Base station based on differential positioning technique, and base station addressing device and base station addressing method

Abstract

A base station based on a differential positioning technique, and a base station addressing device and a base station addressing method. The base station comprises: a base station main body; and a base station addressing apparatus, wherein the base station addressing apparatus comprises a collection module, which is configured to acquire satellite observation data of the current observation point, a calculation module, which is configured to evaluate the observation quality of the observation point on the basis of the satellite observation data, and an output module, which is configured to output a first prompt on the basis of the observation quality, the first prompt indicating the degree of suitability of the observation point for installing a base station, and the base station addressing apparatus being detachably connected to the base station main body so as to execute an addressing task after being detached from the base station main body.

Description

Base station, base station addressing device and base station addressing method based on differential positioning technology

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 20, 2023 with application number 202311552725.7, and the Chinese patent application filed with the China Patent Office on November 20, 2023 with application number 202323137227.4. The entire contents of the above applications are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of electric tools, for example, to a base station, a base station addressing device and a base station addressing method based on differential positioning technology. Background Art

[0003] Autonomous vehicles, such as lawn mowers, perform tasks such as mowing within a specific work area. Given the limited positioning accuracy of the GNSS (Global Navigation Satellite System) system, which is affected by factors such as weather and obstructions, autonomous vehicles, 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. While differential positioning can improve the positioning and navigation of autonomous vehicles by adding base stations, accuracy is also affected by the base station's installation location. A base station installed in an inappropriate location can seriously affect the autonomous vehicle's operation.

[0004] This section provides background information related to the present application which is not necessarily prior art.

[0005] Summary of the Invention

[0006] 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 base station, a base station addressing device and a base station addressing method based on differential positioning technology.

[0007] This application adopts the following technical solutions:

[0008] A base station based on differential positioning technology is used to locate and navigate self-moving equipment performing work tasks in a work area, wherein the base station includes: a base station body; a base station addressing device, and the base station addressing device includes: an acquisition module configured to obtain satellite observation data of the current observation point; a calculation module configured to evaluate the observation quality of the observation point based on the satellite observation data; an output module configured to output a first prompt based on the observation quality, the first prompt indicating the suitability of the observation point for installing the base station; wherein the base station addressing device is detachably connected to the base station body so as to perform the addressing task after being removed from the base station body.

[0009] In some embodiments, the base station addressing device includes an indicator light, the first prompt is the state of the indicator light, and the output module outputs the first prompt through the indicator light.

[0010] In some embodiments, the indicator light includes a plurality of lamp beads having different orientations, and the output module indicates the moving direction from the current observation point to the next observation point by lighting up some of the lamp beads.

[0011] In some embodiments, the first prompt is an observation quality score of the observation point, and the output module transmits the observation quality score to an external device.

[0012] In some embodiments, the base station addressing device is installed on the lawn mowing robot after being detached from the base station body to follow the lawn mowing robot and perform addressing tasks.

[0013] In some embodiments, the base station addressing device further includes a power supply module configured to supply power to at least the acquisition module, the calculation module, and the output module.

[0014] In some embodiments, the power supply module includes a primary battery or a secondary battery.

[0015] In some embodiments, the power supply module includes a power supply interface, which is electrically connected to an external device to supply power to the base station addressing device.

[0016] In some embodiments, the base station includes a radio station and a satellite antenna.

[0017] A base station addressing device comprises: a device body; a plurality of lamp beads arranged on the device body and each having a different orientation; wherein each lamp bead lights up or goes out in response to the observation quality of the base station addressing device at a current observation point; when some lamp beads are lit, the lit lamp beads indicate the direction of movement from the current observation point to the next observation point.

[0018] In some embodiments, when all the lamp beads are lit, the base station addressing device has met the addressing conditions for installing the base station at the current observation point.

[0019] In some embodiments, the number of lamp beads is 8.

[0020] In some embodiments, a plurality of lamp beads are arranged in a ring shape at equal angles and on the same plane of the device body.

[0021] In some embodiments, a plurality of lamp beads correspond to different addressing intervals, and each lamp bead lights up or turns off in response to the observed quality of the corresponding addressing interval.

[0022] A base station addressing method based on differential positioning technology, wherein the method includes: obtaining satellite observation data of a current observation point; determining the number of observable satellites at the observation point, the satellite elevation angle, and the measured values ​​of the signal-to-noise ratio based on the satellite observation data; and guiding the base station addressing task to ultimately determine the installation location of the base station based on at least the measured values ​​of the number of satellites, the satellite elevation angle, and the signal-to-noise ratio at each observation point.

[0023] In some embodiments, based on the measured values ​​of the number of satellites, satellite elevation angles, and signal-to-noise ratios at each observation point, the base station addressing task is guided to ultimately determine the installation location of the base station, including: dividing the observation point into multiple addressing intervals with the observation point as the addressing center; determining the addressing difference data corresponding to the measured values ​​and ephemeris values ​​of the number of satellites, satellite elevation angles, and signal-to-noise ratios in each addressing interval based on the satellite observation data and ephemeris data of the observation point; determining the observation quality score of the addressing interval based on the addressing difference data of each addressing interval, and guiding the base station addressing task based on the observation quality score of each addressing interval.

[0024] In some embodiments, addressing difference data corresponding to the measured values ​​of the number of satellites, satellite elevation angles and signal-to-noise ratios in each addressing interval and the ephemeris values ​​are determined based on the satellite observation data and ephemeris data of the observation point, including one or more of the following: counting a first addressing difference between the number of satellites existing in each addressing interval in the real-time ephemeris data and the number of observable satellites in each addressing interval in the satellite observation data; counting a second addressing difference between the number of satellites existing in each addressing interval in the real-time ephemeris data with satellite elevation angles exceeding an elevation angle threshold and the number of observable satellites in each addressing interval in the satellite observation data with satellite elevation angles exceeding an elevation angle threshold; counting a third addressing difference between the number of satellites existing in each addressing interval in the real-time ephemeris data with signal-to-noise ratios exceeding the signal-to-noise ratio threshold and the number of observable satellites in each addressing interval in the satellite observation data with signal-to-noise ratios exceeding the signal-to-noise ratio threshold.

[0025] In some embodiments, determining the observation quality score of the addressing interval according to the addressing difference data of each addressing interval includes: performing weighted summation on the first addressing difference, the second addressing difference and the third addressing difference to obtain the observation quality score of the addressing interval.

[0026] In some embodiments, the base station addressing task is guided according to the observation quality score of each addressing interval, including: when the observation quality score of the addressing interval is lower than the score threshold, selecting a reference observation satellite from multiple observable satellites of the observation point; and determining the moving direction from the current observation point to the next observation point according to the satellite azimuth angles of the multiple reference observation satellites.

[0027] In some embodiments, the moving direction from the current observation point to the next observation point is determined based on the satellite azimuth angles of multiple reference observation satellites, including: determining the satellite azimuth angles of adjacent reference observation satellites, wherein there are no other reference observation satellites between adjacent reference observation satellites under the same azimuth rotation direction; determining the moving direction from the current observation point to the next observation point based on the satellite azimuth angles of two reference observation satellites corresponding to the satellite azimuth angle with the largest value, wherein the moving direction is located on the reverse extension line of the angle bisector of the satellite azimuth angle with the largest value.

[0028] In some embodiments, the base station addressing task is guided according to the observation quality scores of each addressing interval, including: if the observation quality scores of all addressing intervals at any observation point exceed a first score threshold, then the observation point is determined to be the installation location of the base station.

[0029] In some embodiments, guiding the base station addressing task based on the observation quality scores of each addressing interval also includes: if the observation quality scores of all addressing intervals at multiple observation points do not exceed the first score threshold, then using the second score threshold to replace the first score threshold to recalculate the observation quality scores of the addressing intervals at each observation point, wherein the second score threshold is lower than the first score threshold.

[0030] A base station addressing method based on differential positioning technology, wherein the method includes: jointly determining the installation location of the base station based on first characteristic data and second characteristic data of each observation point; wherein the first characteristic data is related to the satellite observation status when the base station is located at the observation point; the second characteristic data is related to the signal coverage status within the working area of ​​the self-mobile device when the base station is located at the observation point, and the second characteristic data is obtained by the self-mobile device moving within the working area.

[0031] In some embodiments, the self-mobile device moves within the working area to obtain second feature data, including: moving the self-mobile device to a first detection point within the working area that is farthest from a first observation point where a base station is currently located, detecting the signal coverage status of the base station at the first observation point to the self-mobile device at the first detection point; when the self-mobile device cannot receive the base station signal from the first observation point, the base station moves toward the first detection point to a second observation point within a preset distance range from the first observation point.

[0032] In some embodiments, the installation location of the base station is determined based on the first feature data and the second feature data of each observation point, including: detecting the signal coverage status of the base station at the second observation point to the self-mobile device at the first detection point; calculating the observation quality score of the second observation point based on the first feature data of the second observation point, and when the observation quality score exceeds the score threshold and the self-mobile device receives the base station signal from the second observation point, determining that the second observation point is the installation location of the base station.

[0033] An external device includes: a display device and an electronic processor; wherein the electronic processor is configured to: display a map of a working area of ​​a mobile device and an addressing questionnaire corresponding to the working area through the display device, and collect user site selection data; determine a recommended installation point of a base station based on at least the site selection data, and display the recommended installation point on a map through the display device.

[0034] In some embodiments, the external device collects the user's site selection data including one or more of the following: obtaining or correcting the area boundary of the working area in response to the user's operation; obtaining or correcting the range of the obstruction in the map in response to the user's operation; obtaining or correcting the height of the obstruction in the map in response to the user's operation; obtaining the candidate installation point selected by the user in response to the user's operation.

[0035] In some embodiments, the electronic processor evaluates the observation quality of each candidate installation point based on one or more of the area boundary, the obstruction range, and the obstruction height, and determines a recommended installation point from multiple candidate installation points based on the observation quality of each candidate installation point.

[0036] In some embodiments, the external device also includes: a communication device for interacting with the base station and / or the self-mobile device; the electronic processor is also configured to: obtain satellite observation data collected by the base station at the recommended installation point through the communication device, and guide the base station to perform addressing fine-tuning tasks near the recommended installation point through the display device based on the satellite observation data.

[0037] In some embodiments, the external device also includes: a communication device that interacts with the base station and / or the self-mobile device; the electronic processor is also configured to: obtain first characteristic data and second characteristic data of the base station at the recommended installation point through the communication device, and guide the base station to perform addressing fine-tuning tasks near the recommended installation point through the display device based on the first characteristic data and the second characteristic data.

[0038] In some embodiments, the base station performs an addressing fine-tuning task within a preset distance range of the recommended installation point to determine a new recommended installation point.

[0039] A base station based on differential positioning technology is used to locate and navigate a self-moving device performing work tasks in a work area, wherein the base station includes: a base station body, a power module and a power supply module electrically connected to the power module; the power module is configured to receive or send data to locate and navigate the self-moving device; the power supply module is at least configured to supply power to the power module; wherein the power supply module includes a first battery pack detachably connected to the base station body, and after the first battery pack is removed from the base station body, it is electrically connected to an electric tool and supplies power to the electric tool.

[0040] In some embodiments, the self-mobile device is powered by the same battery pack as the first battery pack.

[0041] In some embodiments, the mobile device is powered by a second battery pack that is different from the first battery pack.

[0042] In some embodiments, the capacity of the second battery pack is greater than the capacity of the first battery pack.

[0043] In some embodiments, the supply voltage of the second battery pack is lower than the supply voltage of the first battery pack.

[0044] In some embodiments, the base station body includes a storage compartment, the storage compartment is located at the bottom of the base station body, and the power supply module is at least partially accommodated in the storage compartment.

[0045] In some embodiments, the power module includes a radio station, which is communicatively connected to the mobile device and configured to receive a status signal of the mobile device transmitted from the mobile device; the power supply module enters standby mode after receiving the charging status signal.

[0046] In some embodiments, the power supply module exits standby mode after receiving the working status signal.

[0047] In some embodiments, the power consumption module includes a radio station, which is communicatively connected to the self-mobile device and is configured to receive the distance parameters between the self-mobile device and the base station transmitted by the self-mobile device; the power consumption module stores the preset segmented intervals of the distance parameters and transmits data to the self-mobile device via the radio station at a segmented frequency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] FIG1 is a schematic diagram of the working area of ​​the mobile device where the base station and the base station addressing device are located in the present application;

[0049] FIG2 is a perspective view of a base station as an embodiment of the present application;

[0050] FIG3 is a schematic diagram of the electrical control principle of the base station shown in FIG2 ;

[0051] FIG4 is a perspective view of a base station as another embodiment of the present application;

[0052] FIG5 is a schematic diagram of the electrical control principle of the base station shown in FIG4 ;

[0053] FIG6A is a plan view of a base station addressing device as an embodiment of the present application;

[0054] FIG6B is another plan view of the base station addressing device shown in FIG6A;

[0055] FIG7 is a schematic diagram of the addressing intervals corresponding to the respective lamp beads in the base station addressing device shown in FIG6A and FIG6B;

[0056] FIG8 is a control flow chart of a base station addressing method as an embodiment of the present application;

[0057] FIG9 is a schematic diagram of the moving direction from the current observation point to the next observation point in the base station addressing method shown in FIG8;

[0058] FIG10 is a schematic diagram of a base station addressing method as another embodiment of the present application;

[0059] FIG11 is a schematic diagram of the electrical control principle of an external device as an embodiment of the present application.

[0060] Figure legends: 10. Self-moving device; 20 / 20a / 20b, base station; 30. Satellite positioning system / satellite; 40. External device; 50 / 50a, base station addressing device; 60. Power tool; 210. Base station body; 220. Power module; 230. Power supply module; 211. Storage compartment; 212. Support rod; 221. Radio station; 222. Satellite antenna; 231. First battery pack; 41. Display device; 42. Electronic processor; 43. Communication device; 51. Device body; 52. Indicator light / lamp bead; 510. Acquisition module; 520. Calculation module; 530. Output module. DETAILED DESCRIPTION

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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).

[0066] 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.

[0067] 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.

[0068] 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.

[0069] In this application, the terms "device", "module" or "unit" can be implemented in the form of hardware or software to achieve specific functions.

[0070] 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.).

[0071] The technical solution proposed in this application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0072] As shown in Figure 1, a base station 20 is installed within the operating area of ​​a self-mobile device 10. Based on its own installation location and observation data from a satellite positioning system, the base station 20 calculates differential data, which can be used to correct positioning errors of the satellite positioning system, and transmits the data to the self-mobile device 10. However, due to the influence of terrain and the presence of obstructions such as buildings, the installation of the base station 20 in different locations within the operating area of ​​the self-mobile device 10 may result in significant accuracy differences. Therefore, effectively locating the installation location of the base station 20 is closely related to the subsequent operation of the self-mobile device 10 and is a major issue that needs to be addressed in the relevant field.

[0073] FIG2 shows a base station 20a as an embodiment of the present application. The base station 20a is a base station 20a for realizing differential positioning in the working area of ​​the self-mobile device 10, that is, a base station 20a based on differential positioning technology. As shown in FIG2 , the base station 20a includes a base station body 210 and a base station addressing device 50a. The base station body 210 and the base station addressing device 50a are detachably connected. The base station body 210 includes at least a supporting / receiving member such as a shell. The base station addressing device 50a includes a functional module with functions such as communication and logical operation. The base station addressing device 50a can be detached from the base station body 210 and then perform the base station addressing task, so that the base station addressing process is more portable, flexible and convenient for relevant personnel.

[0074] 3 , a base station addressing device 50a may include a collection module 510, a calculation module 520, and an output module 530. The collection module 510 is in communication with the satellite positioning system 30. In the accompanying drawings, satellite 30 will be used to represent the satellite positioning system 30. The collection module 510 is also connected to the calculation module 520, which is in turn connected to the output module 530. Generally, the connections between the three modules in the base station addressing device 50a are electrical connections. However, it is not ruled out that some intermediate processes may involve communication connections, for example, whether the calculation and analysis of the calculation module 520 involves processing by a related server, and whether the prompt output of the output module 530 involves interaction with an external device 40.

[0075] The acquisition module 510 interacts with the satellite positioning system 30 to obtain satellite observation data at the current observation point and transmits it to the calculation module 520; the calculation module 520 evaluates the observation quality of the current observation point based on the satellite observation data from the acquisition module 510 and transmits it to the output module 530; the output module 530 outputs a first prompt based on the observation quality from the calculation module 520, and relevant personnel can refer to the first prompt at the current observation point or each observation point to decide where to install the base station 20a. There are multiple optional expressions for the first prompt indicating the suitability of the current observation point for installing the differential positioning base station 20a. The specific way in which the output module 530 outputs the first prompt should correspond to the specific form of the first prompt. There are also multiple optional implementation methods for the calculation module 520 to obtain the observation quality of the current observation point based on the satellite observation data at the current observation point, which will be explained in detail later.

[0076] In some embodiments, the base station addressing device 50a includes an indicator light 52, and the output module 530 can output a first prompt via the indicator light 52. Specifically, the first prompt can be the status of the indicator light 52, including but not limited to: whether the indicator light 52 is on or off, the number of illuminated indicator lights 52, and the direction corresponding to the illuminated indicator lights 52. In some embodiments, the base station addressing device 50a includes multiple lamp beads 52 with different orientations. The output module 530 can provide first prompts with different meanings by illuminating none of the lamp beads 52, illuminating some of the multiple lamp beads 52, or illuminating all of the lamp beads 52. For example, the output module 530 can illuminate some of the lamp beads 52 to indicate the direction of movement from the current observation point to the next observation point, indicating that the next observation point is more suitable for installing the differential positioning base station 20a than the current observation point. The output module 530 can illuminate all of the lamp beads 52 to indicate that the current observation point meets the installation addressing requirements and can be used as the installation location for the base station 20a.

[0077] In some other embodiments, the first prompt can be expressed in the form of a score, where the first prompt is the observation quality score of the current observation point. The output module 530 can transmit the observation quality score of the current observation point to the external device 40. The external device 40 can include a user device with visualization capabilities such as a smart phone, tablet computer, portable computer, etc., and can also include a server or server cluster for unified addressing management. Relevant personnel can obtain the observation quality score of each observation point by viewing the above-mentioned external device 40 or establishing a communication connection with the above-mentioned external device 40. In some other embodiments, the external device 40 can present a display interface similar to the multiple lamp beads 52 described above through a related program, and the user can observe the lit lamp beads 52 in the device display interface to determine the direction of movement.

[0078] In some embodiments, the base station addressing device 50a can be installed on a self-moving device 10 such as a lawn mower robot after being disassembled from the base station body 210, and can follow the self-moving device 10 such as the lawn mower robot to perform base station addressing tasks while it moves and performs work tasks. For example, while the lawn mower robot moves in the working area and performs mowing tasks, the base station addressing device 50a that is disassembled and installed on the lawn mower robot can find the best position to install the base station 20a in the working area, thereby eliminating the time and effort of manually carrying the base station addressing device 50a for addressing, and improving the efficiency and cost of base station addressing.

[0079] In some embodiments, the base station addressing device 50a further includes a power supply module 230, which can at least supply power to the acquisition module 510, the calculation module 520, and the output module 530 in the base station addressing device 50a to ensure that the base station addressing device 50a can smoothly perform base station addressing after being disassembled from the base station body 210. In some embodiments, the power supply module 230 may include a secondary battery, that is, a battery that can be used through charge and discharge cycles, which is more energy-efficient and efficient. In other embodiments, the power supply module 230 may also include a primary battery, that is, a battery that can only be used once, which has the advantage of being easy to purchase and use. In still other embodiments, the power supply module 230 may include a power supply interface, and the base station addressing device 50a can be electrically connected to the external device 40 or the self-mobile device 10 through the power supply interface so that it can be powered by the external device 40 or the self-mobile device 10.

[0080] In some embodiments, the base station 20a also includes a radio station 221 and a satellite antenna 222. The radio station 221 of the base station 20a is used to realize data interaction between it and the mobile device 10, and the satellite antenna 222 is used to realize data interaction between it and the satellite positioning system 30. The radio station 221 and the satellite antenna 222 can be disassembled from the base station body 210 along with the base station addressing device 50a to perform the base station addressing task, that is, the base station addressing device 50a can also include a radio station 221 and a satellite antenna 222. Specifically, the acquisition module 510 of the base station addressing device 50a may include a satellite antenna 222, and the above-mentioned power supply module 230 also supplies power to the radio station 221 and the satellite antenna 222.

[0081] FIG4 shows a base station 20 b as another embodiment of the present application. Similarly, the base station 20 b is a base station 20 b for implementing differential positioning in the working area of ​​the mobile device 10 , that is, a base station 20 b based on differential positioning technology. As shown in Figures 4 and 5, the base station 20b includes a base station body 210, a power module 220, and a power supply module 230, wherein the base station body 210 includes at least a supporting / housing member such as a shell, and the power module 220 is capable of at least receiving or sending data to achieve positioning and navigation of the self-mobile device 10. For example, the power module 220 may include the acquisition module, computing module, and output module described above, and may also include the radio station and satellite antenna described above. The power supply module 230 includes a first battery pack 231 and related power supply circuits. When installed in the base station body 210, it can be electrically connected to the power module 220 and can at least power the above-mentioned power module 220. In addition, the first battery pack 231 in the power supply module 230 is detachably connected to the base station body 210. After being removed from the base station body 210, it can be electrically connected to the power tool 60 and power the power tool 60, so that the self-mobile device 10 or other power tools 60 in its working area have additional power supply options, thereby improving battery life.

[0082] The base station is equipped with a power supply module containing a detachable battery pack. When installed in the base station, it can power the power-consuming modules in the base station. After being removed, it can power mobile equipment or other power tools in the work area, thereby improving the convenience of power supply for equipment in related scenarios, enhancing user experience, and achieving a certain degree of cost reduction.

[0083] In some embodiments, the base station body 210 includes a storage compartment 211, which is located at the bottom of the base station body 210, and the power supply module 230 can be at least partially accommodated in the storage compartment 211. In other embodiments, some power modules 220 can also be accommodated in the storage compartment 211. In some other embodiments, the storage compartment 211 is also provided with a waterproof and retractable compartment cover to cope with rainy and snowy weather. In some other embodiments, the base station body 210 may also include a support rod 212, which is located in the upper middle part of the base station body 210 and can support power modules such as radio stations and satellite antennas, and the power supply module 230 can be at least partially accommodated in the support rod 212.

[0084] In some embodiments, the self-mobile device 10 can be powered by the removable first battery pack 231 in the power supply module 230 of the base station 20b. For example, the battery pack used by the self-mobile device 10 and the first battery pack 231 of the base station 20b are of the same model, both with a capacity of 10Ah. In other embodiments, the self-mobile device 10 can also be powered by a second battery pack that is different from the removable first battery pack 231 in the power supply module 230 of the base station 20. For example, the second battery pack has different parameters such as the supply current.

[0085] In some embodiments, the self-mobile device 10 is powered by a second battery pack different from the first battery pack 231 of the base station 20b, and the capacity of the second battery pack used by the self-mobile device 10 is greater than the capacity of the first battery pack 231 of the base station 20b. For example, the capacity of the first battery pack 231 of the base station 20b is 10Ah, while the capacity of the second battery pack of the self-mobile device 10 is 20Ah. In other embodiments, the capacity of the second battery pack used by the self-mobile device 10 may also be smaller than the capacity of the first battery pack 231 of the base station 20b.

[0086] In some embodiments, the mobile device 10 is powered by a second battery pack different from the first battery pack 231 of the base station 20b, and the second battery pack used by the mobile device 10 has a lower voltage than the first battery pack 231 of the base station 20b. For example, the first battery pack 231 of the base station 20b has a voltage of 56V, and the first battery pack 231 can be stored in a wrapped form within the storage compartment 211, while the second battery pack used by the mobile device 10 has a voltage of 24V. For another example, the first battery pack 231 of the base station 20b has a voltage of 12V, and the first battery pack 231 can be stored in a cylindrical form within the support rod 212, while the second battery pack used by the mobile device 10 has a voltage of 24V.

[0087] In some embodiments, the power module 220 includes a radio station 221 and a satellite antenna 222. The base station 20b can establish a communication connection with the mobile device 10 via the radio station 221 and with the satellite positioning system 30 via the satellite antenna 222 to exchange satellite observation data, differential data, and other data. The base station 20b can also receive status signals transmitted from the mobile device 10 via the radio station 221. These status signals represent the status of the mobile device 10, including operating status signals when the mobile device 10 is normally performing various tasks, and charging status signals when the mobile device 10 returns to the charging station for charging. Upon receiving the charging status signal, the power supply module 230 can enter standby mode, for example, by disconnecting the power supply circuit or reducing the power supply voltage. Upon receiving the operating status signal, the power supply module 230 can exit standby mode, for example, by restoring the power supply circuit or increasing the power supply voltage.

[0088] In other embodiments, the base station 20b may also receive the distance parameter between the base station 20b and the mobile device 10 transmitted through the radio station 221. The power module 220 pre-stores a preset segmented interval of the distance parameter. After receiving the distance parameter transmitted from the mobile device 10, the above-mentioned satellite observation data and / or differential data, etc. may be correspondingly transmitted to the mobile device 10 through the radio station 221 at a segmented frequency to realize frequency-variable transmission of data adapted to the distance between the two. The segmented frequency corresponds to the segmented interval of the distance parameter. Specifically, the base station 20b may use a lower frequency to transmit the above-mentioned data when the distance to the mobile device 10 is closer. In some other embodiments, after receiving the distance parameter transmitted from the mobile device 10, the power module 220 can correspondingly transmit the above-mentioned satellite observation data and / or differential data to the mobile device 10 with segmented power through the radio station 221 to achieve variable power transmission of data adapted to the distance between the two. The segmented power has a corresponding relationship with the segmented interval of the distance parameter. Specifically, the base station 20b can use lower power to transmit the above-mentioned data when the distance to the mobile device 10 is closer.

[0089] It can be understood that the schemes of the base station 20a and the base station 20b shown in Figures 2 to 5 can be independent of each other or combined into the same base station 20, that is, a base station 20 based on differential positioning technology can only have the function of performing base station addressing tasks after the differential addressing device is detachable, or only have the function of powering the power tool after the battery pack is detachable, or can also have both a detachable differential addressing device and a detachable battery pack.

[0090] In addition, a base station based on differential positioning technology is proposed, which also includes a base station body, a power module and a power supply module. Among them, the power supply module of the base station includes a secondary battery that can be used through charge and discharge cycles and a solar-electric energy conversion unit. The solar-electric energy conversion unit can be installed on the base station body at a position that is conducive to absorbing solar energy, and can convert solar energy into electricity to charge the above-mentioned secondary battery. The above-mentioned secondary battery can at least power the power module in the base station. In some embodiments, it can also be disassembled from the base station body to power self-moving equipment or other power tools. In other embodiments, the power supply module of the base station may not use a solar-electric energy conversion unit, but may use other energy conversion units such as a wind energy-electric energy conversion unit, a geothermal energy-electric energy conversion unit, etc. The specific design can be adapted to the actual scenario to further achieve green, environmentally friendly and cost-saving technical effects. Another base station based on differential positioning technology is proposed, which also includes a base station body, a power module and a power supply module. Among them, the power supply module of the base station includes an access unit that can be connected to the mains power. The base station can be set up in the working area, such as next to a charging pile, near a mains power access socket, to be powered by wiring, thereby eliminating the need to purchase and arrange components such as battery packs and solar-electricity conversion panels, which is cheaper and more convenient.

[0091] A base station addressing device 50 is introduced below. In some embodiments, the base station addressing device 50 can be used as the base station addressing device 50a in the base station 20a described above, which can be detachably connected to the base station body 210. Of course, the base station addressing device 50 can also exist as an independent device, which does not constitute a specific limitation here.

[0092] Figures 6A and 6B illustrate a base station addressing device 50 as an embodiment of the present application. As shown in Figures 6A and 6B, the base station addressing device 50 includes a device body 51 and multiple lamps 52 disposed on the device body. Each lamp 52 has a different orientation and is generally arranged on the same plane of the device body 51. In some embodiments, the number of lamps 52 may be eight; in other embodiments, the lamps 52 may be arranged in a ring-shaped pattern with equal angular intervals on the same plane of the device body 51. Each lamp 52 illuminates or deactivates in response to the observation quality of the base station addressing device 50 at the current observation point. When some lamps 52 illuminate, the illuminated lamps 52 indicate the direction of movement from the current observation point to the next observation point. The observation quality of the next observation point is generally better than that of the current observation point, thereby enabling the base station addressing device 50 to continuously approach the optimal location for installing the base station 20. In some embodiments, only one lamp 52 is illuminated at a time, and this lamp 52 indicates the optimal direction of movement from the current observation point to the next observation point. In other embodiments, the number of light beads 52 that light up each time is one or more, and the one or more light beads 52 that light up indicate one or more selectable moving directions from the current observation point to the next observation point.

[0093] In some embodiments, when all the lamp beads 52 are lit, the base station addressing device 50 can meet the addressing conditions for installing the base station 20 at the current observation point, and relevant personnel can choose to install the base station 20 at the current observation point.

[0094] In some embodiments, each lamp bead 52 on the base station addressing device 50 represents a different addressing interval, and the lighting or extinguishing of a lamp bead 52 is related to the observation quality of the addressing interval corresponding to the lamp bead 52. Taking the base station addressing device 50 with eight lamp beads 52 shown in Figures 6A and 6B as an example, the addressing interval is described using an azimuth angle range. With due north as azimuth 0°, the azimuth angle in a clockwise direction will sequentially pass through 90° due east, 180° due south, 270° due west, and finally reach 360°. In some cases, as shown in FIG7 , the azimuth angle range of the addressing interval corresponding to each lamp bead 52 can be constant and does not change with the rotation of the base station addressing device 50 itself. For example, eight addressing intervals with azimuth angle ranges of 0° to 45°, 45° to 90°, 90° to 135°, 135° to 180°, 180° to 225°, 225° to 270°, 270° to 315°, and 315° to 360° can be set. The eight lamp beads 52 on the base station addressing device 50 can correspond one-to-one to the above-mentioned eight addressing intervals. During the rotation of the base station addressing device 50, the actual orientation of each lamp bead 52 in the physical world may not be consistent with the azimuth angle range of the addressing interval to which it corresponds. In other cases, the azimuth range of the addressing interval corresponding to each lamp bead 52 may also be non-constant, and it changes with the rotation of the base station addressing device 50 itself. Specifically, the azimuth range of the addressing interval corresponding to each lamp bead 52 can be designed to be consistent with the actual orientation of the lamp bead 52 in the physical world. For example, the azimuth range of the addressing interval corresponding to a certain lamp bead 52 is currently 0° to 45°. If the base station addressing device 50 rotates 180°, the azimuth range of the addressing interval corresponding to the lamp bead 52 will change to 180° to 225°.

[0095] The following describes a base station addressing method based on differential positioning technology. In some embodiments, this base station addressing method can be applied to the base station addressing apparatus 50a or base station addressing device 50 described above. Of course, this base station addressing method can also be applied to other devices that perform base station addressing tasks. For example, the base station 20 can directly perform addressing. This is not a specific limitation. The following description uses the base station addressing device 50 as the implementation subject of this solution to facilitate subsequent exemplary explanations.

[0096] FIG8 shows a base station addressing scheme as an embodiment of the present application, which is applied to a differential positioning system composed of a mobile device 10, a base station 20, and a satellite positioning system, i.e., a base station addressing method based on differential positioning technology, which includes the following control flow:

[0097] 810. Obtain satellite observation data of the current observation point;

[0098] 820. Determine the number of observable satellites at the observation point, the satellite elevation angle, and the measured value of the signal-to-noise ratio based on the satellite observation data;

[0099] 830. Based on at least the measured values ​​of the number of satellites, satellite elevation angles, and signal-to-noise ratios at each observation point, guide the base station addressing task to ultimately determine the installation location of the base station.

[0100] The base station addressing device 50 first interacts with the satellite positioning system 30 to obtain the satellite observation data of the current observation point, that is, it simulates the data interaction status between the base station 20 and the satellite positioning system 30 after being installed at the current observation point. Then, based on this satellite observation data, the base station addressing device 50 can determine the number of observable satellites at the current observation point, as well as the measured values ​​of the satellite elevation angle and signal-to-noise ratio of each observable satellite. Therefore, based on at least the measured values ​​of the number of satellites, satellite elevation angle and signal-to-noise ratio at each observation point, the base station addressing task can be guided to finally determine the installation location of the base station 20.

[0101] The number of observable satellites, satellite elevation angle, and signal-to-noise ratio (SNR) at the current observation point, obtained from satellite observation data, can actually reflect the suitability of the current observation point as an installation location for the base station 20. The observable satellites at the current observation point are satellites in the satellite positioning system 30 that can actually communicate successfully with the base station addressing device 50 at that observation point. The satellite elevation angle is the elevation angle of the line connecting the satellite and the current observation point relative to the horizontal plane at which the observation point is located, which affects the inherent communication quality between the satellite and the base station addressing device 50 at the current observation point. The SNR is the power ratio of the effective signal to the noise in the channel between the satellite and the base station addressing device 50 at the current observation point. Together with the number of observable satellites, the SNR can reflect the actual communication quality between the current observation point and the satellite positioning system 30. As shown in Figure 9, the outer circle in the outermost circle of Figure 9 represents the satellite range that can be covered at the current observation point. The center of the outer circle is the current observation point. The multiple concentric circles of the outer circle are marks for different satellite elevation angles. The satellite elevation angle at the center of the circle is 90°, and it is recursively increased by 15° until the satellite elevation angle at the outer circle drops to 0°. The values ​​on the circumference of the outer circle are marks for different satellite azimuths. The north direction is the azimuth 0°, and it is recursively increased by 45° clockwise, passing through 90° east, 180° south, and 270° west until it returns to the north direction at 360°. The multiple small circles distributed in various places contained in the outer circle represent the observable satellites at the current observation point. The satellite elevation angle corresponding to the concentric circle where the small circle falls is the measured value of the satellite elevation angle of the observable satellite, the value inside the small circle is the measured value of the signal-to-noise ratio of the observable satellite, and the number of small circles inside the outer circle is the total number of observable satellites at the current observation point. In simple terms, the more satellites that can be observed at an observation point, the higher the satellite elevation angle and the signal-to-noise ratio, the more suitable the observation point is for the installation location of the base station 20 .

[0102] In one embodiment, corresponding to the content of the base station addressing device 50 described above, in the process of guiding the base station addressing task to finally determine the installation position of the base station 20 based on the measured values ​​of the number of satellites, satellite elevation angles and signal-to-noise ratios at different observation points, first, the current observation point can be used as the addressing center to divide multiple addressing intervals. Taking Figure 9 as an example, the interval division can be based on the azimuth angle to obtain 8 addressing intervals of azimuth angles [0°, 45°], [45°, 90°], [90°, 135°], [135°, 180°], [180°, 225°], [225°, 270°], [270°, 315°], and [315°, 360°]. Then, based on the satellite observation data and ephemeris data of the current observation point, the measured values ​​and ephemeris values ​​of the number of observable satellites, satellite elevation angles, and signal-to-noise ratios within each addressing interval of the current observation point can be determined, thereby obtaining corresponding addressing difference data. The ephemeris data at each observation point is the satellite data of all satellites in the satellite positioning system. The ephemeris values ​​of the number of satellites, satellite elevation angles, and signal-to-noise ratio at the current observation point obtained from the ephemeris data reflect the ideal condition when there is no obstruction or interference at the observation point. These values ​​can be used as a benchmark reference and combined with the measured values ​​at the observation point to obtain addressing difference data to more accurately reflect the suitability of the observation point as the installation location for the base station 20. The addressing difference data of each addressing interval can then be used to evaluate the observation quality of the addressing interval, calculate an observation quality score corresponding to the addressing interval, and use the observation quality score of each addressing interval to guide the next base station addressing task. In some embodiments, in combination with the relevant content of the base station addressing device 50 described above, assuming that the base station addressing device 50 has lamp beads 52 corresponding to the above-mentioned 8 addressing intervals, the base station addressing device 50 can light up the lamp beads 52 corresponding to the addressing interval with the highest score after obtaining the observation quality score of each addressing interval, or light up the lamp beads 52 corresponding to one or more addressing intervals whose scores exceed the preset score threshold, so as to guide the base station addressing device 50 to move to a better base station 20 installation position.

[0103] In some embodiments, if the observation quality scores of all addressing intervals at the current observation point exceed a first score threshold, the base station addressing device 50 may determine that the current observation point serves as the installation location of the base station 20. In other embodiments, if the observation quality scores of all addressing intervals at multiple observation points do not exceed the first score threshold, the base station addressing device 50 may replace the first score threshold with a second score threshold with a slightly lower value to accommodate special sites with naturally poor observation quality, thereby enhancing the applicability of the addressing scheme by adopting a stepped threshold approach. In still other embodiments, the base station addressing device 50 may further include a third score threshold that further replaces the second score threshold, with the third score threshold having a value slightly lower than the second score threshold.

[0104] In some embodiments, the addressing difference data includes one or more of a first addressing difference, a second addressing difference, and a third addressing difference, wherein:

[0105] The first addressing difference is the difference between the number of satellites existing in each addressing interval in the real-time ephemeris data and the number of observable satellites in each addressing interval in the actual satellite observation data. For example, there are N1 satellites in the addressing interval [0°, 45°] of the current observation point in the real-time ephemeris data, and the addressing interval [0°, 45°] of the current observation point in the actual satellite observation data contains N1' observable satellites. The first addressing difference includes N1-N1'. The second addressing difference is the difference between the number of satellites whose satellite elevation angles are lower than the preset elevation angle threshold in each addressing interval in the real-time ephemeris data, and the number of satellites whose observable satellite elevation angles exceed the elevation angle threshold in each addressing interval in the actual satellite observation data. For example, there are N2 satellites whose satellite elevation angles exceed the threshold in the addressing interval [0°, 45°] of the current observation point in the real-time ephemeris data, and the addressing interval [0°, 45°] of the current observation point in the actual satellite observation data contains N2' observable satellites whose satellite elevation angles exceed the threshold. The second addressing difference includes N2-N2'. The third addressing difference is the difference between the number of satellites with signal-to-noise ratios exceeding a preset signal-to-noise ratio threshold within each addressing interval in the real-time ephemeris data and the number of observable satellites with signal-to-noise ratios exceeding the threshold within each addressing interval in the actual satellite observation data. For example, if N3 satellites with signal-to-noise ratios exceeding the threshold exist within the addressing interval [0°, 45°] of the current observation point in the real-time ephemeris data, and N3' observable satellites with signal-to-noise ratios exceeding the threshold exist within the addressing interval [0°, 45°] of the current observation point in the actual satellite observation data, the third addressing difference comprises N3-N3'. The first, second, and third addressing differences can comprehensively reflect the influence of factors such as the satellite distribution of the satellite positioning system and the surrounding terrain and building obstruction on the observation of different observation points, thereby reflecting the suitability of installing the base station 20 at each observation point.

[0106] In some embodiments, the base station addressing device 50 performs a weighted summation of the first addressing difference, the second addressing difference, and the third addressing difference for each addressing interval to obtain an observation quality score for that addressing interval. The weights for summing the first, second, and third addressing differences may be different. In some embodiments, the observation quality score for an addressing interval may be 100 - k1*(N1-N1') - k2*(N2-N2') - k3*(N3-N3').

[0107] In some embodiments, when an addressing interval exists where the observation quality score is below a threshold, the base station addressing device 50 may select a reference observation satellite from multiple observable satellites at the current observation point, and determine the direction of movement from the current observation point to the next observation point based on the satellite azimuth of the reference observation satellite. In some embodiments, the reference observation satellite may be a satellite among the observable satellites whose elevation angle exceeds a preset elevation angle threshold and whose signal-to-noise ratio exceeds a preset signal-to-noise ratio threshold. Of course, other embodiments may have other requirements for the reference observation satellite.

[0108] In some embodiments, base station addressing aims to ensure that the scores of each addressing interval are balanced and can meet the observation requirements. The direction that can avoid or reduce related obstruction interference can be determined based on the reference observation satellite as the moving direction of the base station addressing device 50. The base station addressing device 50 can first determine the satellite azimuth angles of adjacent reference observation satellites. There are no other reference observation satellites between the adjacent reference observation satellites in the same azimuth rotation direction. As shown in FIG9 , rotating clockwise, the satellite azimuth angle of the reference observation satellite with satellite number a is 295°, and the satellite azimuth angle of the reference observation satellite with satellite number b is 5°. There are no other observable satellites between the azimuth angles of 295° and 5°. Then the reference observation satellites a and b are adjacent reference observation satellites. The satellite azimuth angles of adjacent reference observation satellites correspond to the azimuth range in which there are no other observable satellites between the two. Following the previous example, the satellite azimuth angles of adjacent reference observation satellites a and b are the azimuth angles in the clockwise direction. 295° to 5°, and then, the base station addressing device 50 can determine the moving direction from the current observation point to the next observation point according to the satellite azimuth angles of the two reference observation satellites corresponding to the maximum satellite azimuth angle. The maximum satellite azimuth angle represents the disadvantageous direction in which satellite observation is difficult to achieve at the current observation point. The reverse extension line direction of the angle bisector of the maximum satellite azimuth angle can be taken as the moving direction. Following the previous example, assuming that the satellite azimuth angle between the reference observation satellites a and b has the largest value, at the observation point shown in Figure 9, it can be moved in the direction of 150°, the reverse extension line of the satellite azimuth angle bisector of 330° between the reference observation satellites a and b, so as to stay away from the above-mentioned disadvantageous observation direction and improve the observation quality.

[0109] The following introduces another base station addressing method based on differential positioning technology. Similarly, this base station addressing method can be applied to the base station addressing device 50a or base station addressing device 50 described above, and can also be applied to the base station 20 or other devices. The following text uses the base station 20 as the execution subject for exemplary explanation.

[0110] As another embodiment of the base station addressing scheme in the present application, it can be applied to a differential positioning system composed of a mobile device 10, a base station 20 and a satellite positioning system 30, that is, a base station addressing scheme based on differential positioning technology, which includes in the control process: determining the installation location of the base station 20 based on the first feature data and the second feature data of each observation point.

[0111] Among them, the first characteristic data is related to the satellite observation status when the base station 20 is located at the current observation point. In some embodiments, the first characteristic data can be the satellite observation data, ephemeris data, etc. of the current observation point described above; the second characteristic data is related to the signal coverage status within the working area of ​​the mobile device 10 when the base station 20 is located at the current observation point. In some embodiments, the second characteristic data can be the signal strength of the base station 20, etc. The second characteristic data can be obtained during the movement of the mobile device 10 within the working area.

[0112] In some embodiments, the base station 20 may obtain the first feature data and the second feature data of each observation point to comprehensively determine the observation quality of the observation point. For example, the observation quality score of the observation point may be calculated based on the first feature data and the second feature data of the observation point, thereby determining the final installation location of the base station 20 based on the observation quality of each observation point. The relevant data types and scoring methods such as weighted summation are described above. Of course, other data types or other evaluation methods may also be used.

[0113] In some embodiments, referring to FIG10 , the base station 20 may also cooperate with the self-mobile device 10 in the working area to find the best installation position of the base station 20 through relative movement between the two. Assuming that the base station 20 is currently at the first observation point, the self-mobile device 10 may move to the first detection point farthest from the first observation point in the working area to detect the signal coverage status of the base station 20 at the first observation point to the self-mobile device 10 at the first detection point. For example, the self-mobile device 10 may detect whether it can receive the signal from the base station 20 or detect whether the received signal strength of the base station 20 is too weak. If the self-mobile device 10 cannot receive the base station 20 signal from the first observation point at the first detection point or the received base station 20 signal strength is too weak, the base station 20 moves toward the self-mobile device 10 to the second observation point within the preset distance range of the first observation point.

[0114] Generally, since the self-mobile device 10 has made a slight position adjustment within the preset distance range of the first observation point, after the base station 20 moves to the second observation point, the first detection point is still the point farthest from the second observation point in the working area. The observation quality score of the second observation point is calculated based on the first feature data of the base station 20 at the second observation point, and the signal coverage status of the base station 20 at the second observation point to the self-mobile device 10 at the first detection point is re-detected. If the observation quality score of the second observation point can exceed the score threshold and the self-mobile device 10 can receive the base station 20 signal from the second observation point at the first detection point or the received base station 20 signal strength is no longer too weak, then the second observation point can be determined to be the installation location of the base station 20.

[0115] In some embodiments, the addressing scheme shown in Figure 10 can serve as a supplementary optimization of the addressing scheme shown in Figure 8. When the above scheme is started, the base station 20 can select the installation position of the base station 20 obtained by executing the scheme in Figure 8 as the first observation point, and perform the addressing fine-tuning task within the preset distance range of the first observation point to take into account the signal coverage problem of the base station 20 from the mobile device 10 at various locations in the working area, and further optimize the installation position of the base station 20.

[0116] Referring to FIG11 , an external device 40 can be introduced into the working system of the mobile device 10. The external device 40 includes a display device 41 and an electronic processor 42, wherein the display device 41 and the electronic processor 42 are electrically connected or communicatively connected. The electronic processor 42 can call the display device 41 to display a map of the working area of ​​the mobile device 10 and an addressing questionnaire corresponding to the working area. The map of the working area can be pre-built or pre-acquired. The addressing questionnaire can have a unified template. After substituting it into the current map, the corresponding questionnaire can be obtained. The questionnaire can be in the form of text, images, audio, etc. Then, in response to user operation, the electronic processor 42 can collect the site selection data provided by the user, and then analyze and calculate based on at least the collected site selection data to determine the recommended installation point of the base station 20. The recommended installation point can be displayed on the map via the display device 41. The number of the recommended installation points can be one or more.

[0117] In some embodiments, during the process of collecting user site selection data, the electronic processor 42 of the external device 40 can, in response to user operations, obtain or modify the boundaries of the work area, the range of obstructions in the map, the height of obstructions in the map, and one or more candidate installation points selected by the user. Specifically, the external device 40 can have touch and click functions and be equipped with corresponding modules / devices, and the electronic processor 41 can be electrically connected or communicatively connected to it to obtain the above data or modify the obtained data.

[0118] In some embodiments, in the process of determining the recommended installation point of the base station 20, the electronic processor 42 can evaluate the observation quality of each candidate installation point based on one or more of the obtained area boundaries, obstruction ranges, and obstruction heights, and then select one or several better observation quality points from the candidate installation points as recommended installation points based on the observation quality of each candidate installation point. The evaluation of observation quality can refer to the relevant content such as the observation quality score calculation in the previous text. The area boundaries in the site selection data are related to the signal coverage status of the base station 20, and the obstruction range and height will affect the data interaction between the base station 20 and the satellite positioning system. The use of the above-mentioned area boundaries, obstruction ranges, and obstruction heights can simulate the working conditions of the base station at various positions in the working area.

[0119] In some embodiments, the external device 40 includes, in addition to the display device 41 and the electronic processor 42, a communication device 43. The communication device 43 can be electrically connected to the electronic processor 42 and communicated with the base station 20 and / or the self-mobile device 10. The electronic processor 42 can call the communication device 43 to obtain the satellite observation data collected by the base station 20 at the recommended installation point, and then guide the base station 20 to perform the addressing fine-tuning task near the recommended installation point through the display device 41 based on the above satellite observation data. For guidance of base station addressing based on satellite observation data, please refer to the relevant content in the previous text. In other embodiments, the electronic processor 42 can also call the communication device 43 to obtain the first feature data and the second feature data collected by the base station 20 at the recommended installation point, and then guide the base station 20 to perform the addressing fine-tuning task near the recommended installation point through the display device 41 based on the above first and second feature data. For details, please refer to the relevant content in the previous text. The electronic processor 42 can display the direction of movement from the current observation point to the next observation point via the display device 41 to provide guidance for the addressing task. The addressing fine-tuning task can require a limited adjustment of the installation position of the base station 20 within a preset distance range from the recommended installation point. In other embodiments, satellite observation data, first feature data, or second feature data acquired by the communication device 43 in interaction with the base station 20 and / or from the mobile device 10 can also be used to calculate the observation quality score of the candidate installation point.

[0120] The satellite observation data of different observation points are used to evaluate the observation quality of the observation point, so as to accurately find the effective base station installation location within the working area of ​​the self-mobile device, which can improve the performance of subsequent base stations in assisting the self-mobile device to achieve positioning and navigation. The execution process of the addressing task in this application is convenient and efficient, and the base station is further designed with a detachable and easy-to-operate base station addressing device / base station addressing equipment.

[0121] 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 base station based on differential positioning technology, used for positioning and navigating a self-moving device performing a work task in a work area, comprising: Base station body; A base station addressing device, the base station addressing device comprising: A collection module configured to obtain satellite observation data of a current observation point; A calculation module, configured to evaluate the observation quality of the observation point according to the satellite observation data; an output module configured to output a first prompt according to the observation quality, wherein the first prompt indicates the suitability of the observation point for installing the base station; The base station addressing device is detachably connected to the base station body so as to perform the addressing task after being removed from the base station body.

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

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

4. The base station according to claim 3, wherein: The plurality of lamp beads correspond to different addressing intervals respectively, and each of the lamp beads lights up or turns off in response to the observed quality of the corresponding addressing interval.

5. The base station according to claim 3, wherein: When all the lamp beads are lit, the base station addressing device has satisfied the base station addressing conditions at the current observation point.

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

7. The base station according to claim 1, wherein: The first prompt is the observation quality score of the observation point, and the calculation module is configured to: divide the addressing intervals into multiple intervals with the current observation point as the addressing center; Based on the satellite observation data and ephemeris data of the observation point, determine the addressing difference data corresponding to the measured values ​​and ephemeris values ​​of the number of satellites, satellite elevation angle and signal-to-noise ratio in each addressing interval; based on the addressing difference data of each addressing interval, determine the observation quality score of the addressing interval.

8. The base station according to claim 7, wherein: The calculation module is also configured to: when the observation quality score of the addressing interval is lower than a score threshold, select a reference observation satellite from multiple observable satellites of the observation point; and determine a moving direction from a current observation point to a next observation point based on the satellite azimuths of the multiple reference observation satellites.

9. The base station according to claim 1, wherein: The calculation module is configured to jointly determine the installation location of the base station based on the first feature data and the second feature data of each observation point; wherein the first feature data is related to the satellite observation status when the base station is located at the observation point; the second feature data is related to the signal coverage status within the working area of ​​the self-mobile device when the base station is located at the observation point, and the second feature data is acquired by the self-mobile device while moving within the working area.

10. The base station according to claim 1, wherein: The base station addressing device is installed on the lawn mowing robot after being removed from the base station body to follow the lawn mowing robot and perform the addressing task.

11. The base station according to claim 1, wherein: The base station addressing device also includes a power supply module configured to supply electric energy to at least the acquisition module, the calculation module and the output module.

12. The base station according to claim 11, wherein: The power supply module includes a primary battery or a secondary battery.

13. The base station according to claim 11, wherein: The power supply module comprises a power supply interface, and the power supply interface is electrically connected to an external device to supply power to the base station addressing device.

14. The base station according to claim 1, wherein: The base station includes a radio station and a satellite antenna.

15. The base station according to claim 14, further comprising: a power supply module, configured to at least supply power to the radio station and / or the satellite antenna; The power supply module includes a first battery pack detachably connected to the base station body. After the first battery pack is removed from the base station body, it is electrically connected to the electric tool and supplies power to the electric tool.

16. A base station addressing device, comprising: Equipment body; A plurality of lamp beads are arranged on the device body and have different orientations respectively; Among them, each of the lamp beads lights up or goes out in response to the observation quality of the base station addressing device at the current observation point. When some of the lamp beads are lit, the lit lamp beads indicate the moving direction from the current observation point to the next observation point.

17. The apparatus according to claim 16, wherein: The plurality of lamp beads are arranged in a ring shape at equal angles and intervals on the same plane of the device body.

18. A base station addressing method based on differential positioning technology, comprising: Get the satellite observation data of the current observation point; Determine the number of observable satellites at the observation point, the satellite elevation angle, and the measured value of the signal-to-noise ratio according to the satellite observation data; At least according to the measured values ​​of the number of satellites, satellite elevation angle and signal-to-noise ratio at each observation point, guide the base station Addressing task to finalize the installation location of the base station.

19. The method according to claim 18, wherein: The method of guiding the base station addressing task to finally determine the installation location of the base station according to the measured values ​​of the number of satellites, satellite elevation angles and signal-to-noise ratios at each observation point includes: Taking the observation point as the addressing center, a plurality of addressing intervals are divided; determining addressing difference data corresponding to the measured values ​​and ephemeris values ​​of the number of satellites, satellite elevation angle and signal-to-noise ratio in each addressing interval according to the satellite observation data and ephemeris data of the observation point; The observed quality score of the addressing interval is determined according to the addressing difference data of each addressing interval, and the base station addressing task is guided according to the observed quality score of each addressing interval.

20. The method according to claim 19, wherein: Determining the addressing difference data corresponding to the measured values ​​of the number of satellites, satellite elevation angles, and signal-to-noise ratios and the ephemeris values ​​in each addressing interval based on the satellite observation data and ephemeris data of the observation point includes one or more of the following: Counting a first addressing difference between the number of satellites existing in each of the addressing intervals in the real-time ephemeris data and the number of observable satellites in each of the addressing intervals in the satellite observation data; Counting a second addressing difference between the number of satellites whose satellite elevation angles exceed the elevation angle threshold in each of the addressing intervals in the real-time ephemeris data and the number of satellites whose observable satellite elevation angles exceed the elevation angle threshold in each of the addressing intervals in the satellite observation data; A third addressing difference between the number of satellites whose signal-to-noise ratio exceeds the signal-to-noise ratio threshold value in each of the addressing intervals in the real-time ephemeris data and the number of satellites whose observable signal-to-noise ratio exceeds the signal-to-noise ratio threshold value in each of the addressing intervals in the satellite observation data is counted.

Images