belongs. In some embodiments, the memory 123 can further mark the current validity status of the differential calibration data corresponding to each preset area 300, so that the server 120 can determine the data status while searching for data and return the found valid differential calibration data to the corresponding self-moving garden device 110. Invalid data will not be returned to the corresponding self-moving garden device 110. In some embodiments, the differential calibration data corresponding to each preset area 300 is empty in the initial state, and the differential calibration data will also be deleted after it becomes invalid. Therefore, if the corresponding data in the memory 123 is empty, the search is considered to have failed; if the corresponding data is not empty, the search is considered to have succeeded. In other embodiments, referring to Table 1, the memory 123 stores preset regions and their corresponding differential calibration data and data status markers. Initially, the differential calibration data corresponding to each preset region 300 is empty and the data status marker is invalid. Data can be deleted after it becomes invalid, or it can remain valid. However, after data becomes invalid, its data status marker will change from valid to invalid. Therefore, if the corresponding data status marker in the memory 123 is invalid, the search is considered to have failed; if the corresponding data status marker is valid, the search is considered to have succeeded. In some embodiments, whether a region is an active region can also be used to characterize whether the data is valid. Data searches in inactive regions are considered to have failed, while data searches in active regions may succeed.

[0087] Region Status flag Flag aging Differential calibration data Data aging Data refresh Zone 1 Active region ΔT11 Data 1 ΔT21 ΔT31 Zone 2 Inactive region —— —— —— —— Zone 3 Inactive region —— Data 3 —— —— Zone 4 Active region ΔT14 Data 4 ΔT24 ΔT34 … … … … … … Table 1

[0088] In some embodiments, reference Figure 5The server 120 within system 100, serving the self-mobile garden device 110, operates in a single-threaded mode. It consistently responds to requests for differential calibration data from the self-mobile garden device 110, triggering data acquisition from the CROS 200. Upon receiving a request for differential calibration data from the self-mobile garden device 110 within system 100, the server 120 first determines the current location of the device in a preset region 300 based on the preliminary location information carried in the request. Continuing from the previous description, if the differential calibration data corresponding to the preset region 300 is valid or not empty, it can read the differential calibration data and return it to the self-mobile garden device 110. However, if the differential calibration data corresponding to the preset region 300 is invalid or empty, it can request the differential calibration data for the preset region 300 from the continuously running reference station 210. After receiving the differential calibration data for the preset area 300 returned by CROS 200, server 120 stores the differential calibration data corresponding to the preset area 300. Furthermore, it can also return the differential calibration data to the aforementioned self-moving garden device 110. In some embodiments, the method of dividing the preset area within system 100 is consistent with CROS 200. That is, when two self-moving garden devices 110 located in the same preset area within system 100 and sharing the same data directly obtain data from CROS 200, the obtained data may also be identical.

[0089] Correspondingly, this application proposes a server 120 serving the self-moving garden device 110. The server 120 may include the request unit 121, response unit 122, and memory 123 described above. Upon receiving a request for differential calibration data from the self-moving garden device 110, the response unit 122 of the server 120 searches the memory 123 for differential calibration data corresponding to the preliminary positioning of the self-moving garden device 110 carried in the request. If the search is successful, the data is returned to the self-moving garden device 110. If the search fails, the request unit 121 is invoked to request data from the continuously operating reference station 210, and after the continuously operating reference station 210 returns the data, the differential calibration data corresponding to the preset area 300 is stored and returned to the self-moving garden device 110.

[0090] In other embodiments, reference is made to... Figure 6A , Figure 6BThe server 120 within system 100, serving the self-mobile garden device 110, operates in a multi-threaded mode. On one hand, it adjusts the marking of each preset region 300 as an active region 310 in response to requests for differential calibration data from the self-mobile garden device 110. On the other hand, it periodically requests differential calibration data from CROS 200 for each preset region 300 currently marked as an active region 310 to refresh the stored differential calibration data. The server 120's periodic data requests to CROS 200 are unaffected by requests from the self-mobile garden device 110, but the requests from the self-mobile garden device 110 can affect whether the currently stored data is still valid and which regions' data the server 120 should request in the next cycle. Upon receiving a request for differential calibration data from the self-mobile garden device 110 within system 100, the server 120 first determines the preset region 300 where the device is currently located based on the preliminary positioning carried in the request. Following the preceding text, in this embodiment, a marker indicating whether a preset region 300 is an active region 310 is used to characterize whether the differential calibration data corresponding to the preset region 300 in the memory 123 is valid. Therefore, after determining the preset region 300 to which the device initially belongs, if the preset region 300 is currently an active region 310, meaning the differential calibration data corresponding to the preset region 300 is currently valid, the server 120 can return the differential calibration data in the memory 123 to the aforementioned self-moving garden device 110. However, if the preset region 300 is currently an inactive region 320, meaning the differential calibration data corresponding to the preset region 300 is empty or currently invalid, the preset region 300 can be marked as an active region 310 to wait for the next cycle to obtain the differential calibration data of the active region 310 from the CROS 200. Therefore, in this embodiment, when the request sent by the self-moving garden device 110 to the server 120 is the first request received by its preset area 300 in an inactive area 320 state, the self-moving garden device 110 may not receive a response immediately. However, the request can change its area from an inactive state to an active state, so that the self-moving garden device 110 and other self-moving garden devices 110 in the same area can obtain the corresponding differential calibration data in real time during the subsequent active area phase.

[0091] Correspondingly, this application also proposes another server 120 serving the self-moving garden device 110. The server 120 may include the request unit 121, response unit 122, and memory 123 described above. The request unit 121 of the server 120 periodically requests differential calibration data from the continuously operating reference station 210 for each preset region 300 currently marked as an active region 310. The data in the memory 123 is also refreshed accordingly based on the differential calibration data of each active region 310 returned by the continuously operating reference station 210. Upon receiving a request for differential calibration data from the self-moving garden device 110, the response unit 122, if the preset region 300 to which the self-moving garden device 110's initial location is indicated in the request is currently an active region 310, reads the differential calibration data corresponding to that preset region 300 from the memory 123 and returns it to the self-moving garden device 110. If the preset region 300 to which the preliminary positioning carried in the request belongs is currently an inactive region 320, the preset region 300 is modified from an inactive region 320 to an active region 310, so as to wait for the requesting unit 121 to obtain the differential calibration data of the preset region 300 from the continuously running reference station 210 in the next cycle.

[0092] In some embodiments, the period ΔT3 during which the server 120 requests differential calibration data from the active area 310 is less than or equal to 5 seconds. Preferably, the period ΔT3 during which the server 120 requests differential calibration data from the CROS 200 is greater than or equal to 1 second and less than or equal to 3 seconds. For example, the server 120 may request differential calibration data from the CROS 200 at a period of 1 second to adapt to the timeliness requirements of differential calibration data in the working scenario of the mobile garden device 110, and reduce the impact of differential age on RTK positioning accuracy.

[0093] In some embodiments, the differential calibration data of each preset region 300 stored in the system 100 should not be used continuously. A data aging mechanism can be introduced to make data that does not meet accuracy expectations expire and no longer be used after a certain period. In some embodiments, each piece of differential calibration data acquired by the server 120 is aged using its own timestamp. That is, a piece of data can be used for a limited time, and is no longer used after the time limit is exceeded. The server 120 is set with a first preset aging threshold ΔT1 for deleting stored differential calibration data. The data is deleted after the acquisition time of the differential calibration data reaches the first preset aging threshold ΔT1. Assuming that at time t0, in response to a request from the self-moving garden device 110, data 1 corresponding to region 1 is written to the memory 123, then data 1 will be deleted at most at time (t0+ΔT1). In some embodiments, the first preset aging threshold ΔT1 for the differential calibration data to expire itself can be greater than or equal to 5s and less than or equal to 25s. Preferably, the first preset aging threshold ΔT1 is greater than or equal to 10s and less than or equal to 20s. For example, each piece of data in server 120 can be retained for up to 20 seconds to meet the timeliness requirements of differential calibration data in the working scenario of mobile garden device 110, and to allow for a certain degree of communication interruption.

[0094] In other embodiments, with Figure 6A Taking system 100 as an example, in addition to the aging mechanism inherent in each data set, the marking of the active region 310 used to acquire differential calibration data also has an aging mechanism. That is, a region can only be marked as an active region for a limited time; after this time limit, the corresponding data for that region will no longer be used, and new data for that region will not be requested in the next cycle until the region is marked as active again. Figure 6AAs shown, server 120 is configured with a second preset aging threshold ΔT2 for removing the active region 310 marker. After the marker duration of active region 310 reaches the second preset aging threshold ΔT2, it is restored to inactive region 320. Assuming that at time t0, in response to a request from the self-moving garden device 110, region 1 is changed from inactive region 320 to active region 310, then at time (t0+ΔT2), the active region 310 marker for region 1 is removed, and region 1 is restored to inactive region 320. The differential calibration data corresponding to region 1 becomes invalid, and differential calibration data for region 1 will not be acquired in the next cycle. It is understood that although the second preset aging threshold ΔT2 also affects the invalidation of differential calibration data, it and the first preset aging threshold ΔT1 can operate independently of each other. In some embodiments, the second preset aging threshold ΔT2 may be longer than the first preset aging threshold ΔT1, and the first preset aging threshold ΔT1 may be longer than the cycle ΔT3 during which server 120 requests differential calibration data for each active region 310 from CROS 200. During the period [0, ΔT2] when a preset region 300 is marked as an active region 310, server 120 periodically requests data from CROS 200 for this region. Ideally, the data in this region is refreshed periodically with the request period ΔT3 until the region returns to an inactive region at time ΔT2. ΔT3 is less than ΔT2, and the acquisition time of the data obtained after each refresh does not exceed the second preset aging threshold. However, the action of server 120 to request data from CROS 200 may fail in cases such as loss of connection, and a piece of data may still have an acquisition time exceeding the second preset aging threshold. At this time, the second preset aging threshold related mechanism operates to prevent the data from being continuously used. In some embodiments, the second preset aging threshold ΔT2 for the above-mentioned active region marking failure can be greater than or equal to 20 minutes and less than or equal to 60 minutes. Preferably, the second preset aging threshold ΔT2 is greater than or equal to 20 minutes and less than or equal to 40 minutes. For example, a preset area 300 within server 120 is marked as an active area 310. After 30 minutes, this preset area 300 reverts to an inactive area 320. In summary, system 100 can achieve an optimal result by considering multiple factors such as the accuracy of data differential aging, a certain degree of tolerance for communication interruptions, and the billing rules for data exchange with CROS 200.

[0095] In some other embodiments, such as Figure 6B Taking system 100 as an example, the mechanism for invalidating active region markers can be more dynamic. The calculation of whether the second preset aging threshold ΔT2 has been reached can be based on the duration during which no new requests have been issued in a preset region 300. That is, instead of using the moment when the inactive region 320 first receives a request as the starting point, the calculation starting point is refreshed at the moment each request is received. For example... Figure 6BAs shown, assuming that at time t0, in response to a request from the first self-moving garden device 110a, region 1 is adjusted from inactive region 320 to active region 310, and the second preset aging threshold is ΔT2. If, within the time period (t0, t0+ΔT2), the server 120 does not receive a request from another self-moving garden device 110 belonging to region 1 for initial location, then region 1 reverts to inactive region 320. The differential calibration data corresponding to region 1 becomes invalid, and the server 120 will no longer request differential calibration data for region 1 from CROS 200 in the next cycle. Figure 6B As shown, if at time t1 within the time period (t0, t0+ΔT2), the second self-moving garden, also located in region 1 and the first self-moving garden device 110a, sends a request to the server 120, then the marker for region 1 as an active region 310 is refreshed. If, within the time period (t1, t1+ΔT2), the server 120 does not receive a request from another self-moving garden device 110 that initially locates another device belonging to region 1, then region 1 reverts to an inactive region 320. This process continues, making the aging mechanism for active region markers more reasonable in similar scenarios.

[0096] In some embodiments, after receiving a request for differential calibration data from the mobile garden device 110, the server 120 in the system 100 may also authenticate the identity of the mobile garden device 110 before performing the corresponding processing, so as to ensure system security and be used for related tariff settlement.

[0097] In some embodiments, following the foregoing, the server 120 serving the self-operated garden device 110 can select or switch differential calibration data from different continuously operating reference stations, and can selectively request differential calibration data from one or more continuously operating reference stations 210. This includes, but is not limited to, selecting the continuously operating reference station 210 that is closer, has lower current cost, or has higher current data accuracy based on scenario requirements. It can also request differential calibration data from multiple continuously operating reference stations 210 for calibration, averaging, and then storage or feedback. In some embodiments, the server 120 serving the self-operated garden device 110 can be configured with an authenticated account capable of interacting with continuously operating reference stations 210 of different CROS 200s for differential calibration data. Available CROS 200s include, but are not limited to, u-blox, Polaris, Swift, etc. Furthermore, the same or different CROS 200s may also include continuously operating reference stations 210 located in or responsible for different countries or regions. Server 120 can be further configured with an authentication account capable of exchanging differential calibration data with continuously operating reference stations 210 in different countries or regions. This authentication account serves as the identity credential for server 120 when requesting data from the CROS 200 provider, ensuring communication security and being used for related billing settlements. In some embodiments, servers 120 located in or responsible for different countries or regions can be set up within system 100, each server 120 being configured with the authentication account of the continuously operating reference station 210 in the corresponding country or region. Furthermore, self-propelled garden devices 110 located in different countries or regions within system 100 can send requests to the corresponding server 120 to obtain differential calibration data, further optimizing the internal division of labor and ensuring the efficiency and accuracy of data exchange.

[0098] In one alternative implementation, the self-moving garden device 110 may request differential calibration data from the server 120 as an alternative. The self-moving garden device system 100 includes the self-moving garden device 110 and the server 120, as well as a base station. The base station is generally installed in a fixed location, and its installation location is known. Furthermore, the base station can acquire satellite observation data provided by GNSS, and then use the known installation location and GNSS observation data to calculate differential calibration data. This differential calibration data can then be transmitted to the self-moving garden device 110 within a certain distance range via a base station radio. Therefore, for the self-moving garden device 110 near the base station, obtaining the differential calibration data calculated by the base station to correct its initial positioning is a good option, and can be considered as an alternative to the previously described scheme of obtaining differential calibration data from the server 120, to address unforeseen needs.

[0099] In some embodiments, the self-moving garden device 110 within system 100 may request differential calibration data calculated by the base station from the base station if its communication characteristic parameters or the calculated values ​​of its communication characteristic parameters with the base station do not exceed the corresponding threshold. Conversely, if its communication characteristic parameters or the calculated values ​​of its communication characteristic parameters with the base station exceed the corresponding threshold, it may request differential calibration data calculated by CROS 200 from server 120. In some embodiments, the communication characteristic parameters between the self-moving garden device 110 and the base station include, but are not limited to, their distance, the number of shared satellites, and the number of data packet losses. Weighted summation of these parameters may also be performed during comparison. In principle, when one or more of the following occur—such as excessive distance, insufficient number of shared satellites, or excessive number of data packet losses—the quality or efficiency of the differential calibration data calculated by the base station decreases, the self-moving garden device 110 may request differential calibration data from server 120 instead.

[0100] Practical experience has shown that, purely from a cost perspective, assuming a lawnmower robot works 2-8 hours a day, requests differential calibration data every 2 or 3 seconds, and each differential calibration data request is 1.5kB, the highest cost of the above-mentioned solution (using server 120 as an intermediary to coordinate data requests from CROS 200, working 8 hours a day, requesting differential calibration data every 2 seconds) can be reduced by 46% compared to the lowest cost of setting up only a single base station within system 100. If dual or multiple base stations are set up for the front and back yards, the lowest cost of the above solution (working 2 hours a day, requesting differential calibration data every 5 seconds) can be reduced by 94% or more. Furthermore, compared to the mobile garden device 110 directly requesting differential calibration data from CROS 200, a substantial amount of subscription fees can be saved.

[0101] This application also proposes a data processing method that can be applied to a server that is communicatively connected to both the client and the CROS 200. Continuing from the foregoing, it can be applied to a server 120 that is communicatively connected to both the self-moving garden device 110 and the continuously operating reference station 210. The server 120 may include a request unit 121, a response unit 122, and a memory 123.

[0102] refer to Figure 7 The data processing method may include the following specific steps: Step 710: Receive a request from the client for differential calibration data, which includes the client's preliminary location.

[0103] Step 720: Locate the differential calibration data in memory 123 that corresponds to the preliminary positioning of the client carried in the request.

[0104] Step 730: If the search is successful, send the differential calibration data to the client.

[0105] Step 740: In the event of a failed search, request differential calibration data from the continuously running reference station 210 once or cyclically based on a preset program, and store the differential calibration data returned by the continuously running reference station 210 in the memory 123.

[0106] In some embodiments, the above data processing method further includes: periodically deleting expired differential calibration data from the memory.

[0107] In some embodiments, the above data processing method further includes: after requesting differential calibration data from the continuously running reference station 210 once in step 740, the obtained differential calibration data is also returned to the client that initiated the request.

[0108] In some embodiments, step 740 of the above data processing method, which involves cyclically requesting differential calibration data from the continuously operating reference station 210 based on a preset program, specifically includes: marking the preset region 300 to which the preliminary positioning carried in the request belongs as an active region 310; and periodically requesting differential calibration data of the preset region 300 marked as an active region 310 from the continuously operating reference station 210 until the marking of the active region 310 becomes invalid.

[0109] This application also proposes a non-volatile computer-readable storage medium storing computer program instructions that, when executed by a processor, can implement any of the embodiments described above.

[0110] The technical effects of this application include at least the following: a system architecture that uses a server as an intermediary to transmit differential calibration data from continuously operating reference stations to self-moving garden devices can improve the positioning accuracy of self-moving garden devices, effectively reduce the number or frequency of requests for differential calibration data from continuously operating reference stations by the self-moving garden device cluster, reduce related costs, and more flexibly and efficiently request and obtain more accurate data from multiple / different continuously operating reference stations.

[0111] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this application.

Claims

1. A self-moving garden device system comprising a first self-moving garden device, a second self-moving garden device, and a server, wherein, The first self-moving garden device comprises: a first satellite positioning module configured to receive a first satellite positioning signal; a first wireless communication module in communication connection with the server and configured to send a first request to the server to obtain first differential calibration data, the first request carrying a first preliminary positioning determined based on the first satellite positioning signal; a first controller in electrical connection with the first satellite positioning module and the first wireless communication module respectively, and configured to calculate an accurate position of the first self-moving garden device based on the first satellite positioning signal and the first differential calibration data; The second self-moving garden device comprises: a second satellite positioning module configured to receive a second satellite positioning signal; a second wireless communication module in communication connection with the server and configured to send a second request to the server to obtain second differential calibration data, the second request carrying a second preliminary positioning determined based on the second satellite positioning signal; a second controller in electrical connection with the second satellite positioning module and the second wireless communication module respectively, and configured to calculate an accurate position of the second self-moving garden device based on the second satellite positioning signal and the second differential calibration data; The server is configured to obtain differential calibration data from a continuously operating reference station; the server calls the same differential calibration data as the first differential calibration data in response to the first request and as the second differential calibration data in response to the second request, wherein the request time difference of the first request and the second request is less than or equal to a preset time difference threshold, and the first preliminary positioning and the second preliminary positioning belong to the same preset area.

2. The self-moving garden device system of claim 1, wherein, The first wireless communication module and / or the second wireless communication module are in communication connection with the server using a cellular network or Wi-Fi; and / or the server is in communication connection with the continuously operating reference station using WLAN.

3. The self-moving garden device system of claim 1, wherein, The preliminary positioning is calculated based on the communication address of the self-moving garden device and / or the satellite positioning signal; the positioning accuracy of the accurate position is better than that of the first preliminary positioning or the second preliminary positioning, and the average positioning accuracy of the accurate position is less than or equal to 10 cm.

4. The self-moving garden device system of claim 1, wherein, The server comprises a memory configured to store the differential calibration data returned by the continuously operating reference station.

5. The self-moving garden device system according to claim 4, wherein, The server is configured to read the differential calibration data of the preset area to which the preliminary positioning belongs carried in the request sent by the self-moving garden device from the memory and return it to the self-moving garden device if the differential calibration data is currently valid.

6. The self-moving garden device system according to claim 5, wherein, The server is configured to obtain the differential calibration data of the preset area to which the preliminary positioning belongs from the continuously operating reference station and store it in the memory if the differential calibration data is currently empty or invalid.

7. The self-moving garden device system of claim 5, wherein, The server is configured to periodically obtain the differential calibration data of each preset area currently marked as active from the continuously operating reference station and store it in the memory.

8. The self-moving garden device system according to claim 7, wherein, The server is configured to, if the preset area to which the preliminary positioning belongs is currently marked as an inactive area, the differential calibration data of the preset area is currently empty or invalid, mark the preset area as an active area to wait for the differential calibration data of the preset area to be acquired from the continuously operating reference station in the next period.

9. The self-moving garden device system of claim 1, wherein, The self-moving garden device system further comprises a base station configured to acquire satellite observation data, solve differential calibration data based on the satellite observation data, and send the differential calibration data to the self-moving garden device through a radio station; and the self-moving garden device is configured to request the differential calibration data from the server if a communication characteristic parameter of the self-moving garden device and the base station exceeds a corresponding threshold.

10. The self-moving garden device system of claim 1, wherein, The preset area comprises a plurality of areas divided according to a preset grid size and / or geographical boundary.

11. The self-moving garden device system of claim 1, wherein, The preset time difference threshold is less than or equal to 10s.

12. The self-moving garden device system of claim 1, wherein, The self-moving garden device system further comprises: a base station configured to acquire satellite observation data, solve differential calibration data based on the satellite observation data, and send the differential calibration data to the self-moving garden device through a radio station; and the self-moving garden device is configured to request the differential calibration data from the server if a communication characteristic parameter of the self-moving garden device and the base station exceeds a corresponding threshold.

13. The self-moving garden device system of claim 1, wherein, The number of the self-moving garden devices is greater than or equal to the number of the servers.

14. A server serving a self-moving garden device, wherein, The server comprises: The request unit is configured to periodically request differential calibration data of one or more preset areas currently marked as active areas from a continuously operating reference station; The memory is configured to store the differential calibration data returned by the continuously operating reference station; The response unit is configured to, in response to a request for differential calibration data from the self-moving garden device, search for differential calibration data corresponding to a preliminary positioning of the self-moving garden device carried in the request in the memory; send the differential calibration data to the self-moving garden device if the search is successful; and mark a preset area to which the preliminary positioning belongs as an active area if the search fails.

15. The server of claim 14, wherein, The period of the request unit for requesting differential calibration data from the continuously operating reference station is less than or equal to 3s.

16. The server of claim 14, wherein, The differential calibration data in the memory is deleted after a time length of acquisition exceeds a first preset aging threshold, and the first preset aging threshold is less than or equal to 20s. And / or, if a duration of no new request for a preset area marked as an active area exceeds a second preset aging threshold, the marking of the active area is invalid, and the second preset aging threshold is less than or equal to 30min.

17. The server of claim 14, wherein, The number of requests of the request unit is less than or equal to the number of responses of the response unit.

18. The server of claim 14, wherein, The request unit is configured with authentication accounts of continuously operating reference stations in different countries or regions; and / or the request unit is configured to selectively request the differential calibration data from one or more continuously operating reference stations.

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