Base station and self-moving robot system

Abstract

The utility model discloses a base station and a self-moving robot system. Belongs to the technical field of mowers. In the base station provided by the utility model, when the base station is in the first use state, the first power supply unit supplies power to the positioning module, so that the base station can be conveniently moved in the process of moving in a specified area to find a target installation position meeting the signal quality requirement, and the positioning accuracy is improved. And when the base station is in the first use state, the second power supply unit supplies power to the positioning module through the second power supply unit or the third power supply unit, so that the positioning module can continuously and stably execute a positioning function.

Description

Technical Field

[0001] The utility model relates to the technical field of base stations, and in particular to a base station and a self-moving robot system. Background Art

[0002] With the continuous development and popularization of global navigation satellite system (GNSS) technology, real-time dynamic carrier phase differential technology (RTK) is increasingly being used in the fields of measurement, navigation, and positioning. As a key device for achieving high-precision positioning, the stability and portability of the base station based on RTK are crucial to meeting the needs of modern surveying and mapping work.

[0003] The base station usually consists of a positioning module, a power supply module and a support module. The positioning module is responsible for receiving signals from the satellite and determining the precise position of the base station receiver by calculating the carrier phase difference. The power supply module provides the necessary power for the entire system to ensure its continuous and stable operation. The support module is used to support the positioning module and the power supply module at the target installation location. When installing a base station, you need to first find a target installation location where the signal quality meets the requirements, and in the process of finding the target installation location, you need to power the moving base station in real time.

[0004] In existing base stations, the base station is powered by the mains during the process of searching for the target installation location. However, for base stations installed outdoors, due to the complex terrain of the installation environment, it is inconvenient for workers to carry the base station to find the target installation location. If the mains is used for power supply, it will further increase the difficulty of finding the target installation location. Utility Model Content

[0005] The main purpose of the utility model is to provide a base station to solve the problem in the prior art that the base station is inconvenient to move during the process of finding an installation position.

[0006] The utility model provides a base station, the base station has a first use state and a second use state, and the base station includes:

[0007] A positioning module, used to perform a positioning function;

[0008] A power supply module, used to supply power to the positioning module, and comprising a first power supply unit, a second power supply unit, or / and a third power supply unit;

[0009] When the base station is in the first use state, the base station moves in a designated area to find a target installation location, and the positioning module is powered by the first power supply unit;

[0010] When the base station is in the second use state, the base station is installed at the target installation position, the positioning module is in a state of continuously performing a positioning function, and the positioning module is powered by the second power supply unit or the third power supply unit.

[0011] Further, the positioning module includes a power receiving interface;

[0012] The first power supply unit has a first power supply interface, and when the positioning module is in the first use state, the power receiving interface is electrically connected to the first power supply interface;

[0013] The second power supply unit has a second power supply interface, the third power supply unit has a third power supply interface, and when the positioning module is in the second use state, the power receiving interface is electrically connected to the second power supply interface or the third power supply interface.

[0014] Furthermore, the positioning module includes a mounting shell and a positioning unit, the mounting shell has a first mounting cavity, the positioning unit is accommodated in the first mounting cavity and is used to receive a positioning signal, and the power receiving interface is electrically connected to the positioning unit and is located outside the mounting shell.

[0015] Furthermore, the positioning module includes a control unit and an indication unit, the control unit is accommodated in the first installation cavity, and the control unit is communicated with the indication unit and the positioning unit respectively, wherein the indication unit is used to indicate whether the current position of the positioning unit is the target installation position.

[0016] Further, the positioning unit is located above the control unit and the indicating unit in the vertical direction.

[0017] Furthermore, the positioning module includes a communication unit, which is communicatively connected to the control unit and is used to perform a communication function, and the communication unit is connected to the outside of the installation shell and is arranged opposite to the power receiving interface.

[0018] Further, the positioning unit is located above the communication unit in the vertical direction.

[0019] Furthermore, the base station includes a supporting module, one end of which is connected to

[0020] The positioning module;

[0021] The power supply module includes a mounting base, which is sleeved on the support module and connected to the positioning module, wherein the mounting base is used to mount the second power supply unit.

[0022] Furthermore, the second power supply unit includes a photovoltaic panel assembly and a battery, the mounting base structure is formed with a first mounting portion and a second mounting portion, the photovoltaic panel assembly is arranged at the first mounting portion, and the battery is arranged at the second mounting portion.

[0023] Further, the mounting base is structured to form a socket, the first mounting portion and the second mounting portion are arranged on opposite sides of the socket along a first direction, and the mounting base is sleeved on the support module through the socket.

[0024] Further, the support module includes a support rod and a ground plug, the ground plug includes a first pin and a second pin, the first pin extends along the length direction of the support rod in a direction away from the support rod, the second pin includes a first section and a second section, the first section is connected between the second section and the first pin or the supported rod, wherein the second pin is rotatable relative to the first pin or the support rod so that the first section extends outward along the first direction and the second section extends in a direction away from the support rod.

[0025] Further, the ground plug includes a third pin, the third pin includes a third section and a fourth section, the third section is connected between the first pin and the fourth section, wherein the third section extends radially outward along the support rod, and the fourth section extends in a direction away from the support rod.

[0026] Further, the third section extends outwardly along the first direction, and the fourth section and the second section are located on opposite sides of the first pin along the first direction.

[0027] Further, the mounting base includes a first shell and a second shell, the first shell and the second shell are connected to form a second mounting cavity, a first wire hole and a second wire hole, and the first wire hole and the second wire hole are respectively connected to the second mounting cavity;

[0028] The second mounting portion is arranged in the second mounting cavity, the first power supply line led out from the photovoltaic panel assembly passes through the first wire hole and enters the second mounting cavity to be connected to the battery, and the second power supply line led out from the battery passes through the second wire hole and extends out of the second mounting cavity to be connected to the positioning module.

[0029] Furthermore, the mounting base forms a first wiring channel corresponding to the first mounting portion and the first wiring hole, the first wiring channel is connected to the first wiring hole, and the first power supply line is partially accommodated in the first wiring channel; and

[0030] The mounting base forms a second wiring channel corresponding to the first mounting portion and the second wiring hole structure, and the second power supply line is partially accommodated in the second wiring channel, wherein the second wiring channel is separated from the first wiring channel.

[0031] Furthermore, one of the mounting base and the positioning module is provided with a locking piece, and the other of the mounting base and the positioning module is provided with a locking groove. When the locking piece enters the locking groove, the positioning module and the mounting base are fixedly connected, and when the locking piece exits the locking groove, the positioning module and the mounting base are separated from each other.

[0032] Further, the mounting base includes a third shell, the third shell is connected to the first shell to form a third mounting cavity, the locking member is arranged in the third mounting cavity and can extend out of the third mounting cavity to enter the locking groove;

[0033] An elastic member is also provided in the third installation cavity, and the elastic member is used to drive the locking member to remain in the locking groove.

[0034] Furthermore, the locking member is connected to an unlocking member, and the unlocking member is used to drive the locking member to exit the locking groove.

[0035] Furthermore, the support module includes a support rod, which is connected to the positioning module and has a wiring space, a first wiring hole and a second wiring hole, the first wiring hole and the second wiring hole are respectively connected to the wiring space, and when the base station is in the second usage state, the third power supply line of the third power supply unit passes through the second wiring hole, the wiring space and the first wiring hole, and is connected to the power receiving interface through the third power supply interface.

[0036] Furthermore, the support rod includes a first rod and a second rod that are detachably connected, and when the base station is in the first use state, the first rod is separated from the second rod, and when the base station is in the second use state, the first rod is connected to the second rod.

[0037] Furthermore, the support module includes a first rod and a second rod, and the first rod and the second rod are telescopically connected. When the base station is in a first usage state, one of the first rod and the second rod can be retracted relative to the other of the first rod and the second rod. When the base station is in a second usage state, one of the first rod and the second rod can be extended relative to the other of the first rod and the second rod.

[0038] Furthermore, a fixing position is provided on the supporting module, and when the base station is in the first use state, the first power supply unit is arranged at the fixing position.

[0039] Furthermore, the first power supply unit is a portable mobile power supply, the second power supply unit is solar powered, and the third power supply unit is used to power external devices.

[0040] On the other hand, the utility model also provides a self-moving robot system, comprising any one of the base stations described above, and also comprising a self-moving robot, wherein the base station is used to position the self-moving robot.

[0041] In the base station of the utility model, when the base station is in the first usage state, the first power supply unit is used to supply power to the positioning module, so that the base station can be easily moved in the process of moving within the specified area to find a target installation position that meets the signal quality, thereby improving the efficiency of finding the target installation position, and when the base station is in the second usage state, the second power supply unit or the third power supply unit is used to supply power to the positioning module, so that the positioning module can continuously and stably perform the positioning function. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0043] Figure 1 This is a schematic diagram of the connection between the positioning module and the power supply module in an embodiment disclosed in the utility model

[0044] Figure 2 It is a schematic diagram of a positioning module in an embodiment disclosed in the present utility model being powered by a first power supply unit in a first use state.

[0045] Figure 3 It is a schematic diagram of a positioning module in an embodiment disclosed in the present utility model being powered by a third power supply unit in a second use state.

[0046] Figure 4 It is a schematic diagram of a positioning module in an embodiment disclosed in the present utility model being powered by a second power supply unit or a third power supply unit in a second use state.

[0047] Figure 5 It is a schematic diagram of a positioning module in an embodiment disclosed in the utility model.

[0048] Figure 6 It is a cross-sectional view of a positioning module in an embodiment disclosed in the utility model.

[0049] Figure 7 It is a cross-sectional view of a base station in one embodiment disclosed in the utility model.

[0050] Figure 8 It is a cross-sectional view of a support module in an embodiment disclosed in the utility model.

[0051] Fig. 9 It is an overall schematic diagram of a mounting base in an embodiment disclosed in the utility model.

[0052] Fig.10 This is a cross-sectional view of an embodiment disclosed in the utility model after the second power supply unit hides the photovoltaic panel assembly.

[0053] Fig.11 It is a schematic diagram of a second power supply unit, a mounting base and a positioning module in an embodiment disclosed in the utility model.

[0054] Fig.12 It is an exploded schematic diagram of a mounting base in an embodiment disclosed in the utility model.

[0055] The above drawings include the following reference numerals:

[0056] Base station 100, positioning module 10, power receiving interface 11, installation shell 12, first installation cavity 121, second connection part 122, locking groove 123, positioning unit 13, control unit 14, indication unit 15, communication unit 16, power cord 17, power supply module 20, first power supply unit 21, first power supply interface 211, second power supply unit 22, second power supply interface 221, photovoltaic panel assembly 222, battery 223, first power supply line 224, second power supply line 225, third power supply unit 23, third power supply interface 231, third power supply line 232, support module 40, support rod 41, first wiring hole 411, second wiring hole 412, first rod 413, first end 4131, second end 4132, first connection part 4133, second rod 414, third end 4141, fourth end 4142, wiring space 415, ground plug 44, first plug Pin 441, second pin 442, first section 4421, second section 4422, third pin 443, third section 4431, fourth section 4432, fixing position 43, mounting base 50, plug hole 51, first mounting portion 52, second mounting portion 53, first shell 54, first receiving hole 541, first port 542, first wall 543, second shell 55, second receiving hole 551, second port 552, second mounting cavity 56 , first wire passing hole 571, second wire passing hole 572, first sealing ring 573, second sealing ring 574, outer sealing member 575, inner sealing member 576, first wiring channel 581, second wiring channel 582, bottom plate 583, reinforcing plate 584, third shell 59, third installation cavity 591, locking member 61, receiving groove 611, limiting protrusion 612, elastic member 62, fifth end 621, sixth end 622, unlocking member 63. DETAILED DESCRIPTION

[0057] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0058] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0060] See also Figure 1 As shown, the utility model provides a base station 100, which includes a positioning module 10 and a power supply module 20. The positioning module 10 is used to receive satellite signals and calculate the distance between the satellite and the base station 100, and then transmit this information to a mobile station (such as a self-moving device such as a lawn mowing robot) through a radio signal, thereby realizing accurate positioning of the mobile station. The power supply module 20 is electrically connected to the positioning module 10 and is used to supply power to the positioning module 10.

[0061] For further information, see Figure 2-4 As shown, the base station 100 has a first use state and a second use state. The first use state is a state in which the base station 100 moves within a designated area; the second use state is a state in which the base station 100 remains at a fixed position and does not move any more.

[0062] Further, in the first use state, the positioning module 10 moves in the designated area to find the target installation position. The movement of the positioning module 10 includes but is not limited to manual movement or movement with the help of a mobile device. The mobile device can be an unmanned aerial device (such as a drone) that controls the movement in the designated area, or a wheeled device that can move on the ground (such as a wirelessly controlled remote control car, a drivable power car, or a pushable cart, etc.) that moves in the designated area.

[0063] In the second use state, the positioning module 10 is installed at a target installation position, wherein the target installation position is the position of the positioning module 10 when the preset positioning signal strength is met.

[0064] Furthermore, please combine Figure 1 As shown, the power supply module 20 includes a first power supply unit 21, a second power supply unit 22 and a third power supply unit 23. When the base station 100 is in the first use state, the first power supply unit 21 supplies power to the positioning module 10. When the base station 100 is in the second use state, the second power supply unit 22 or the third power supply unit 23 supplies power to the positioning module 10.

[0065] Furthermore, the first power supply unit 21 is a portable mobile power source, so that when the positioning module 10 is powered by the first power supply unit 21 to find the target installation position, it can not only meet the power supply demand of the positioning module 10, but also effectively reduce the overall weight of the base station 100 in the first use state, and the convenience of being able to move to any position. Thereby, the labor intensity of moving the base station 100 in the first use state can be reduced, and the efficiency of finding the target installation position can be effectively improved.

[0066] Furthermore, when the base station 100 is installed at the target installation location, the third power supply unit 23 or the second power supply unit 22 will be switched to power the positioning module 10, so as to provide a continuous and stable power supply to the positioning module 10. At the same time, the first power supply unit 21 can be recycled for reuse.

[0067] For further information, please refer to Figure 2-4 As shown, the positioning module 10 has a control unit 14, a power line 17 and a power receiving interface 11, one end of the power line 17 is connected to the power receiving interface 11, and the other end of the power line 17 is connected to the control unit 14. The first power supply unit 21 has a first power supply interface 211, the second power supply unit 22 has a second power supply interface 221, and the third power supply unit 23 has a third power supply interface 231.

[0068] When the positioning module 10 is in the first use state, the power receiving interface 11 is electrically connected to the first power supply interface 211. When the positioning module 10 is in the second use state, the power receiving interface 11 is electrically connected to the second power supply interface 221 or the third power supply interface 231.

[0069] By setting the power receiving interface 11 to be electrically connected to one of the first power supply interface 211, the second power supply interface 221 and the third power supply interface 231, it is possible to switch the power supply mode between the first power supply unit 21, the second power supply unit 22 and the third power supply unit 23, and it is also possible for the operator to quickly identify the current power supply mode.

[0070] For further information, see Figure 5-7 As shown, the positioning module 10 includes a mounting shell 12 and a positioning unit 13. The mounting shell 12 has a first mounting cavity 121, and the positioning unit 13 is received in the first mounting cavity 121 for receiving a positioning signal. The positioning signal can be a signal sent from a satellite or a positioning signal source arranged in a specified area.

[0071] By accommodating the positioning unit 13 in the first installation cavity 121 , the positioning unit 13 can be protected by the installation shell 12 , so that the base station 100 has a longer service life when installed in an outdoor environment.

[0072] Furthermore, the power receiving interface 11 is located outside the mounting shell 12 or on the mounting shell 12, and is electrically connected to the positioning unit 13 through the power cord 17, so that the power receiving interface 11 is convenient for being electrically connected to one of the first power supply interface 211, the second power supply interface 221 and the third power supply interface 231, and convenient for switching different power supply modes between the first power supply interface 211, the second power supply interface 221 and the third power supply interface 231.

[0073] In one embodiment, the power receiving interface 11 can be fixed on the mounting shell 12, so that when one of the first power supply interface 211, the second power supply interface 221 and the third power supply interface 231 is electrically connected to the power receiving interface 11, only one of the first power supply interface 211, the second power supply interface 221 and the third power supply interface 231 can be held to electrically connect or disconnect with the power receiving interface 11.

[0074] In another embodiment, the power receiving interface 11 extends out of the mounting shell 12 so that the power receiving interface 11 is suspended outside the mounting shell 12, so that when the power receiving interface 11 is electrically connected to one of the first power supply interface 211, the second power supply interface 221 and the third power supply interface 231, it can adapt to the different lengths of connecting wires corresponding to the first power supply interface 211, the second power supply interface 221 and the third power supply interface 231.

[0075] For further information, please refer to Figure 6-7 As shown, the positioning module 10 also includes an indication unit 15. The control unit 14 is accommodated in the first installation cavity 121, and the control unit 14 is respectively connected to the indication unit 15 and the positioning unit 13 for communication. The indication unit 15 is used to indicate whether the current position of the positioning unit 13 is the target installation position. Since the power cord 17 is connected to the control unit 14, the first power supply unit 21, the second power supply unit 22, or the third power supply unit 23 supplies power to the positioning unit 13 and the indication unit 15 through the control unit 14.

[0076] Furthermore, in the first usage state, the positioning unit 13 will move within the specified area and detect the positioning signal strength of the current position. When the positioning signal strength of the current position meets the preset positioning signal strength, the control unit 14 outputs the first indication information through the indication unit 15 (to prompt that the current position of the positioning unit 13 is the target installation position), and based on the first indication information, controls the base station 100 to stop moving.

[0077] When the positioning signal strength at the current position does not meet the preset positioning signal strength, the control unit 14 outputs a second indication message through the indication unit 15 (to prompt that the current position of the positioning unit 13 is not the target installation position), and based on the second indication message, controls the base station 100 to continue moving to find the target installation position.

[0078] Further, the indicating unit 15 is exposed on the mounting shell 12, for example, an opening is provided on the mounting shell 12, and the indicating unit is embedded in the opening. The indicating unit 15 is used to indicate the relationship between the satellite positioning signal strength received by the positioning unit 13 at the current position and the preset positioning signal strength, wherein the indicating unit 15 can be, but is not limited to, a structure that can indicate, such as an indicating light, a display screen, or a voice broadcast device.

[0079] For example, when the indicating unit 15 is an indicator light, the indicator light may display different colors to indicate the relationship between the positioning signal strength of the current position of the positioning unit 13 and the preset positioning signal strength.

[0080] Further, taking the preset positioning signal strength of 50 as an example, if the current positioning signal strength is 60, the indicator light is green, indicating that the positioning signal strength of the current position of the positioning unit 13 is greater than the preset positioning signal strength, and the positioning requirement is met; if the positioning signal strength is 40, the indicator light is red, indicating that the positioning signal strength of the current position of the positioning unit 13 is less than the preset positioning signal strength, and the positioning requirement is not met.

[0081] For another example, when the indicating unit 15 is a display screen, different digital information or text information can be displayed on the display screen to remind the worker of the relationship between the positioning signal strength of the current position of the positioning unit 13 and the preset positioning signal strength.

[0082] Further, taking the preset positioning signal strength of 50 as an example, if the current positioning signal strength is 60, the display screen displays "OK", indicating that the positioning signal strength of the current position of the positioning unit 13 is greater than the preset positioning signal strength, and the positioning requirement is met; if the positioning signal strength is 40, the display screen displays "Please continue to move", indicating that the positioning signal strength of the current position of the positioning unit 13 is less than the preset positioning signal strength, and the positioning requirement is not met.

[0083] For another example, when the indicating unit 15 is a voice broadcasting device, different digital information or text information can be broadcasted through the voice broadcasting device to remind the staff of the relationship between the positioning signal strength of the current position of the positioning unit 13 and the preset positioning signal strength.

[0084] Further, taking the preset positioning signal strength of 50 as an example, if the current positioning signal strength is 60, the voice broadcast device broadcasts "Please stop moving" to indicate that the positioning signal strength of the current position of the positioning unit 13 is greater than the preset positioning signal strength, and the positioning requirement is met; if the positioning signal strength is 40, the voice broadcast device broadcasts "Please continue moving" to indicate that the positioning signal strength of the current position of the positioning unit 13 is less than the preset positioning signal strength, and the positioning requirement is not met.

[0085] In the first use state, the positioning unit 13 will move within the specified area and detect the positioning signal strength of the current position. Through the real-time feedback of the indicating unit 15, the staff can quickly and accurately find the target installation position, thereby improving the installation efficiency.

[0086] Furthermore, the positioning unit 13 is located above the control unit 14 and the indication unit 15 in the vertical direction, so as to avoid the control unit 14 and the indication unit 15 interfering with the positioning unit 13 in receiving the positioning signal.

[0087] For further information, please refer to Figure 5-6 As shown, the positioning module 10 includes a communication unit 16. The communication unit 16 is in communication connection with the control unit 14. The power supply module 20 supplies power to the communication unit 16 through the control unit 14. The communication unit 16 is used to establish wireless communication between the positioning module 10 and the self-moving robot.

[0088] Furthermore, the communication unit 16 is disposed at the bottom of the installation shell 12, and is disposed opposite to the power receiving interface 11. Thus, when the positioning module 10 is in the first use state, the first power supply unit 21 and the communication unit 16 can achieve gravity balance relative to the installation shell 12, so that the base station 100 can maintain gravity balance in the process of searching for the target installation position, reducing the difficulty of maintaining gravity balance when moving the base station 100 in the first use state.

[0089] In one embodiment, the communication unit 16 can be embedded in the mounting shell 12, and key components such as the antenna and transceiver of the communication unit 16 can be embedded in specific parts of the mounting shell 12 to reduce the abruptness of the appearance and improve the overall aesthetics of the device.

[0090] Furthermore, the positioning unit 13 is located above the communication unit 16 in the vertical direction, so as to avoid the communication unit 16 interfering with the positioning unit 13 in receiving the positioning signal.

[0091] For further information, see Figure 8 Combined with Figure 4-5 As shown, the base station 100 further includes a supporting module 40 , and the positioning module 10 is disposed on the top of the supporting module 40 along the vertical direction.

[0092] Furthermore, the supporting module 40 has a first connecting portion 4133 , and the positioning module 10 has a second connecting portion 122 , the second connecting portion 122 is adapted to the first connecting portion 4133 , and the second connecting portion 122 is connected to the first connecting portion 4133 so that the positioning module 10 is detachably connected to the supporting module 40 .

[0093] In one embodiment, the first connection portion 4133 and the second connection portion 122 may be threadedly connected, wherein when the first connection portion 4133 is an external thread, the second connection portion 122 is a matching internal thread; or, when the first connection portion 4133 is an internal thread, the second connection portion 122 is an external thread.

[0094] In another embodiment, the first connection portion 4133 and the second connection portion 122 may be connected by a snap connection, wherein the first connection portion 4133 is a snap connection hole structure, and the second connection portion 122 is a matching snap connection arm structure; or, the first connection portion 4133 is a snap connection arm structure, and the second connection portion 122 is a matching snap connection hole structure.

[0095] By placing the positioning module 10 on the top of the supporting module 40 , the positioning module 10 can reduce the interference of the surrounding environment on the positioning unit 13 receiving the positioning signal and the interference on the wireless communication between the communication unit 16 and the self-moving robot when performing the positioning function.

[0096] For further information, please refer to Figure 9-10Combined with Figure 2-3 As shown, the power supply module 20 further includes a mounting base 50. The mounting base 50 is sleeved on the support module 40 and is used to mount the second power supply unit 22.

[0097] Furthermore, when the second power supply unit 22 is a solar power generation device, the mounting base 50 is used to mount the photovoltaic panel assembly 222 and the battery 223 .

[0098] The mounting base 50 is connected to the supporting module 40 and / or the positioning module 10 , so as to be fixedly mounted on the supporting module 40 through the supporting module 40 and / or the positioning module 10 , thereby achieving the installation of the photovoltaic panel assembly 222 and the battery 223 .

[0099] Further, the mounting base 50 is structured to form a socket 51, a first mounting portion 52, and a second mounting portion 53. The support module 40 passes through the socket 51 and is connected to the positioning module 10. Thus, the mounting base 50 is limited in direction by mutual restriction between the socket 51 and the support module 40 along the radial direction of the socket 51.

[0100] The first mounting portion 52 and the second mounting portion 53 are disposed at opposite sides of the insertion hole 51 along a first direction, wherein the first direction is one direction in the radial direction of the insertion hole 51 .

[0101] The photovoltaic panel assembly 222 is disposed on the first mounting portion 52, and the storage battery 223 is disposed on the second mounting portion 53. Thus, the photovoltaic panel assembly 222 and the storage battery 223 can maintain gravity balance relative to the support module 40, so that the base station 100 can be more stably installed at the target installation position through the support module 40.

[0102] For further information, see Figure 4 As shown, the support module 40 includes a ground plug 44 and a support rod 41 , one end of the support rod 41 is connected to the positioning module 10 , and the other end of the support rod 41 is connected to the ground plug 44 , so that the support rod 41 is connected between the positioning module 10 and the ground plug 44 .

[0103] Further, the ground plug 44 includes a first plug pin 441 and a second plug pin 442. The first plug pin 441 extends along the length direction of the support rod 41 in a direction away from the support rod 41. The second plug pin 442 includes a first section 4421 and a second section 4422. The first section 4421 is connected between the second section 4422 and the first plug pin 441 or the support rod 41.

[0104] Furthermore, the second pin 442 is rotatably arranged relative to the first pin 441 or the support rod 41, so that the first section 4421 is rotated and can extend outwardly along the first direction. The second section 4422 is connected to the first section 4421 and extends in a direction away from the support rod 41, so that when the second section 4422 is inserted in the target installation position, it is located below the first installation portion 52 or the second installation portion 53, so that when the base station 100 is installed in the target installation position, the stability of the base station 100 can be improved through the second pin 442, and the base station 100 can be better kept stable under the action of external forces (such as being blown by the wind).

[0105] Furthermore, one end of the first section 4421 away from the second section 4422 is threadedly connected to the first pin 441 , so that the phase of the second pin 442 relative to the first pin 441 can be adjusted as needed.

[0106] Preferably, the ground plug 44 includes two second pins 442, wherein the first section 4421 of one second pin 442 extends along the first direction so that the corresponding second section 4422 is inserted below the first mounting portion 52, and the first section 4421 of the other second pin 442 extends along the first direction so that the corresponding second section 4422 is inserted below the second mounting portion 53.

[0107] Furthermore, the ground plug 44 further includes a third plug pin 443, the third plug pin 443 includes a third section 4431 and a fourth section 4432, the third section 4431 extends radially outwardly along the axis 41 and is connected to the fourth section 4432, and the fourth section 4432 extends in a direction away from the support rod 41. The third section 4431 is fixedly connected between the fourth section 4432 and the first plug pin 441.

[0108] In one embodiment, the third section 4431 extends outwardly along the first direction. The third section 4431 extends in the opposite direction to the first section 4421 along the first direction, so that the fourth section 4432 and the second section 4422 are located on the opposite side of the first plug pin 441 along the first direction. Therefore, the second plug pin 442 and the third plug pin 443 can be used to strengthen one side of the battery 223 and one side of the photovoltaic panel assembly 222 respectively.

[0109] Further, when the second section 4422 is inserted under one side of the battery 223 , the fourth section 4432 is inserted under one side of the photovoltaic panel assembly 222 ; or, when the second section 4422 is inserted under one side of the photovoltaic panel assembly 222 , the fourth section 4432 is inserted under one side of the battery 223 .

[0110] In another embodiment, the third section 4431 extends outwardly along a second direction to connect to the fourth section 4432 , wherein the second direction and the first direction are two different directions.

[0111] For further information, see Figure 9-12 As shown, the mounting base 50 includes a first shell 54 and a second shell 55. The first shell 54 and the second shell 55 are connected to form a second mounting cavity 56, a first wire hole 571 and a second wire hole 572. The first wire hole 571 and the second wire hole 572 are connected to the second mounting cavity 56 respectively.

[0112] The second mounting portion 53 is disposed in the second mounting cavity 56 , so that the battery 223 is received in the second mounting cavity 56 , and the battery 223 can be protected by the mounting base 50 .

[0113] Furthermore, the first power supply line 224 led out from the photovoltaic panel assembly 222 passes through the first wire hole 571 and enters the second installation cavity 56 to connect with the battery 223. Thus, the portion of the first power supply line 224 located in the second installation cavity 56 can be protected by the installation base 50. Also, the connection between the first power supply line 224 and the battery 223 can be protected by the installation base 50.

[0114] The second power supply line 225 led out from the battery 223 passes through the second wire hole 572 and extends out of the second installation cavity 56 to be connected to the positioning module 10. Thus, the portion of the second power supply line 225 located in the second installation cavity 56 can be protected by the installation base 50. Also, the connection between the second power supply line 225 and the battery 223 can be protected by the installation base 50.

[0115] Furthermore, a first sealing ring 573 is provided at the first wire hole 571 , and the first power supply line 224 passes through the first sealing ring 573 and is connected between the photovoltaic panel assembly 222 and the battery 223 .

[0116] A second sealing ring 574 is provided at the second wire hole 572 , and the second power supply line 225 passes through the second sealing ring 574 and is connected between the positioning module 10 and the battery 223 .

[0117] Furthermore, please combine Figure 7 As shown, the first shell 54 is configured to have a first receiving hole 541 and a first port 542, and the second shell 55 is configured to have a second receiving hole 551 and a second port 552. The first receiving hole 541 is disposed correspondingly to the second receiving hole 551. The first port 542 is disposed correspondingly to the second port 552.

[0118] An outer seal 575 and an inner seal 576 are provided between the first shell 54 and the second shell 55. The outer seal 575 is sealedly connected between the first port 542 and the second port 552 so that the first port 542 and the second port 552 are sealedly connected, and the inner seal 576 is sealedly connected between the first receiving hole 541 and the second receiving hole 551 so that the first receiving hole 541 and the second receiving hole 551 are sealedly connected, and the insertion hole 51 is formed.

[0119] The first shell 54 and the second shell 55 are sealed and connected by providing an inner seal 576 and an outer seal 575, so that the second installation cavity 56 is a sealed cavity, thereby effectively protecting the battery 223 and the first power supply line 224 and the second power supply line 225 located in the second installation cavity 56.

[0120] Furthermore, when the first rod 413 or the second rod 414 is inserted into the insertion hole 51 , the inner seal 576 is also sealedly connected to the outer side wall of the first rod 413 or the second rod 414 , thereby enabling a sealed connection between the first rod 413 or the second rod 414 and the mounting base 50 .

[0121] One of the first port 542 or the second port 552 is a sealing groove, in which the outer sealing member 575 is disposed, and the other of the first port 542 and the second port 552 is a protrusion. The protrusion can be inserted into the sealing groove and hold the outer sealing member 575 in the sealing groove to make the first port 542 and the second port 552 sealed.

[0122] The cross-section of the inner seal 576 is an "H"-shaped structure with two upper and lower openings, wherein the opening end of the first receiving hole 541 is sealed and inserted into the upper opening of the inner seal 576, and the opening end of the second receiving hole 551 is sealed and inserted into the lower opening of the inner seal 576.

[0123] For further information, please refer to Figure 10-11 As shown, the mounting base 50 forms a first wiring channel 581 corresponding to the first mounting portion 52 and the first wiring hole 571 . The first wiring channel 581 is connected to the first wiring hole 571 , and a portion of the first power supply line 224 is received in the first wiring channel 581 .

[0124] The mounting base 50 is structured to form a second wiring channel 582 corresponding to the first mounting portion 52 and the second wiring hole 572 , and a portion of the second power supply line 225 is received in the second wiring channel 582 .

[0125] Furthermore, a base plate 583 is connected between the first mounting portion 52 and the first and second wire passing holes 571, 572, and a plurality of reinforcing plates 584 are formed on the base plate 583. The plurality of reinforcing plates 584 are arranged along the direction from the first mounting portion 52 to the first and second wire passing holes 571, 572, so that a first wiring channel 581 and a second wiring channel 582 are formed between the base plate 583 and the plurality of reinforcing plates 584, and the second wiring channel 582 is separated from the first wiring channel 581 by a reinforcing plate 584.

[0126] In the first embodiment, the mounting base 50 can be fixedly mounted on the support module 40 by means of a plug-in connector such as a latch, or can be fixedly mounted on the support module 40 by means of an elastic snap-fit ​​structure.

[0127] In the second embodiment, the mounting base 50 and the mounting shell 12 may be locked together by means of fixing members such as screws so that the mounting base 50 and the mounting shell 12 are detachably connected.

[0128] Please refer to Figure 7 As shown, in the third embodiment, one of the mounting base 50 and the positioning module 10 is provided with a locking member 61 , and the other of the mounting base 50 and the positioning module 10 is provided with a locking groove 123 .

[0129] When the locking member 61 enters the locking groove 123, the positioning module 10 and the mounting base 50 are fixedly connected. When the locking member 61 exits the locking groove 123, the positioning module 10 and the mounting base 50 are separated from each other.

[0130] In one embodiment, the locking member 61 is disposed on the mounting shell 12, and the locking groove 123 is disposed on the mounting base 50. When the locking member 61 enters the locking groove 123, the positioning module 10 and the mounting base 50 are fixedly connected, and when the locking member 61 exits the locking groove 123, the positioning module 10 and the mounting base 50 are separated from each other.

[0131] In another embodiment, the locking groove 123 is provided on the positioning module 10, and the locking member 61 is provided on the mounting base 50. When the locking member 61 enters the locking groove 123, the positioning module 10 and the mounting base 50 are fixedly connected, and when the locking member 61 exits the locking groove 123, the positioning module 1020 and the mounting base 50 are separated from each other.

[0132] Furthermore, please combine Fig.12 As shown, the mounting base 50 includes a third shell 59 . The third shell 59 is connected to the first shell 54 to form a third mounting cavity 591 . The locking member 61 is disposed in the third mounting cavity 591 and can extend out of the third mounting cavity 591 to enter the locking groove 123 .

[0133] An elastic member 62 is further disposed in the third installation cavity 591 , and the elastic member 62 is used to drive the locking member 61 to remain in the locking groove 123 .

[0134] In one embodiment, the elastic member 62 is used to provide a pulling force to drive the locking member 61 to remain in the locking groove 123. The elastic member 62 can be a tension spring or an elastic rope.

[0135] In another embodiment, the elastic member 62 is used to provide a thrust to drive the locking member 61 to remain in the locking groove 123. The elastic member 62 can be a compression spring, a tower spring, a disc spring, a metal spring, a silicone member, etc.

[0136] In one embodiment, the first shell 54 and / or the third shell 59 has a first wall 543 corresponding to the third installation cavity 591, and the axial direction of the elastic member 62 is perpendicular to the first wall 543. The elastic member 62 includes a fifth end 621 and a sixth end 622 opposite to each other, the fifth end 621 abuts against the first wall 543, and the sixth end 622 abuts against the locking member 61, so that the elastic member 62 is elastically squeezed between the first wall 543 and the locking member 61.

[0137] Furthermore, the locking member 61 is structured to form a receiving groove 611 and a limiting protrusion 612 located in the receiving groove 611 , and the limiting protrusion 612 is arranged along the axial direction of the elastic member 62 toward the first wall 543 . The sixth end 622 is sleeved on the limiting protrusion 612 .

[0138] By providing the receiving groove 611 and the limiting protrusion 612 , the elastic member 62 can be effectively limited in the radial direction of the elastic member 62 , so that the elastic member 62 is stably held in the third installation cavity 591 , thereby providing driving force to the locking member 61 more stably.

[0139] Furthermore, the locking member 61 is connected to an unlocking member 63 , and the unlocking member 63 is used to drive the locking member 61 to exit the locking groove 123 .

[0140] In one embodiment, the unlocking member 63 and the locking member 61 are integrated so that the locking member 61 and the unlocking member 63 move synchronously.

[0141] In another embodiment, the locking member 61 and the unlocking member 63 are separately arranged. The unlocking member 63 may be an automatic driving device, which is used to drive the locking member 61 to exit the locking groove 123.

[0142] Furthermore, the self-driving device may be an electric driving device, such as an electric motor, which can drive the locking member 61 to exit the locking groove 123. Alternatively, the unlocking member 63 may also be a pneumatic driving device, such as a cylinder, which can drive the locking member 61 to squeeze the elastic member 62 to exit the locking groove 123.

[0143] The unlocking member 63 may also be a manual operating mechanism. Specifically, the manual operating mechanism drives the locking member 61 to squeeze the elastic member 62 to exit the locking groove 123 under the action of an external force.

[0144] For further information, see Figure 3 , 4 As shown in FIG. 8 , the support rod 41 has a wiring space 415 , a first wiring hole 411 and a second wiring hole 412 . The first wiring hole 411 and the second wiring hole 412 are respectively connected to the wiring space 415 , and the first wiring hole 411 is close to the positioning module 10 , and the second wiring hole 412 is close to the ground plug 44 .

[0145] Furthermore, when the positioning module 10 in the second usage state is powered by the third power supply unit 23, the third power supply line 232 that transmits the third power supply unit 23 can pass through the second wiring hole 412 into the wiring space 415 and pass out from the first wiring hole 411 to electrically connect the third power supply interface 231 and the power receiving interface 11.

[0146] Furthermore, the support rod 41 at least includes a first rod 413 and a second rod 414. In one embodiment, the mounting base 50 is disposed on the first rod 413, the wiring space 415, the first wiring hole 411 and the second wiring hole 412 are all disposed on the second rod 414, and the first wiring hole 411 is close to the third end 4141 of the second rod 414. The ground plug 44 is connected to the fourth end 4142 of the second rod 414. Thus, the third power supply line 232 of the third power supply unit 23 can extend out of the second rod 414 and facilitate the electrical connection or separation between the third power supply interface 231 and the power receiving interface 11, and facilitate the disassembly of the mounting base 50 from the first rod 413.

[0147] The first rod 413 has a first end 4131 and a second end 4132 that are opposite to each other, and the second rod 414 has a third end 4141 and a fourth end 4142 that are opposite to each other.

[0148] In one embodiment, the first rod 413 is detachably connected to the second rod 414. Further, the second end 4132 is detachably connected to the third end 4141 so that the support module 40 has a separated state and a connected state.

[0149] When the base station 100 is in the first use state, the first rod 413 is separated from the second rod 414. At this time, the positioning module 10 and the first power supply unit 21 are supported only by the first rod 413, so that when the base station 100 in the first use state is moved, the labor intensity can be effectively reduced and the efficiency of finding the target installation position can be improved.

[0150] When the base station 100 is in the second use state, the first rod 413 is connected to the second rod 414. At this time, the positioning module 10 can be effectively installed at a relatively higher position through the connection between the first rod 413 and the second rod 414, so that the positioning module 10 can perform the positioning function on the target device.

[0151] Furthermore, when installing the mounting base 50, the first rod 413 and the second rod 414 are separated so that the supporting module 40 is in a separated state. At this time, the first rod 413 can be inserted into the socket 51 from the second end 4132, and the mounting base 50 is connected to the first rod 413 and / or to the positioning module 10, and then the first rod 413 is connected to the second rod 414. Alternatively, the second rod 414 can be inserted into the socket 51 from the third end 4141, and after the mounting base 50 is connected to the second rod 414, the first rod 413 is connected to the second rod 414 so that the module is in a connected state, thereby realizing the connection of the mounting base 50.

[0152] When disassembling the mounting base 50, the first rod 413 and the second rod 414 are separated to make the support module 40 in a separated state. At this time, the first rod 413 can be withdrawn from the socket 51 from the second end 4132, or the second rod 414 can be withdrawn from the socket 51 from the third end 4141. After the mounting base 50 is disassembled, the first rod 413 and the second rod 414 are connected to make the support module 40 in a connected state, thereby completing the disassembly of the mounting base 50.

[0153] In another embodiment, the second end 4132 is connected to the third end 4141, and one of the first rod 413 and the second rod 414 can be telescopic relative to the other of the first rod 413 and the second rod 414 so that the support module 40 is telescopically connected.

[0154] Furthermore, when the base station 100 is in the first use state, one of the first rod 413 and the second rod 414 can be retracted relative to the other of the first rod 413 and the second rod 414. Thus, the center of gravity of the base station 100 in the first use state can be lowered, so as to facilitate the movement of the base station 100.

[0155] When the base station 100 is in the second use state, one of the first rod 413 and the second rod 414 can be extended relative to the other of the first rod 413 and the second rod 414. At this time, the positioning module 10 can be effectively installed at a relatively higher position so that the positioning module 10 can perform the positioning function on the target device.

[0156] For further information, please refer to Figure 2 As shown, a fixing position 43 is provided on the supporting module 40 or the mounting base 50 . When the base station 100 is in the first use state, the first power supply unit 21 is disposed at the fixing position 43 .

[0157] In one embodiment, the fixed position 43 is used for the first power supply unit 21, so that when the base station 100 is moved in the first usage state, the first power supply unit 21 can move synchronously with the support module 40 under the fixed support of the fixed position 43, thereby avoiding the first power supply unit 21 being connected to the power receiving interface 11 only through the first power supply interface 211, and moving with the positioning module 10 and the support module 40 in a suspended state.

[0158] Furthermore, the fixing position 43 may be a receiving groove, and the first power supply unit 21 is at least partially received in the receiving groove.

[0159] Furthermore, the first power supply unit 21 may be, but is not limited to, a portable and movable power supply device such as a power bank or a dry cell battery that can store a certain amount of electrical energy for the positioning module 10 to work within a certain period of time.

[0160] The second power supply unit 22 is a power supply device capable of self-generating electricity, so that the base station 100 installed at the target installation location can continuously and stably perform the positioning function under the power supply of the second power supply unit 22 .

[0161] Furthermore, the second power supply unit 22 may be a power supply device capable of self-generating electricity, such as a generator, a wind power generation device, a solar power generation device, etc. It may also be an energy storage device such as a large storage battery 223 that is not convenient to carry and move.

[0162] For further information, please refer to Figure 4 , 7 As shown, when the second power supply unit 22 is a solar power generation device, the second power supply unit 22 includes a photovoltaic panel assembly 222 and a battery 223. The photovoltaic panel assembly 222 is used to convert light energy into electrical energy. The battery 223 is electrically connected to the positioning module 10 and the photovoltaic panel assembly 222, respectively, for storing electrical energy and supplying power.

[0163] When the second power supply interface 221 is electrically connected to the power receiving interface 11 , the photovoltaic panel assembly 222 can absorb light energy from an external light source and convert the absorbed light energy into electrical energy to transmit to the storage battery 223 , and the storage battery 223 transmits the received electrical energy to the positioning module 10 .

[0164] The third power supply unit 23 may be an external device capable of supplying power, for example, another base station 100 or a charging station for a self-moving robot.

[0165] On the other hand, the present invention also provides a self-moving robot system, which includes the base station 100 of any of the above embodiments, and also includes a self-moving robot. The base station 100 is used to locate the self-moving robot. Therefore, the self-moving robot system also has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0166] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0167] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0168] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A base station, characterized in that: The base station (100) has a first use state and a second use state, and the base station (100) comprises: A positioning module (10), used for performing a positioning function; A power supply module (20), used for supplying power to the positioning module (10), and comprising a first power supply unit (21), a second power supply unit (22), and / or a third power supply unit (23); When the base station (100) is in the first use state, the base station (100) moves within a designated area to find a target installation location, and the positioning module (10) is powered by the first power supply unit (21); When the base station (100) is in the second use state, the base station (100) is installed at the target installation location, the positioning module (10) is in a state of continuously performing a positioning function, and the positioning module (10) is powered by the second power supply unit (22) or the third power supply unit (23).

2. The base station according to claim 1, characterized in that The positioning module (10) comprises a power receiving interface (11); The first power supply unit (21) has a first power supply interface (211), and when the positioning module (10) is in the first use state, the power receiving interface (11) is electrically connected to the first power supply interface (211); The second power supply unit (22) has a second power supply interface (221), the third power supply unit (23) has a third power supply interface (231), and when the positioning module (10) is in the second use state, the power receiving interface (11) is electrically connected to the second power supply interface (221) or the third power supply interface (231).

3. The base station according to claim 2, characterized in that The positioning module (10) comprises a mounting shell (12) and a positioning unit (13); the mounting shell (12) has a first mounting cavity (121); the positioning unit (13) is received in the first mounting cavity (121) and is used to receive a positioning signal; the power receiving interface (11) is electrically connected to the positioning unit (13) and is located outside the mounting shell (12).

4. The base station according to claim 3, characterized in that The positioning module (10) comprises a control unit (14) and an indication unit (15), wherein the control unit (14) is accommodated in the first installation cavity (121), and the control unit (14) is respectively connected to the indication unit (15) and the positioning unit (13) for communication, wherein the indication unit (15) is used to indicate whether the current position of the positioning unit (13) is the target installation position.

5. The base station according to claim 4, characterized in that The positioning unit (13) is located above the control unit (14) and the indicating unit (15) in the vertical direction.

6. The base station according to claim 4, characterized in that The positioning module (10) comprises a communication unit (16), the communication unit (16) is communicatively connected to the control unit (14) and is used to perform a communication function, and the communication unit (16) is connected to the outside of the mounting shell (12) and is arranged opposite to the power receiving interface (11).

7. The base station according to claim 6, characterized in that The positioning unit (13) is located above the communication unit (16) in the vertical direction.

8. The base station according to any one of claims 2 to 7, characterized in that: The base station (100) comprises a supporting module (40), one end of the supporting module (40) being connected to the positioning module (10); The power supply module (20) comprises a mounting base (50), the mounting base (50) being sleeved on the support module (40) and connected to the positioning module (10), wherein the mounting base (50) is used to mount the second power supply unit (22).

9. The base station according to claim 8, characterized in that The second power supply unit (22) comprises a photovoltaic panel assembly (222) and a storage battery (223); the mounting base (50) is structured to have a first mounting portion (52) and a second mounting portion (53); the photovoltaic panel assembly (222) is arranged on the first mounting portion (52), and the storage battery (223) is arranged on the second mounting portion (53).

10. The base station according to claim 9, characterized in that The mounting base (50) is structured to form a plug hole (51), the first mounting portion (52) and the second mounting portion (53) are arranged on opposite sides of the plug hole (51) along a first direction, and the mounting base (50) is sleeved on the support module (40) through the plug hole (51).

11. The base station according to claim 9, characterized in that: The support module (40) includes a support rod (41) and a ground plug (44), wherein the ground plug (44) includes a first pin (441) and a second pin (442), wherein the first pin (441) extends along the length direction of the support rod (41) in a direction away from the support rod (41), and the second pin (442) includes a first section (4421) and a second section (4422), wherein the first section (4421) is connected between the second section (4422) and the first pin (441) or the supported rod (41), wherein the second pin (442) is rotatable relative to the first pin (441) or the support rod (41) so that the first section (4421) extends outward along the first direction, and the second section (4422) extends in a direction away from the support rod (41).

12. The base station according to claim 11, characterized in that The ground plug (44) includes a third plug pin (443), and the third plug pin (443) includes a third section (4431) and a fourth section (4432), wherein the third section (4431) is connected between the first plug pin (441) and the fourth section (4432), wherein the third section (4431) extends radially outwardly along the support rod (41), and the fourth section (4432) extends in a direction away from the support rod (41).

13. The base station according to claim 12, characterized in that: The third section (4431) extends outwardly along the first direction, and the fourth section (4432) and the second section (4422) are located on opposite sides of the first pin (441) along the first direction.

14. The base station according to claim 9, characterized in that: The mounting base (50) comprises a first shell (54) and a second shell (55), wherein the first shell (54) and the second shell (55) are connected to form a second mounting cavity (56), a first wire-passing hole (571) and a second wire-passing hole (572), and the first wire-passing hole (571) and the second wire-passing hole (572) are respectively connected to the second mounting cavity (56); The second mounting portion (53) is disposed in the second mounting cavity (56); a first power supply line (224) led out from the photovoltaic panel assembly (222) passes through the first wire hole (571) and enters the second mounting cavity (56) to be connected to the battery (223); a second power supply line (225) led out from the battery (223) passes through the second wire hole (572) and extends out of the second mounting cavity (56) to be connected to the positioning module (10).

15. The base station according to claim 14, characterized in that: The mounting base (50) is structured to form a first wiring channel (581) corresponding to the first mounting portion (52) and the first wiring hole (571), the first wiring channel (581) is connected to the first wiring hole (571), and the first power supply line (224) is partially accommodated in the first wiring channel (581); and The mounting base (50) is structured to form a second wiring channel (582) corresponding to the first mounting portion (52) and the second wiring hole (572), and the second power supply line (225) is partially accommodated in the second wiring channel (582), wherein the second wiring channel (582) is separated from the first wiring channel (581).

16. The base station according to claim 15, characterized in that: One of the mounting base (50) and the positioning module (10) is provided with a locking piece (61), and the other of the mounting base (50) and the positioning module (10) is provided with a locking groove (123); when the locking piece (61) enters the locking groove (123), the positioning module (10) and the mounting base (50) are fixedly connected; when the locking piece (61) exits the locking groove (123), the positioning module (10) and the mounting base (50) are separated from each other.

17. The base station according to claim 16, characterized in that: The mounting base (50) comprises a third shell (59), the third shell (59) is connected to the first shell (54) to form a third mounting cavity (591), the locking member (61) is arranged in the third mounting cavity (591) and can extend out of the third mounting cavity (591) to enter the locking groove (123); An elastic member (62) is also provided in the third installation cavity (591), and the elastic member (62) is used to drive the locking member (61) to remain in the locking groove (123).

18. The base station according to claim 16, characterized in that: The locking member (61) is connected to an unlocking member (63), and the unlocking member (63) is used to drive the locking member (61) to exit the locking groove (123).

19. The base station according to claim 8, characterized in that The support module (40) comprises a support rod (41), the support rod (41) being connected to the positioning module (10) and having a wiring space (415), a first wiring hole (411) and a second wiring hole (412), the first wiring hole (411) and the second wiring hole (412) being respectively connected to the wiring space (415), and when the base station (100) is in a second use state, the third power supply line (232) of the third power supply unit (23) passes through the second wiring hole (412), the wiring space (415) and the first wiring hole (411), and is connected to the power receiving interface (11) through the third power supply interface (231).

20. The base station according to claim 19, characterized in that The support rod (41) comprises a first rod (413) and a second rod (414) which are detachably connected. When the base station (100) is in the first use state, the first rod (413) is separated from the second rod (414); when the base station (100) is in the second use state, the first rod (413) is connected to the second rod (414).

21. The base station according to claim 8, characterized in that The support module (40) includes a first rod (413) and a second rod (414), and the first rod (413) and the second rod (414) are telescopically connected. When the base station (100) is in a first use state, one of the first rod (413) and the second rod (414) can be retracted relative to the other of the first rod (413) and the second rod (414). When the base station (100) is in a second use state, one of the first rod (413) and the second rod (414) can be extended relative to the other of the first rod (413) and the second rod (414).

22. The base station according to claim 8, characterized in that The support module (40) is provided with a fixing position (43), and when the base station (100) is in the first use state, the first power supply unit (21) is arranged at the fixing position (43).

23. The base station according to claim 1, characterized in that The first power supply unit (21) is a portable mobile power source, the second power supply unit (22) is solar powered, and the third power supply unit (23) is used to supply power to external equipment.

24. A self-propelled robot system, characterized in that: It comprises the base station (100) as described in any one of claims 1 to 23, and also comprises a self-moving robot, wherein the base station (100) is used for positioning the self-moving robot.

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