Working system of self-moving device, and base stations

Abstract

A working system of a self-moving device (10), and a base station (20). The working system of a self-moving device (10) comprises: a self-moving device (10) which walks autonomously and executes a work task; a first base station (21a) configured to acquire first satellite observation data, parse the first satellite observation data to generate first differential data, and transmit the first differential data to the self-moving device (10); and a second base station (21b) configured to acquire second satellite observation data, parse the second satellite observation data to generate second differential data, and transmit the second differential data to the self-moving device (10). The self-moving device (10) receives the first differential data from the first base station (21a) and the second differential data from the second base station (21b), calculates a difference parameter on the basis of the first differential data and the second differential data, when the difference parameter meets a corresponding base station (20) deviation condition, determines that the first base station (21a) and / or the second base station (21b) has deviated from a corresponding initial installation position, and issues a base station (20) deviation alarm.

Description

Working system and base station of mobile equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 26, 2023, with application number 202311254798.8. The entire contents of the above application are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of electric tools, and in particular to a working system and a base station of a self-propelled device. Background Art

[0003] Autonomous devices, such as lawn mowers, perform tasks such as mowing within a specific work area. Considering that GPS (Global Positioning System) and other GNSS (Global Navigation Satellite System) systems are affected by factors such as weather and obstructions, and have limited positioning accuracy, autonomous devices, consisting of a working system that also includes a base station, use differential positioning to achieve their own positioning and navigation within the work area.

[0004] The base station in the working system will theoretically be fixed at the installation location after initial installation. The self-mobile device receives differential data transmitted by the base station to correct satellite positioning errors. Once the base station deviates from the initial installation location, the differential data it transmits will not help the self-mobile device correct the positioning error. Instead, it will cause the self-mobile device to obtain incorrect positioning results and have an adverse effect on its navigation and work tasks.

[0005] This section provides background information related to the present application which is not necessarily prior art.

[0006] Summary of the Invention

[0007] One object of the present application is to solve or at least alleviate part or all of the above problems. To this end, the present application provides a working system of a mobile device and a base station.

[0008] This application adopts the following technical solutions:

[0009] A working system for a self-moving device comprises: a self-moving device configured to walk autonomously and perform work tasks; a first base station configured to obtain first satellite observation data, generate first differential data based on the analysis of the first satellite observation data, and transmit the first differential data to the self-moving device; a second base station configured to obtain second satellite observation data, generate second differential data based on the analysis of the second satellite observation data, and transmit the second differential data to the self-moving device; wherein the self-moving device is further configured to receive the first differential data from the first base station and the second differential data from the second base station, and calculate a difference parameter based on the first differential data and the second differential data; when the difference parameter meets the corresponding base station offset condition, it is determined that the first base station and / or the second base station have deviated from the corresponding initial installation position, and a base station offset alarm is issued.

[0010] In some embodiments, the difference parameter includes a coordinate difference; the mobile device calculates a first differential positioning coordinate of the mobile device based on the first differential data, and calculates a second differential positioning coordinate of the mobile device based on the corresponding second differential data, and then determines the coordinate difference from the first differential positioning coordinate and the second differential positioning coordinate.

[0011] In some embodiments, a first coordinate difference is determined from the first differential positioning coordinates calculated by the mobile device at the first moment and the second differential positioning coordinates, and a second coordinate difference is determined from the first differential positioning coordinates calculated at the second moment and the second differential positioning coordinates; when the difference between the first coordinate difference and the second coordinate difference exceeds a coordinate difference threshold, it is determined that the first base station and / or the second base station deviates from the installation position.

[0012] In some embodiments, the difference parameter includes a heading; the mobile device calculates a first differential positioning coordinate of the mobile device based on the first differential data, and calculates a second differential positioning coordinate of the mobile device based on the corresponding second differential data, and then determines the heading by the first differential positioning coordinate and the second differential positioning coordinate.

[0013] In some embodiments, a first heading corresponding to the first differential positioning coordinates and the second differential positioning coordinates calculated by the mobile device at the first moment is determined, and a second heading corresponding to the first differential positioning coordinates and the second differential positioning coordinates calculated at the second moment is determined; when the difference between the first heading and the second heading exceeds a heading difference threshold, it is determined that the first base station and / or the second base station deviates from the installation position.

[0014] In some embodiments, the self-mobile device includes an odometer and an inertial sensor; after determining that the first base station and / or the second base station deviates from the installation position, the self-mobile device determines a first differential displacement corresponding to the first base station based on the first differential positioning coordinates at the third moment and the fourth moment, and determines a second differential displacement corresponding to the second base station based on the second differential positioning coordinates at the third moment and the fourth moment; the mileage data from the odometer and the inertial data from the inertial sensor are integrated to calculate the sensor displacement in the time period from the third moment to the fourth moment; when the difference between the first differential displacement and the sensor displacement exceeds a displacement difference threshold, it is determined that the first base station deviates from the installation position; when the difference between the second differential displacement and the sensor displacement exceeds a displacement difference threshold, it is determined that the second base station deviates from the installation position.

[0015] In some embodiments, after determining that the first base station has deviated from the installation position, the mobile device determines the offset distance and offset direction of the first base station according to the difference between the first differential displacement and the sensor displacement.

[0016] In some embodiments, the first moment is the initial moment when the mobile device is powered on, and the second moment is the moment when the mobile device is working; when the mobile device includes a single radio station, the second moment is the static moment when the mobile device is working.

[0017] In some embodiments, the self-mobile device includes a single radio; the self-mobile device uses the single radio to alternately receive the first differential data from the first base station and the second differential data from the second base station in a stationary state.

[0018] In some embodiments, the self-moving device includes one or more of a running wheel, a visual sensor, and an inertial sensor; the self-moving device determines that the self-moving device is in a stationary state when one or more of the following is achieved: the running wheel is stationary; the image currently captured by the visual sensor is stationary; the variance of the inertial data of the inertial sensor within a preset time length does not exceed the inertial variance threshold; the variance of the satellite positioning data within a preset time length does not exceed the positioning variance threshold.

[0019] In some embodiments, the self-mobile device includes dual radios; the self-mobile device uses the dual radios to simultaneously receive the first differential data from the first base station and the second differential data from the second base station in a stationary state or in a moving state.

[0020] In some embodiments, the base station offset condition is met when the offset distance between the first base station or the second base station and the corresponding installation location exceeds 10 cm.

[0021] In some embodiments, the first base station includes an acceleration sensor, which monitors the acceleration of the first base station. The first base station and / or the mobile device detects whether the first base station deviates from the installation position based on acceleration data monitored by the acceleration sensor.

[0022] In some embodiments, the system further includes an alarm device; the alarm device is used to issue an alarm when the mobile device deviates from the installation position of the first base station and / or the second base station; the alarm device is an indicator light or a buzzer.

[0023] In some embodiments, the system further includes an external device; when the first base station and / or the second base station deviates from the installation position, the mobile device sends a base station deviation alarm to the external device, so that the external device issues an alarm in a visual manner according to the base station deviation alarm.

[0024] A method for detecting base station offset, wherein the method is applied to a working system of a self-mobile device, the system comprising the self-mobile device and at least two base stations; the method comprises: the self-mobile device receiving first differential data from a first base station and second differential data from a second base station, and calculating a difference parameter based on the first differential data and the second differential data; when the difference parameter meets a corresponding base station offset condition, the self-mobile device determines that the first base station and / or the second base station have deviated from the corresponding initial installation position, and issues a base station offset alarm.

[0025] A working system for a self-moving device comprises: a self-moving device configured to autonomously walk and perform work tasks; a base station configured to acquire satellite observation data, generate differential data based on the satellite observation data, and transmit the differential data to the self-moving device; wherein the base station comprises an acceleration sensor configured to monitor the acceleration of the base station, and the base station transmits the acceleration data to the self-moving device; and the self-moving device comprises a controller configured to detect the offset condition between the base station and an initial installation position based on the acceleration data, and selectively issue a base station offset alarm based on the offset condition.

[0026] In some embodiments, the controller issues a base station offset alarm when the variance of the acceleration data within a preset time period exceeds an acceleration variance threshold.

[0027] In some embodiments, the controller further determines an offset distance and an offset direction of the base station based on the acceleration data, and issues a base station offset alarm indicating the offset distance and the offset direction.

[0028] In some embodiments, the self-mobile device also includes a transceiver, and the system also includes an external device; the controller also determines the base station number of the base station when the variance exceeds the acceleration variance threshold, and transmits a base station offset alarm indicating the base station number to the external device through the transceiver.

[0029] In some embodiments, the acceleration sensor includes a single-axis accelerometer or a three-axis accelerometer.

[0030] A method for detecting base station offset, wherein the method is applied to a working system of a self-mobile device, the system comprising the self-mobile device and a base station, the base station comprising an acceleration sensor, and the self-mobile device comprising a controller; the method comprising: the base station's acceleration sensor monitoring the base station's acceleration, the base station transmitting the acceleration data to the self-mobile device; the controller of the self-mobile device detecting the offset condition between the base station and an initial installation position based on the acceleration data, and selectively issuing a base station offset alarm based on the offset condition.

[0031] A base station comprises: an acquisition module configured to obtain satellite observation data at a current observation position; a transmission module configured to transmit the data to a self-mobile device; wherein the base station further comprises an acceleration sensor and a controller; the acceleration sensor is configured to monitor the acceleration of the base station; the controller is configured to detect the offset condition between the base station and an initial installation position based on the acceleration data monitored by the acceleration sensor, and selectively transmit a base station offset alarm to the self-mobile device via the transmission module based on the offset condition.

[0032] In some embodiments, the controller issues a base station offset alarm when the variance of the acceleration data within a preset time period exceeds an acceleration variance threshold.

[0033] In some embodiments, the transmitting module includes a radio station.

[0034] A method for detecting base station offset, wherein the base station includes an acceleration sensor, a controller, and a transmitting module; the method comprises: the acceleration sensor of the base station monitors the acceleration of the base station; the controller of the base station detects the offset condition between the base station and an initial installation position based on acceleration data monitored by the acceleration sensor, and selectively sends a base station offset alarm to a mobile device via the transmitting module based on the offset condition.

[0035] A working system for a self-moving device comprises: a self-moving device configured to move autonomously and perform work tasks; the self-moving device comprising a controller, a sensor assembly, and a differential positioning device; and a base station configured to acquire satellite observation data, generate differential data based on analysis of the satellite observation data, and transmit the differential data to the self-moving device; wherein, during movement of the self-moving device, the controller is configured to calculate the differential displacement of the self-moving device within a preset time length based on the output of the differential positioning device, and calculate the sensor displacement of the self-moving device within the preset time length based on the output of the sensor assembly; and when the difference between the differential displacement and the sensor displacement is greater than a displacement difference threshold, a base station offset alarm is issued.

[0036] In some embodiments, the sensor assembly includes an odometer, and the controller calculates the sensor displacement based on mileage data from the odometer.

[0037] In some embodiments, the sensor assembly further includes an inertial sensor, and the controller fuses mileage data from the odometer and inertial data from the inertial sensor to calculate sensor displacement.

[0038] In some embodiments, the sensor assembly includes a camera, and the controller calculates the sensor displacement based on visual odometry data from the camera.

[0039] In some embodiments, the controller calculates the offset distance and / or offset direction of the base station based on the difference between the differential displacement and the sensor displacement, and transmits the offset distance and / or offset direction of the base station when issuing a base station offset alarm.

[0040] In some embodiments, the self-mobile device further includes a transceiver, and the system further includes an external device; the controller further sends a base station offset alarm to the external device via the transceiver when the difference is greater than the displacement difference threshold.

[0041] A method for detecting base station offset is applied to a working system of a mobile device, wherein the system includes the mobile device and a base station, and the mobile device includes a controller, a sensor assembly, and a differential positioning device. The method includes: during the movement of the mobile device, the controller calculates the differential displacement of the mobile device within a preset time period based on the output of the differential positioning device, and calculates the sensor displacement of the mobile device within the preset time period based on the output of the sensor assembly; when the difference between the differential displacement and the sensor displacement is greater than a displacement difference threshold, the controller issues a base station offset alarm. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG1 is a perspective view of a self-moving device as an embodiment of the present application.

[0043] FIG2 is a perspective view of a base station as an embodiment of the present application.

[0044] FIG3 is a schematic diagram of the electrical control principle of the base station shown in FIG2 .

[0045] FIG4 is a schematic diagram of a working system of a self-mobile device as an embodiment of the present application.

[0046] FIG. 5 is a schematic diagram of the electrical control principle of the self-moving device in the working system shown in FIG. 4 .

[0047] FIG. 6 is another electrical control principle diagram of the self-moving device in the working system shown in FIG. 4 .

[0048] FIG. 7A is a flowchart of base station offset detection based on coordinate difference in the working system shown in FIG. 4 .

[0049] FIG. 7B is another flowchart of base station offset detection based on coordinate difference in the working system shown in FIG. 4 .

[0050] FIG8A is a flowchart of base station offset detection based on heading difference in the working system shown in FIG4 .

[0051] FIG8B is another flowchart of base station offset detection based on heading difference in the working system shown in FIG4 .

[0052] FIG. 9A is a flowchart of base station offset detection based on sensor data in the operating system shown in FIG. 4 .

[0053] FIG. 9B is another flowchart of base station offset detection based on sensor data in the working system shown in FIG. 4 .

[0054] FIG10 is a schematic diagram of a working system of a self-moving device as another embodiment of the present application.

[0055] FIG. 11 is a schematic diagram of the electrical control principle of the self-moving device in the working system shown in FIG. 10 .

[0056] FIG12 is a schematic diagram of the electrical control principle of the base station in the working system shown in FIG10 .

[0057] FIG13 is another electrical control principle diagram of the base station in the working system shown in FIG10 . DETAILED DESCRIPTION

[0058] Before any embodiments of the present application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the foregoing drawings.

[0059] In this application, the terms "comprises," "includes," "has," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0060] In this application, the term "and / or" describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this application generally indicates that the related objects are in an "and / or" relationship.

[0061] In this application, the terms "connect," "combine," "couple," and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without an intermediary, and an indirect connection refers to two parts or components being connected to at least one intermediary, with the two parts or components being connected via the intermediary. Furthermore, "connect" and "couple" are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings.

[0062] In this application, it will be understood by those skilled in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. associated with a specific value. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0063] In this application, it will be understood by those skilled in the art that the function performed by an assembly can be performed by one assembly, multiple assemblies, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one assembly, or a combination of multiple parts.

[0064] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to the other element "upper" or "lower", but also be indirectly connected to the other element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, below can include directly below, lower left, lower right, lower front and lower back, etc.

[0065] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. Where a unit "controller," "processor," "central processing unit," "CPU," or "MCU" is used to perform a particular function, unless otherwise specified, the function may be performed by a single unit or multiple units.

[0066] In this application, the terms "device", "module" or "unit" can be implemented in the form of hardware or software to achieve specific functions.

[0067] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0068] The technical solution proposed in this application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0069] First, the system architecture of the self-mobile device working system proposed in this application and the related networking architecture are explained. The working system of the self-mobile device includes at least the self-mobile device and the base station. In addition to the working system, there is also a satellite positioning system represented by satellites. The self-mobile device and the base station both exchange satellite observation data with the satellite to parse their own satellite positioning data and clarify their own positions. The self-mobile device and the base station also exchange differential data so that the self-mobile device can correct its own satellite positioning error based on the differential data transmitted by the base station. The number of self-mobile devices in the working system is one or more, and it will be described from the perspective of a single self-mobile device hereinafter. Each mobile device can execute the same solution; the number of base stations is also one or more, and the number of base stations in different embodiments hereinafter can vary. When described from the perspective of a single base station, each base station can execute the same solution.

[0070] FIG1 illustrates a self-propelled device 10 as an embodiment of the present application. The self-propelled device 10 shown in FIG1 is a lawn mower robot 10. It is understood that the technical solutions described in this application can also be applied to other types of self-propelled devices 10, such as snow blowers and sweepers, to meet different scenarios.

[0071] The autonomous device 10 is configured to autonomously move and perform tasks. It includes a working assembly 110 and a traveling assembly 120. The working assembly 110 includes functional components 111 and a working motor 112 that drives these components. The traveling assembly 120 includes wheels 121 and a traveling motor 122 that drives these wheels. For example, in the case of the robotic lawn mower 10, the working motor 112 drives the blades (functional components 111) to rotate and cut, while the traveling motor 122 drives the wheels 121 to rotate and move.

[0072] 5, 6, and 11, the mobile device 10 may further include a controller 130 and a transceiver 140. The controller 130 includes a processor 131, such as an MCU (Microcontroller Unit), an ARM (Advanced Reduced Instruction Set Computing Machine), or a DSP (Digital Signal Processor), and a memory 132, such as a ROM (Read-Only Memory), a RAM (Random Access Memory), a FLASH (Flash EEPROM), or a combination thereof, storing instructions executable by the processor 131. The controller 130 is configured to execute various instructions to perform corresponding calculations and control operations. The transceiver 140 is configured to receive relevant data from the satellite 30 and the base station 20 for processing by the controller 130. Taking the lawn mower robot 10 as an example, the transceiver 140 can receive satellite observation data from the satellite 30 and differential data from the base station 20. The controller 130 will calculate the current position of the lawn mower robot 10 based on the satellite observation data and the differential data, and control the start and stop and speed of the walking motor 122 and the working motor 112, so that the lawn mower robot 10 can move at a specified speed on a specified track and correctly perform the cutting task in the specified area.

[0073] Figure 2 illustrates a base station 20 as an embodiment of the present application. The base station 20 is configured to acquire satellite observation data, analyze the acquired satellite observation data to generate corresponding differential data, and then transmit the differential data to the mobile device 10 for positioning correction. In differential positioning technologies such as RTK, the base station 20, theoretically fixed at its initial installation position, receives satellite observation data and, based on its own unchanging installation position, can calculate differential data that can be used by the mobile device 10 to correct satellite positioning errors.

[0074] 3 , 12 and 13 , the base station 20 may include at least an acquisition module 210 and a sending module 220 , wherein the acquisition module 210 is used to realize long-distance communication and is configured to obtain satellite observation data; and the sending module 220 is used to realize short-range communication within the working area and is configured to send differential data to the mobile device 10 .

[0075] In order to clarify the relevant concepts in the technical solution, the terms are unified and explained. Continuing from the previous text, the self-mobile device 10 uses a transceiver 140 to realize data transmission and reception. The transceiver 140 includes a first receiving module 141 for performing long-distance communication with a satellite positioning system represented by a satellite 30 to obtain satellite observation data, and a second receiving module 142 for performing short-range communication with a base station 20 in the working area to obtain differential data. In some embodiments, the first receiving module 141 is a satellite positioning receiver, and the second receiving module 142 is a unicast or broadcast radio; in other embodiments, the first receiving module 141 and the second receiving module 142 actually belong to the same transceiver group in hardware. In some embodiments, the second receiving module 142 in the transceiver of the self-mobile device 10 is a radio, and the number of radios configured for the same self-mobile device 10 can be one or more.

[0076] Correspondingly, base station 20 uses acquisition module 210 to communicate with satellite 30 over long distances to acquire satellite observation data, and uses transmission module 220 to communicate with mobile device 10 within the operating area over short distances to transmit differential data thereto. In some embodiments, acquisition module 210 is a satellite positioning receiver, and transmission module 220 is a radio station, such as a unicast or broadcast station. In other embodiments, acquisition module 210 and transmission module 220 are physically part of the same transceiver unit.

[0077] The following describes a system 100 for operating a self-moving device. Referring to Figure 4 , the system 100 includes at least one self-moving device 11 and two base stations 21: a first base station 21a and a second base station 21b. The first base station 21a is initially installed at a first location and acquires first satellite observation data indicating the first location. It generates first differential data from the first satellite observation data and transmits it to the self-moving device 11. The second base station 21b is initially installed at a second location and acquires second satellite observation data indicating the second location. It generates second differential data from the second satellite observation data and transmits it to the self-moving device 11.

[0078] It can be understood that the working system 100 may include multiple self-mobile devices, each of which can receive the differential positioning data transmitted by the first and second base stations and perform self-positioning correction and base station offset detection; or, the working system 100 may include multiple self-mobile devices and a greater number of base stations than two, and one self-mobile device corresponds to two base stations to form a detection combination, and the self-mobile device receives the differential data of the two base stations corresponding to it and detects whether the two base stations deviate from the installation position; other schemes derived from this will not be repeated.

[0079] After receiving the first differential data from the first base station 21a and the second differential data from the second base station 21b, the mobile device 11 calculates the corresponding differential parameters based on the first differential data and the second differential data. In some examples, the mobile device 11 receives the first differential data and the second differential data corresponding to multiple moments and calculates the differential parameters corresponding to the multiple moments. In other examples, the mobile device 11 receives the first differential data and the second differential data at the same moment and calculates multiple types of differential parameters at that moment. In still other examples, the mobile device 11 combines the above two examples to calculate multiple different types of differential parameters corresponding to multiple moments.

[0080] It should be noted that the differential positioning implemented by the aforementioned mobile device 11, first base station 21a, and second base station 21b theoretically requires time synchronization and a shared clock. The first satellite observation data, second satellite observation data, and satellite positioning data described below should have a time-sequential correspondence during processing. If the first base station 21a and second base station 21b periodically receive satellite observation data and transmit differential data, the related data transmission and reception cycles and offset detection cycles should be synchronized.

[0081] In some embodiments, as shown in Figure 5, a self-mobile device 11 is configured with only a single radio 142, which actually receives differential data from the first base station 21a and the second base station 21b in turn. However, due to the time synchronization requirements of differential positioning, when the self-mobile device 11 is configured with only a single radio 142, in order to detect the offset of the base station 21, the self-mobile device 11 is required to sequentially receive the first differential data from the first base station 21a and the second differential data from the second base station 21b while in a stationary state, in order to obtain the corresponding first differential data and second differential data. In other words, the first differential data and the second differential data at the same time, as well as the self-satellite positioning data obtained by parsing the satellite observation data received by the self-mobile device 11 (described later), can be obtained at the same location.

[0082] There are a variety of optional implementations for the self-mobile device 11 to detect whether it is in a stationary state. In some embodiments, the self-mobile device 11 determines whether it is currently in a stationary state by detecting whether its running wheels are completely stationary. Specifically, the running motor speed, torque, etc. can be detected. In other embodiments, the self-mobile device 11 also includes a visual sensor 151, and whether it is stationary can be determined by detecting whether the image captured by the visual sensor 151 is stationary. In some further embodiments, the self-mobile device 11 also includes an inertial sensor 152, and whether it is stationary can be determined by detecting whether the variance of inertial data such as acceleration of the inertial sensor 152 exceeds an inertial variance threshold within a preset time length. In some further embodiments, the self-mobile device 11 obtains its own satellite positioning data based on the analysis of the satellite observation data it receives, and determines whether it is stationary by detecting whether the variance of its own satellite positioning data within a preset time length exceeds a positioning variance threshold.

[0083] In other embodiments, as shown in FIG6 , a self-mobile device 11 is configured with dual radio stations 142a and 142b, and the two radio stations 142a and 142b receive differential data from the first base station 21a and the second base station 21b independently of each other. When dual radio stations are configured, obtaining the first differential data and the second differential data at the same time does not require the self-mobile device 11 to be stationary. The self-mobile device 11 can directly receive and obtain differential data for detecting the offset of the base station 21 whether it is stationary or in motion.

[0084] In some embodiments, the above-mentioned difference parameters include coordinate differences, which are the differences between the self-differential positioning coordinates calculated by the self-mobile device 11 using the first differential data and the second differential data at the same time. Specifically, the self-mobile device 11 can calculate the first differential positioning coordinates from the first differential data and the second differential positioning coordinates from the second differential data. The difference between the first differential positioning coordinates and the second differential positioning coordinates at the first moment is the first coordinate difference, and the difference between the first differential positioning coordinates and the second differential positioning coordinates at the second moment is the second coordinate difference. Among them, when the self-mobile device 11 calculates the corresponding differential positioning coordinates based on the differential data, it can require it to be a fixed solution, and the fixed solution is a high-precision solution in the differential positioning technology.

[0085] In some other embodiments, the aforementioned difference parameter includes a heading, which is a positioning offset vector determined by the first differential positioning coordinates and the second differential positioning coordinates after the self-mobile device 11 uses the first differential data and the second differential data at the same moment to calculate the corresponding first differential positioning coordinates and second differential positioning coordinates. Specifically, the self-mobile device 11 can determine a first heading based on the first differential positioning coordinates and the second differential positioning coordinates at the first moment, and determine a second heading based on the first differential positioning coordinates and the second differential positioning coordinates at the second moment.

[0086] Continuing from the previous article, considering that when the self-mobile device 11 is only equipped with a single radio 142, it is required that the self-mobile device 11 receives the first differential data and the second differential data at the position in sequence in a stationary state, in some embodiments, the first moment of obtaining the differential parameters such as the first coordinate difference and the first heading is the initial moment when the self-mobile device 11 is powered on, and at this initial moment, the self-mobile device 11 has not yet started to move; and the second moment of obtaining the differential parameters such as the second coordinate difference and the second heading is the stationary moment when the self-mobile device 11 is working, and the stationary moment is the moment when the self-mobile device 11 has started to perform the work task but stopped moving midway due to charging, rest, being trapped, etc.

[0087] After obtaining the above-mentioned difference parameters, the self-mobile device 11 will determine whether each difference parameter meets the corresponding base station offset condition, and if so, determine whether the first base station 21a deviates from the first installation position and / or the second base station 21b deviates from the second installation position. In some examples, the self-mobile device 11 uses the calculated values ​​of one or more difference parameters at one moment to determine whether the first and second base stations 21a, 21b deviate from the corresponding installation positions. For example, the self-mobile device 11 can determine that the base station 21 is offset when the coordinate difference or heading at any moment exceeds the corresponding threshold. In other examples, the self-mobile device 11 uses the calculated values ​​of one or more difference parameters at multiple moments to determine whether the first and second base stations 21a, 21b deviate from the corresponding installation positions. For example, the self-mobile device 11 can determine that the base station 21 is offset when the coordinate difference or heading difference at two moments exceeds the corresponding threshold.

[0088] In some embodiments, referring to FIG. 7A , a detection scheme for a base station 21 offset in a self-mobile device 11 includes: 710, the self-mobile device 11 calculates a first differential positioning coordinate of the self-mobile device 11 corresponding to the first moment from the first differential data received at the first moment. And the second differential positioning coordinates of the mobile device 11 corresponding to the first moment are calculated from the second differential data received at the first moment

[0089] 720, calculate the first coordinate difference corresponding to the first moment based on the first differential positioning coordinate and the second differential positioning coordinate

[0090] 730, the mobile device 11 calculates the first differential positioning coordinates of the mobile device 11 corresponding to the second moment from the first differential data and the second differential data received at the second moment. and the second differential positioning coordinates

[0091] 740, calculating a second coordinate difference corresponding to the second moment based on the first differential positioning coordinate and the second differential positioning coordinate corresponding to the second moment

[0092] 750, the mobile device 11 determines the difference between the second coordinate difference corresponding to the second moment and the first coordinate difference corresponding to the first moment Whether the preset coordinate difference threshold (Δa, Δb) is exceeded, and if so, it is determined that the first base station 21a deviates from the first installation position and / or the second base station 21b deviates from the second installation position.

[0093] Among them, the coordinate difference threshold (Δa, Δb) can be determined based on the difference between the first and second coordinate differences calculated by multiple receptions of the first and second differential data from the mobile device 11 when the first and second base stations 21a and 21b are initially installed at corresponding installation locations, so as to simulate the normal coordinate difference error condition when the base station 21 is not offset.

[0094] FIG. 7B illustrates the specific processing flow of the above-mentioned offset detection solution of the base station 21 by taking the mobile device 11 as an example in which only a single radio station is configured.

[0095] In some other embodiments, referring to FIG8A , another detection scheme for the offset of the base station 21 in the mobile device 11 includes: 810, the mobile device 11 calculates a first differential positioning coordinate of the mobile device 11 corresponding to the first moment from the first differential data received at the first moment And the second differential positioning coordinates of the mobile device 11 corresponding to the first moment are calculated from the second differential data received at the first moment

[0096] 820, calculate the first heading corresponding to the first moment based on the first differential positioning coordinates and the second differential positioning coordinates corresponding to the first moment

[0097] 830, the mobile device 11 calculates the first differential positioning coordinates of the mobile device 11 corresponding to the second moment from the first differential data and the second differential data received at the second moment. and the second differential positioning coordinates

[0098] 840, calculating a second heading corresponding to the second moment based on the first differential positioning coordinates corresponding to the first moment and the second differential positioning coordinates

[0099] 850, the mobile device 11 determines the difference between the first heading and the second heading Whether the heading difference exceeds a preset threshold value Δθ, and if so, it is determined that the first base station 21a deviates from the first installation position and / or the second base station 21b deviates from the second installation position.

[0100] Among them, the heading difference threshold Δθ can be determined based on the difference between the first and second headings calculated by receiving the first and second differential data multiple times from the mobile device 11 when the first and second base stations 21a and 21b are initially installed at corresponding installation positions, so as to simulate the normal heading difference error condition when the base station 21 is not offset.

[0101] FIG8B illustrates the specific processing flow of the above-mentioned offset detection solution of the base station 21 by taking the mobile device 11 as an example in which only a single radio station is configured.

[0102] In some embodiments, various base station offset conditions can be met when the offset distance between the first base station 21a and the first installation location exceeds 10 cm, or when the offset distance between the second base station 21b and the second installation location exceeds 10 cm. Specifically, taking the case where the difference in headings at two moments exceeds a heading difference threshold as an example, the numerical range of the heading difference when the first base station 21a is offset within a range of 5-15 cm from the first installation location, and the numerical range of the heading difference when the second base station 21b is offset within a range of 5-15 cm from the second installation location can be determined respectively. Based on these two numerical ranges, corresponding heading difference thresholds are determined, so that a correct answer is triggered when the offset distance between the first and second base stations 21a and 21b and the corresponding installation locations exceeds 10 cm.

[0103] It should be noted that the above scheme can detect when any one of the two base stations 21 of the working system 100 deviates from the corresponding installation position, but it cannot detect which specific one of the two base stations 21 has deviated from the installation position, nor can it detect the offset distance and offset direction between the base station 21 and the corresponding installation position. Therefore, the optimization scheme described below is proposed to further improve the detection accuracy.

[0104] As shown in Figures 5, 6, and 11, the self-mobile device 11 may further include an inertial sensor 152 and an odometer 153, wherein the inertial sensor 152 is configured to collect inertial data such as acceleration during the movement of the self-mobile device 11, and the odometer 153 is configured to collect mileage data during the movement of the self-mobile device 11. In some embodiments, referring to Figure 9A, after the self-mobile device 11 detects the offset of the base station 21, the solution further includes:

[0105] 910, the mobile device 11 calculates the first differential positioning coordinates of the mobile device 11 corresponding to the third moment and the fourth moment respectively based on the first differential data received at the third moment and the fourth moment and The first differential displacement corresponding to the first base station 21a from the third moment to the fourth moment is determined.

[0106] 920, calculate the second differential positioning coordinates of the mobile device 11 corresponding to the third moment and the fourth moment respectively based on the second differential data received at the third moment and the fourth moment and And thereby determine the second differential displacement corresponding to the second base station 21b

[0107] 930, the mobile device 11 fuses the inertial data from the inertial sensor 152 and the mileage data from the odometer 153 to calculate the sensor displacement of the mobile device 11 from the third moment to the fourth moment

[0108] 940, the mobile device 11 determines the first differential displacement corresponding to the first base station 21a Displacement with sensor The difference between Whether it exceeds a preset first displacement difference threshold (Δ1x, Δ1y), and if so, determining that the first base station 21a deviates from the first installation position;

[0109] 950, determine the second differential displacement corresponding to the second base station 21b Displacement with sensor The difference between Whether it exceeds a preset second displacement difference threshold (Δ2x, Δ2y), and if so, it is determined that the second base station 21b deviates from the second installation position.

[0110] Further, after determining that the first base station 21a deviates from the first installation position, the self-mobile device 11 can be Displacement with sensor The difference between Determine the offset distance and offset direction of the first base station 21a from the first installation position, wherein the offset distance is The offset direction is north-east

[0111] Similarly, after determining that the second base station 21b deviates from the second installation position, the self-mobile device 11 can be Displacement with sensor The difference between Determine the offset distance and offset direction of the second base station 21b from the second installation position, wherein the offset distance is The offset direction is north-east

[0112] FIG9B illustrates the specific processing flow of the above-mentioned offset detection solution of the base station 21 by taking the configuration of dual radio stations from the mobile device 11 as an example.

[0113] In some embodiments, the self-mobile device 11 may stop its cutting and moving operations after detecting that the first base station 21 a and / or the second base station 21 b deviates from the initial installation position.

[0114] In some embodiments, the working system 100 of the self-mobile device also includes an alarm device, which can issue a base station deviation alarm when the self-mobile device 11 detects that the first base station 21a and / or the second base station 21b deviates from the installation position, so that the user can adjust and restore the position of the base station 21 in time to avoid positioning and navigation errors of the self-mobile device 11. In some embodiments, the above-mentioned alarm device is an indicator light or a buzzer. In some cases, as shown in Figures 5, 6, and 11, the alarm device 160 is installed in the self-mobile device 11, and the self-mobile device 11 issues an alarm through the alarm device 160 after detecting the deviation of the base station 21; in other cases, the alarm device is installed in the base station 21, and the self-mobile device 11 notifies the base station 21 through the radio 142 after detecting the deviation of the base station 21, and the base station 21 issues an alarm through the alarm device after receiving the notification.

[0115] In some embodiments, as shown in Figures 5, 6, and 11, the working system 100 of the self-mobile device also includes an external device 40. In some examples, the external device 40 is a user device such as a smartphone or tablet computer. The external device 40 runs a program related to base station 21 offset detection. After the self-mobile device 11 detects that the first base station 21a and / or the second base station 21b have deviated from the corresponding installation position, it can transmit a base station offset alarm to the external device 40 via a transceiver 140 such as an Internet communication module. The relevant program running in the external device 40 can respond to the received base station offset alarm by visually or audibly issuing an alarm. In other embodiments, the base station 21 can also issue a base station offset alarm to the external device 40.

[0116] In some embodiments, when the mobile device 11 detects a base station 21 offset and issues a base station offset warning, it carries the base station 21 number. Specifically, different indicator lights or buzzers of different frequencies can be used to indicate the base station 21 offset and the specific base station 21 that has offset. Alternatively, when the base station offset warning is issued to an external device, the mobile device 11 carries the base station 21 number, allowing the external device to provide a visual or audible prompt. In other embodiments, when issuing a base station offset warning, the mobile device 11 can also carry information such as the offset distance and offset direction of the base station 21, allowing the user to promptly restore the base station 21 position.

[0117] The following describes in detail another operating system 200 for a self-mobile device. Referring to FIG10 , this operating system 200 for a self-mobile device includes at least one self-mobile device 12 and at least one base station 22. The following description primarily uses the perspective of a self-mobile device 12 detecting whether a base station 22 is offset. It is understood that the operating system 200 for a self-mobile device can include a greater number of self-mobile devices 12 and a greater number of base stations 22. Similar to the previous description, the base station 22 is initially installed at a corresponding installation location. The base station 22 acquires satellite observation data indicating the installation location, parses it to generate differential data, and transmits the differential data to the self-mobile device 12.

[0118] Referring to Figure 11 , the self-mobile device 12 includes, in addition to the working component 110, the traveling component 120, the controller 130, and the transceiver 140, a sensor component 150 and a differential positioning device 170. The sensor component 150 may include sensor components such as a camera 151, an inertial sensor 152, and an odometer 153. The differential positioning device 170 is used to calculate and output data such as the current differential positioning coordinates of the self-mobile device 12 using the satellite data and differential data received by the transceiver 140.

[0119] During the movement of the mobile device 12, the controller of the mobile device 12 is configured to calculate the differential displacement of the mobile device 12 within a preset time period based on the output of the differential positioning device, and to calculate the sensor displacement of the mobile device 12 within the same time period based on the output of the sensor assembly. The differential displacement data is derived from the satellite positioning system 30 and the base station 22, while the sensor displacement is derived from the sensor assembly 150 installed in the mobile device 12. In theory, the two values ​​should be the same if the base station 22 is not offset.

[0120] Specifically, the differential positioning device 170 can parse the satellite observation data received by the first receiving module 141 to obtain its own satellite positioning data, and then calculate the differential positioning coordinates of the self-mobile device 12 at the current moment based on the differential data received by the radio station 142 and the aforementioned satellite positioning data. Based on the output of the differential positioning device 170, the controller 130 can calculate the difference between the differential positioning coordinates at two moments separated by a preset time interval, thereby determining the differential displacement within that time period. For example, the controller 130 can determine the differential displacement corresponding to the period from the first moment to the second moment based on the difference between the differential positioning coordinates of the self-mobile device 12 at the first moment and the second moment.

[0121] There are various optional implementations for calculating the sensor displacement of the self-mobile device 12 during the same time period based on the output of the sensor assembly 150. In some embodiments, the sensor assembly 150 of the self-mobile device 12 includes an odometer 153, and the controller 130 can calculate the sensor displacement during the aforementioned time period based on the mileage data from the odometer 153. In other embodiments, the sensor assembly 150 of the self-mobile device 12 includes an inertial sensor 152 in addition to the odometer 153, and the controller 130 can fuse the mileage data from the odometer 153 with the inertial data from the inertial sensor 152 to calculate the sensor displacement during the aforementioned time period. In still other embodiments, the sensor assembly 150 of the self-mobile device 12 includes a camera 151, and the controller 130 can calculate the sensor displacement during the aforementioned time period based on the visual mileage data from the camera 151. Of course, the self-mobile device 12 can also include other types of sensors and combine the sensor data from multiple sensors to calculate the sensor displacement during the aforementioned time period.

[0122] After obtaining the differential displacement and sensor displacement, the mobile device 12 can determine whether the base station 22 has deviated from its installation location by comparing the differential displacement and sensor displacement within the same time period. Specifically, the controller 130 can determine whether the difference between the differential displacement and sensor displacement within the same time period exceeds a preset displacement difference threshold. If so, the controller 130 determines that the base station 22 has deviated from its installation location and issues a base station deviation alarm. The displacement difference thresholds can vary for different base stations 22 to simulate normal displacement difference errors for different base stations 22 installed at different locations.

[0123] In some embodiments, after the mobile device 12 determines that the base station 22 has deviated from the corresponding installation position, the mobile device 12 can also calculate the offset distance and / or offset direction of the base station 22 based on the difference between the differential displacement and the sensor displacement within the same time period. Specifically, if the differential displacement within the preset time period calculated by the controller 130 is The calculated sensor displacement during the same period is When the difference between the two exceeds the displacement difference threshold, the offset distance of the base station 22 from the corresponding installation position can be calculated as The offset direction is north-east

[0124] Similar to the above, in some embodiments, the working system 200 of the self-mobile device also includes alarm devices such as indicator lights and buzzers. The alarm device 160 can be installed in the self-mobile device or in the base station. After detecting the offset of the base station 22, the controller 160 of the self-mobile device 12 can call the alarm device 160 to issue a base station offset alarm.

[0125] In some embodiments, the operating system 200 of the mobile device further includes an external device 40. Upon detecting a base station 22 offset, the controller 130 of the mobile device 12 may invoke the transceiver 140 to issue a base station offset alert to the external device 40. In some examples, the base station offset alert sent by the mobile device 12 to the external device 40 may also include one or more of the following information: the base station 22 number, the offset distance of the base station 22, and the offset direction of the base station 22, to notify the user to promptly adjust and restore the position of the base station 22. In other embodiments, the base station 22 may also issue a base station offset alert to the external device 40.

[0126] The following specifically introduces another working system of a self-moving device. Similar to Figure 10, the working system of the self-moving device also includes at least one self-moving device and at least one base station. The following text will still be explained from the perspective of a self-moving device detecting whether a base station is offset.

[0127] Referring to Figure 12 , in addition to the acquisition module 210 and the transmission module 220, the base station 23 may also include an acceleration sensor 230. Accelerometer 230 is configured to monitor the acceleration of the base station 23 and transmit the monitored acceleration data to the mobile device. In some embodiments, the acceleration sensor 230 in the base station 23 may be a single-axis accelerometer or a three-axis accelerometer.

[0128] After receiving the acceleration data transmitted by the base station 23, the controller 130 of the mobile device 10 can detect the offset between the base station 23 and its initial installation position based on the acceleration data, and selectively issue a base station offset alarm based on the base station offset condition. There are various optional implementations for detecting base station offset conditions based on acceleration data. In some embodiments, after receiving the acceleration data, the controller 130 of the mobile device 10 can determine whether the variance of the acceleration data within a preset time period exceeds a preset acceleration variance threshold, and if so, issue a base station offset alarm.

[0129] In some embodiments, after detecting the offset of the base station 23 , the mobile device 10 may further determine the offset distance and offset direction between the base station 23 and the corresponding installation location based on the acceleration data.

[0130] Similar to the above, in some embodiments, the working system of the self-mobile device also includes alarm devices such as indicator lights and buzzers. The alarm device 160 can be installed in the self-mobile device 10 or in the base station 23. After the controller of the self-mobile device 10 detects the offset of the base station 23 at 130, it can call the alarm device 160 to issue a base station offset alarm.

[0131] In some embodiments, the operating system of the mobile device further includes an external device 40. Upon detecting a base station 23 offset, the controller 130 of the mobile device 10 may invoke the transceiver 140 to issue a base station offset alert to the external device 40. In some examples, the base station offset alert sent by the mobile device 10 to the external device 40 may also include one or more of the following information: the base station 23 number, the offset distance of the base station 23, and the offset direction of the base station 23, to notify the user to promptly adjust and restore the position of the base station 23. In other embodiments, the base station 23 may also issue the base station offset alert to the external device 40.

[0132] The following specifically introduces another working system of a self-moving device. Similar to Figure 10, the working system of the self-moving device also includes at least one self-moving device and at least one base station. The following text will still be explained from the perspective of a self-moving device detecting whether a base station is offset.

[0133] In the operating system of a self-mobile device, base station 24 can detect its own deviation. Referring to Figure 13 , base station 24 includes a controller 240 in addition to a collection module 210, a transmission module 220, and an accelerometer 230. Accelerometer 230 monitors the acceleration of base station 24 and transmits the resulting acceleration data to controller 240 of base station 24. After receiving this acceleration data, controller 240 of base station 24 can detect the deviation between base station 24 and its initial installation position based on this acceleration data and, depending on the base station deviation, selectively invoke transmission module 220 to issue a base station deviation alarm to self-mobile device 10 in the operating system. In some embodiments, an alarm device in the operating system can be installed in base station 24. Upon detecting the deviation of base station 24, controller 240 of base station 24 can directly invoke the alarm device to issue a base station deviation alarm.

[0134] In some embodiments, controller 240 of base station 24 may determine whether the variance of the acceleration data within a preset time period exceeds a preset acceleration variance threshold, and if so, determine that base station 24 has deviated from its corresponding installation location. In other embodiments, after detecting base station offset, controller 240 of base station 24 may also determine the offset distance and offset direction between base station 24 and its corresponding installation location based on the acceleration data. For details regarding other alarm devices and external equipment, please refer to the previous section and will not be repeated here.

[0135] The benefit of this application is that it realizes base station offset detection in a variety of different scenarios, effectively avoiding positioning and navigation errors of mobile devices within the working system of the mobile device due to base station offset, and improving the working accuracy and efficiency of the mobile device.

[0136] The above shows and describes 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 form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of this application.

Claims

1. A working system of a self-moving device, comprising: Self-mobile equipment, configured to move autonomously and perform work tasks; A first base station is configured to obtain first satellite observation data, generate first differential data according to the first satellite observation data, and transmit the first differential data to the mobile device; A second base station is configured to obtain second satellite observation data, generate second differential data according to the second satellite observation data analysis, and transmit the second differential data to the mobile device; The self-mobile device is further configured to receive the first differential data from the first base station and the second differential data from the second base station, and calculate a differential parameter according to the first differential data and the second differential data; When the difference parameter reaches the corresponding base station offset condition, it is determined that the first base station and / or the second base station deviates from the corresponding initial installation position, and a base station offset alarm is issued.

2. The working system according to claim 1, wherein: The difference parameters include coordinate difference; the self-mobile device calculates the first differential positioning coordinates of the self-mobile device based on the first differential data, and calculates the second differential positioning coordinates of the self-mobile device based on the corresponding second differential data, and then determines the coordinate difference by the first differential positioning coordinates and the second differential positioning coordinates.

3. The working system according to claim 2, wherein: The self-mobile device determines a corresponding first coordinate difference value from the first differential positioning coordinates and the second differential positioning coordinates calculated at the first moment, and determines a corresponding second coordinate difference value from the first differential positioning coordinates and the second differential positioning coordinates calculated at the second moment; When the difference between the first coordinate difference value and the second coordinate difference value exceeds a coordinate difference threshold value, it is determined that the first base station and / or the second base station deviates from the installation position.

4. The working system according to claim 1, wherein: The difference parameters include heading; the self-mobile device calculates the first differential positioning coordinates of the self-mobile device based on the first differential data, and calculates the second differential positioning coordinates of the self-mobile device based on the corresponding second differential data, and then determines the heading by the first differential positioning coordinates and the second differential positioning coordinates.

5. The working system according to claim 4, wherein: The self-mobile device determines a corresponding first heading based on the first differential positioning coordinates and the second differential positioning coordinates calculated at the first moment, and determines a corresponding second heading based on the first differential positioning coordinates and the second differential positioning coordinates calculated at the second moment; when the difference between the first heading and the second heading exceeds a heading difference threshold, it is determined that the first base station and / or the second base station deviates from the installation position.

6. The working system according to claim 3, wherein: The self-moving device comprises an odometer and an inertial sensor; after determining that the first base station and / or the second base station deviates from the installation position, the self-moving device determines a first differential displacement corresponding to the first base station according to the first differential positioning coordinates at a third moment and a fourth moment, and determines a second differential displacement corresponding to the second base station according to the second differential positioning coordinates at the third moment and the fourth moment; and calculates the sensor displacement in a period from the third moment to the fourth moment by fusing the mileage data from the odometer and the inertial data from the inertial sensor; When the difference between the first differential displacement and the sensor displacement exceeds a displacement difference threshold, determining that the first base station deviates from the installation position; When the difference between the second differential displacement and the sensor displacement exceeds the displacement difference threshold, it is determined that the second base station deviates from the installation position.

7. The working system according to claim 6, wherein: After determining that the first base station deviates from the installation position, the self-moving device determines the offset distance and offset direction of the first base station according to the difference between the first differential displacement and the sensor displacement.

8. The working system according to claim 3, wherein: The first moment is the initial moment when the self-mobile device is powered on and started, and the second moment is the moment when the self-mobile device is in operation; when the self-mobile device includes a single radio station, the second moment is the stationary moment when the self-mobile device is in operation.

9. The working system according to claim 1, wherein: The self-mobile device includes a single radio station; the self-mobile device uses the single radio station to receive the first differential data from the first base station and the second differential data from the second base station in turn when in a stationary state.

10. The working system according to claim 9, wherein: The self-moving device includes one or more of a running wheel, a visual sensor and an inertial sensor; the self-moving device determines that the self-moving device is in a stationary state when one or more of the following conditions are met: the running wheel is stationary; the image currently collected by the visual sensor is stationary; the variance of the inertial data of the inertial sensor within a preset time length does not exceed an inertial variance threshold; the variance of the satellite positioning data within a preset time length does not exceed a positioning variance threshold.

11. The working system according to claim 1, wherein: The self-mobile device includes dual radio stations; the self-mobile device uses the dual radio stations to simultaneously receive the first differential data from the first base station and the second differential data from the second base station in a stationary state or a moving state.

12. The working system according to claim 1, wherein: The base station offset condition is met when the offset distance between the first base station or the second base station and the corresponding installation location exceeds 10 cm.

13. The working system according to claim 1, wherein: The first base station includes an acceleration sensor, which monitors the acceleration of the first base station. The first base station and / or the self-mobile device detects whether the first base station deviates from the installation position based on acceleration data monitored by the acceleration sensor.

14. The working system according to claim 1, wherein: The system further comprises an alarm device; the self-equipment uses the alarm device to give an alarm when the first base station and / or the second base station deviates from the installation position; the alarm device is an indicator light or a buzzer.

15. The working system according to claim 1, wherein: The system also includes an external device; when the first base station and / or the second base station deviates from the installation position, the self-mobile device sends a base station deviation alarm to the external device, so that the external device issues an alarm in a visual manner according to the base station deviation alarm.

16. A base station, comprising: A collection module configured to obtain satellite observation data at a current observation position; A sending module, configured to send data to a mobile device; Wherein, the base station also includes an acceleration sensor and a controller; the acceleration sensor is configured to monitor the acceleration of the base station; the controller is configured to detect the offset condition between the base station and the initial installation position based on the acceleration data monitored by the acceleration sensor, and selectively send a base station offset alarm to the mobile device through the sending module based on the offset condition.

17. The base station according to claim 16, wherein: The controller issues a base station deviation alarm when the variance of the acceleration data within a preset time period exceeds an acceleration variance threshold.

18. A working system for a self-propelled device, comprising: Self-mobile equipment, configured to move autonomously and perform work tasks; The self-moving device includes a controller, a sensor assembly and a differential positioning device; A base station configured to acquire satellite observation data, generate differential data according to the satellite observation data and transmit the differential data to the mobile device; Wherein, during the movement of the self-moving device, the controller is configured to calculate the differential displacement of the self-moving device within a preset time length according to the output of the differential positioning device, and calculate the sensor displacement of the self-moving device within the preset time length according to the output of the sensor assembly; When the difference between the differential displacement and the sensor displacement is greater than a displacement difference threshold, a base station offset alarm is issued.

19. The working system according to claim 18, wherein: The sensor assembly includes an odometer, and the controller calculates the sensor displacement based on mileage data from the odometer.

20. The working system according to claim 18, wherein: The controller calculates the offset distance and / or offset direction of the base station according to the difference between the differential displacement and the sensor displacement, and transmits the offset distance and / or the offset direction of the base station when issuing the base station offset alarm.

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