Autonomous mobile device and working system thereof, and external device

Abstract

A working system of an autonomous mobile device, comprising an autonomous mobile device, a first base station and a second base station. The autonomous mobile device comprises a controller and at least one radio station. The controller is configured to: in the current cycle, configure the radio station to receive a first signal from the first base station and obtain first common-view satellite parameters and first communication parameters with the first base station from the first signal; once the current cycle ends, configure the radio station to receive a second signal from the second base station and obtain second common-view satellite parameters and second communication parameters with the second base station from the second signal; evaluate the signal quality of the first and second base stations on the basis of the first and second common-view satellite parameters and the first and second communication parameters, and when the signal quality of the second base station is better than that of the first base station, configure, in the next cycle, the radio station to receive a second signal from the second base station.

Description

Self-propelled equipment and its working system and external equipment

[0001] This application claims priority to Chinese patent applications with application numbers 202311825474.5, 202311833769.7, and 202311825304.7 filed with the China Patent Office on December 27, 2023. 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 self-propelled device and its working system and external equipment. Background Art

[0003] Autonomous devices, such as lawn mowers, perform tasks such as mowing within a certain work area. Considering that global navigation satellite systems (GNSS) such as the Global Positioning System (GPS) are affected by factors such as weather and obstructions, and have limited positioning accuracy, autonomous devices can form a working system that also includes a base station and use differential positioning to achieve their own positioning and navigation within the work area. The base station in the working system can calculate differential data based on its own known installation position and satellite observation data obtained by interacting with the satellite positioning system to correct satellite positioning system errors for the autonomous device and transmit the differential data to the autonomous device.

[0004] Due to the limited signal coverage of base stations, if the working area of ​​a self-propelled device is large, more than one base station is generally required. Issues such as multi-base station deployment and self-propelled device control in such scenarios remain to be resolved. Furthermore, some service providers currently offer network real-time kinematic (RTK) services. Customers who subscribe to network RTK services can access the internet and request differential data from the network RTK service provider to correct their positioning errors.

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

[0006] The present application can solve or at least alleviate part or all of the above problems. To this end, the present application provides a self-moving device, a working system thereof, and an external device.

[0007] A working system for a self-moving device includes: a self-moving device configured to walk autonomously and complete a work task; a first base station configured to solve and generate first differential data; a second base station configured to solve and generate second differential data; the self-moving device includes a controller and at least one radio station; the controller is configured to: within a current cycle, set the radio station to receive a first signal from the first base station, and obtain first common-view satellite parameters and first communication parameters between the self-moving device and the first base station from the first signal; after the current cycle ends, set the radio station to receive a second signal from the second base station, and obtain second common-view satellite parameters and second communication parameters between the self-moving device and the second base station from the second signal; evaluate the signal quality of the first base station based on the first common-view satellite parameters and the first communication parameters, and evaluate the signal quality of the second base station based on the second common-view satellite parameters and the second communication parameters; if the signal quality of the second base station is better than that of the first base station, set the radio station to receive the second signal from the second base station in the next cycle.

[0008] In some embodiments, the controller is configured to set the radio station to receive the first signal from the first base station in the next cycle when the difference between the second common-view satellite parameter and the first common-view satellite parameter exceeds a first threshold and the difference between the first communication parameter and the second communication parameter exceeds a second threshold.

[0009] In some embodiments, the first common view satellite parameter or the second common view satellite parameter includes at least one of the following: the number of common view satellites between the mobile device and the first base station or the second base station, and the distribution ratio angle of the common view satellites between the mobile device and the first base station or the second base station.

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

[0011] In some embodiments, the controller is configured to obtain satellite observation data of the first base station from the first signal, and determine the common view satellites of the two based on the satellite observation data of the self-mobile device and the satellite observation data of the first base station, and / or obtain satellite observation data of the second base station from the second signal, and determine the common view satellites of the two based on the satellite observation data of the self-mobile device and the satellite observation data of the second base station.

[0012] In some embodiments, the satellite observation data of the first base station or the second base station includes the satellite number, satellite elevation angle and signal-to-noise ratio of each visible satellite of the first base station or the second base station, and the satellite observation data of the self-mobile device includes the satellite number, satellite elevation angle and signal-to-noise ratio of each visible satellite of the self-mobile device.

[0013] In some embodiments, a satellite elevation angle of a satellite commonly viewed from the mobile device and the first base station or the second base station exceeds an elevation angle threshold and a signal-to-noise ratio exceeds a signal-to-noise ratio threshold.

[0014] In some embodiments, the controller is configured to, if the signal quality of the first base station is better than that of the second base station, set the radio station to receive the first signal from the first base station in the next period.

[0015] In some embodiments, the self-mobile device includes a radio.

[0016] In some embodiments, the self-mobile device includes a first radio station and a second radio station; the first radio station is configured to receive a first signal from a first base station, the first signal includes first differential data; the second radio station is configured to receive a second signal from a second base station, the second signal includes second differential data; the self-mobile device is configured to: correct the initial coordinates of the self-mobile device calculated according to the satellite signal according to the first differential data and / or the second differential data to obtain the corrected device coordinates of the self-mobile device; and control the self-mobile device according to the device coordinates.

[0017] In some embodiments, the self-mobile device is configured to correct the initial coordinates according to the first differential data to obtain the first device coordinates, and correct the initial coordinates according to the second differential data to obtain the second device coordinates; compare the solution accuracy of the first device coordinates and the second device coordinates, and select the device coordinates with higher solution accuracy as the final device coordinates.

[0018] In some embodiments, the self-mobile device is configured to select the first device coordinates as the final device coordinates when the first device coordinates are a fixed solution and the second device coordinates are a floating-point solution; and to select the second device coordinates as the final device coordinates when the first device coordinates are a floating-point solution and the second device coordinates are a fixed solution.

[0019] In some embodiments, the self-mobile device is configured to evaluate the signal quality of the first base station and the second base station when the first device coordinates and the second device coordinates are both fixed solutions or both floating-point solutions, and select the device coordinates corresponding to the base station with better signal quality as the final device coordinates.

[0020] In some embodiments, the self-mobile device is further configured to obtain differential data from a network RTK service provider when communication parameters between the self-mobile device and the base station do not meet corresponding parameter requirements.

[0021] In some embodiments, the mobile device is configured to obtain differential data from a network RTK service provider when a communication parameter or a calculated value thereof between the mobile device and the base station exceeds a corresponding parameter threshold.

[0022] In some embodiments, the communication parameter includes at least one of a distance parameter between the mobile device and the base station, a data loss parameter, and a common view satellite parameter.

[0023] In some embodiments, the mobile device is further configured to periodically detect whether the current communication parameters meet the corresponding parameter requirements, and if the communication parameters meet the corresponding parameter requirements, stop acquiring the differential data of the network RTK service provider and instead acquire the differential data of the base station.

[0024] In some embodiments, the first base station is configured to determine the first installation coordinates of the first base station after installation is completed, and set the first base station to base station mode with the first installation coordinates; the second base station is configured to set the second base station to mobile station mode after installation is completed, calculate the second installation coordinates of the second base station in the coordinate system of the first base station, and set the second base station to base station mode with the second installation coordinates.

[0025] In some embodiments, the first installation coordinates are obtained manually; or, the first installation coordinates are obtained by single-point convergence solution of the first base station; or, the first installation coordinates are obtained by the first base station using network RTK.

[0026] In some embodiments, the working system also includes a third base station, which is configured to set the third base station to mobile station mode after installation is completed, calculate the third installation coordinates of the third base station in the coordinate system of the first base station or the second base station, and set the third base station to base station mode with the third installation coordinates.

[0027] In some embodiments, the working area of ​​the self-mobile device includes multiple sub-areas, each sub-area corresponds to a base station; the controller is configured to calculate the device coordinates of the self-mobile device based on the satellite signal and the radio signal of the base station, determine the sub-area where the self-mobile device is currently located based on the device coordinates, and set the radio station to receive the radio signal of the base station corresponding to the sub-area where the self-mobile device is currently located.

[0028] A self-moving device comprises: a shell; a traveling component comprising a traveling motor and traveling wheels, the traveling component being coupled to the shell; a mobile station comprising a satellite receiving antenna and a radio station; the satellite receiving antenna being configured to acquire satellite signals; a radio station being configured to receive a first signal from a first base station or a second signal from a second base station; a controller being configured to, within a current cycle, set the radio station to receive a first signal from the first base station, and to acquire a first common-view satellite parameter and a first communication parameter between the mobile device and the first base station from the first signal; after the current cycle ends, set the radio station to receive a second signal from the second base station, and to acquire a second common-view satellite parameter and a second communication parameter between the mobile device and the second base station from the second signal; evaluate the signal quality of the first base station based on the first common-view satellite parameter and the first communication parameter, and evaluate the signal quality of the second base station based on the second common-view satellite parameter and the second communication parameter, and if the signal quality of the second base station is better than that of the first base station, set the radio station to receive the second signal from the second base station in the next cycle.

[0029] A working system for a self-moving device includes: a self-moving device configured to walk autonomously and complete a work task; a first base station configured to solve and generate first differential data; a second base station configured to solve and generate second differential data; the self-moving device includes a first radio station and a second radio station; the first radio station is configured to receive a first signal from the first base station, the first signal including the first differential data; the second radio station is configured to receive a second signal from the second base station, the second signal including the second differential data; the self-moving device is configured to: correct the initial coordinates of the self-moving device calculated based on the satellite signal according to the first differential data and / or the second differential data to obtain the corrected device coordinates of the self-moving device; and control the self-moving device according to the device coordinates.

[0030] A self-moving device comprises: a shell; a travel component comprising a travel motor and travel wheels, the travel component being coupled to the shell; a mobile station comprising a satellite receiving antenna, a first radio station, a second radio station and a computing unit; the satellite receiving antenna being configured to acquire satellite signals; the first radio station being configured to receive a first signal from a first base station, the first signal comprising first differential data of the first base station; the second radio station being configured to receive a second signal from a second base station, the second signal comprising second differential data of the second base station; a computing unit being configured to correct the initial coordinates of the self-moving device calculated based on the satellite signals according to the first differential data and / or the second differential data, so as to obtain corrected device coordinates of the self-moving device; and a controller being configured to control the self-moving device according to the device coordinates output by the computing unit.

[0031] In some embodiments, the computing unit is configured to correct the initial coordinates according to the first differential data to obtain the first device coordinates, and correct the initial coordinates according to the second differential data to obtain the second device coordinates; compare the solution accuracy of the first device coordinates and the second device coordinates, and select the device coordinates with higher solution accuracy as the final output device coordinates.

[0032] In some embodiments, the computing unit is configured to, when the first device coordinates are a fixed solution and the second device coordinates are a floating-point solution, output the first device coordinates as the final device coordinates; and when the first device coordinates are a floating-point solution and the second device coordinates are a fixed solution, output the second device coordinates as the final device coordinates.

[0033] In some embodiments, the computing unit is configured to evaluate the signal quality of the first base station and the second base station when both the first device coordinates and the second device coordinates are fixed solutions or floating-point solutions, and select the device coordinates corresponding to the base station with better signal quality as the final output device coordinates.

[0034] In some embodiments, the computing unit is configured to evaluate the signal quality of the first base station based on first common view satellite parameters and first communication parameters between the mobile device and the first base station, and to evaluate the signal quality of the second base station based on second common view satellite parameters and second communication parameters between the mobile device and the second base station.

[0035] A self-moving device comprises: a housing; a travel component comprising a travel motor and travel wheels, the travel component being coupled to the housing; at least one radio station configured to receive a radio signal from a base station, the radio signal of the base station comprising differential data of the base station; and a controller configured to obtain differential data from a network RTK service provider when communication parameters between the self-moving device and the base station do not meet corresponding parameter requirements.

[0036] A working system for a self-moving device includes: a self-moving device configured to move autonomously and complete a work task; a base station configured to obtain satellite observation data of the base station, generate differential data of the base station based on the satellite observation data of the base station, and transmit the differential data to the self-moving device; the self-moving device is further configured to: obtain differential data from a network RTK service provider when communication parameters between the self-moving device and the base station do not meet corresponding parameter requirements.

[0037] In some embodiments, the mobile device is configured to obtain differential data from a network RTK service provider when a communication parameter or a calculated value thereof exceeds a corresponding parameter threshold.

[0038] In some embodiments, the communication parameter includes a distance parameter between the mobile device and the base station, and the mobile device is configured to obtain differential data from the network RTK service provider when the distance parameter or its calculated value exceeds a distance threshold.

[0039] In some embodiments, the communication parameters include data loss parameters between the mobile device and the base station, and the mobile device is configured to obtain differential data from the network RTK service provider when the data loss parameter or its calculated value exceeds a data loss threshold.

[0040] In some embodiments, the communication parameters include common view satellite parameters between the mobile device and the base station, and the mobile device is configured to obtain differential data from the network RTK service provider when the common view satellite parameters or their calculated values ​​do not reach a common view threshold.

[0041] In some embodiments, the base station is configured to transmit the satellite observation data of the base station to the self-mobile device; the self-mobile device is configured to obtain satellite data of satellites visible to the base station based on the satellite observation data of the base station, and obtain satellite data of satellites visible to the device based on the satellite observation data of the self-mobile device; based on the satellite data of the satellites visible to the base station and the satellites visible to the device, determine the co-visible satellite parameters of the self-mobile device and the base station.

[0042] In some embodiments, the common view satellite parameter includes the number of common view satellites.

[0043] In some embodiments, the self-mobile device is configured to, based on the satellite observation data of the base station, filter out base station visible satellites whose satellite elevation angle exceeds the elevation angle threshold and the signal-to-noise ratio exceeds the signal-to-noise ratio threshold, and filter out device visible satellites whose satellite elevation angle exceeds the elevation angle threshold and the signal-to-noise ratio exceeds the signal-to-noise ratio threshold based on the satellite observation data of the self-mobile device; compare the satellite numbers of the base station visible satellites and the device visible satellites to determine the number of commonly-viewed satellites, and obtain differential data from the network RTK service provider when the number of commonly-viewed satellites is lower than the number threshold.

[0044] In some embodiments, the base station is configured to obtain differential data from the network RTK service provider in the initial power-on stage, and solve the differential positioning coordinates of the base station based on the differential data of the network RTK service provider, and then stop obtaining the differential data from the network RTK service provider, store the differential positioning coordinates and subsequently use the stored differential positioning coordinates to solve the differential data to be transmitted to the mobile device.

[0045] In some embodiments, the mobile device is further configured to periodically detect whether the current communication parameters meet the corresponding parameter requirements, and if the communication parameters meet the corresponding parameter requirements, stop acquiring the differential data of the network RTK service provider and instead acquire the differential data of the base station.

[0046] In some embodiments, the self-mobile device is further configured to send verification information to the network RTK service provider so that the network RTK service provider transmits differential data to the self-mobile device after authentication is passed. The verification information includes the identity information of the self-mobile device and the target mounting point.

[0047] In some embodiments, the base station and the self-mobile device are equipped with radio stations, and the base station and the self-mobile device exchange the base station's differential data and / or satellite observation data via the radio stations.

[0048] In some embodiments, the mobile device is equipped with an Internet communication module, and the mobile device obtains differential data from the network RTK service provider through the Internet communication module.

[0049] A multi-base station system based on differential positioning technology includes: a first base station, configured to determine the first installation coordinates of the first base station after installation is completed, and set the first base station to base station mode with the first installation coordinates; a second base station, configured to be set to mobile station mode after installation is completed and to calculate the second installation coordinates of the second base station in the coordinate system of the first base station, and set the second base station to base station mode with the second installation coordinates.

[0050] A working system for a self-moving device comprises: at least two base stations, each base station being configured to obtain satellite observation data of the base station, generating differential data of the base station based on the satellite observation data, and transmitting the differential data to the self-moving device; the self-moving device being configured to autonomously walk in a working area and complete a working task, the working area comprising a plurality of sub-areas, each sub-area corresponding to one of the at least two base stations; the self-moving device comprising: a satellite receiving antenna configured to obtain satellite signals; a radio station configured to receive a radio signal from one of the at least two base stations; the self-moving device being configured to calculate the device coordinates of the self-moving device based on the satellite signal and the radio signal; determining the sub-area where the self-moving device is currently located based on the device coordinates, and setting the radio station to receive the radio signal of the base station corresponding to the sub-area where the self-moving device is currently located.

[0051] In some embodiments, the working system also includes a charging pile; the self-mobile device is configured to set a radio station to receive a radio signal from a base station corresponding to a sub-area where the charging pile is located within the working area when starting to execute the current working task.

[0052] A self-moving device comprises: a housing; a travel component comprising a travel motor and travel wheels, the travel component being coupled to the housing; a satellite receiving antenna configured to acquire satellite signals; and a radio station configured to receive radio signals from a base station. The self-moving device is configured to calculate the device coordinates of the self-moving device based on the satellite signals and the radio signals; determine the sub-area in which the self-moving device is currently located based on the device coordinates, and configure the radio station to receive radio signals from the base station corresponding to the sub-area in which the self-moving device is currently located.

[0053] In some embodiments, the self-mobile device is configured to, when it is determined based on the device coordinates that the sub-area where the self-mobile device is located is a sub-area that does not overlap with other sub-areas, set the radio station to receive the radio signal of the base station corresponding to the sub-area; when it is determined based on the device coordinates that the sub-area where the self-mobile device is located is a sub-area that overlaps with other sub-areas, evaluate the signal quality of the base stations corresponding to each overlapping sub-area, and set the radio station to receive the radio signal of the base station with the best signal quality.

[0054] In some embodiments, the mobile device is configured to set the radio station to receive radio signals from other base stations when the common view satellite parameters and / or communication parameters of the base station corresponding to the sub-area where the mobile device is currently located and the mobile device do not meet the corresponding parameter requirements.

[0055] In some embodiments, the mobile device is configured to set a radio station to receive radio signals from other base stations when the number of satellites in common view between the mobile device and the base station corresponding to the sub-area where the mobile device is currently located is lower than a threshold.

[0056] An external device includes: a display; an electronic processor configured to load and run an intelligent lawn mowing program; wherein the intelligent lawn mowing program is configured to: display a map of a work site from the mobile device on the display; display a questionnaire corresponding to the work site on the display and collect user interaction information regarding the questionnaire; and calculate and output the number of base stations required for the work site based on at least the interaction information.

[0057] An external device includes: a display; an electronic processor configured to load and run an intelligent lawn mowing program; wherein the intelligent lawn mowing program is configured to: display a map of a work site of a self-mobile device on the display, the map including at least two base stations capable of transmitting differential data to the self-mobile device; display a questionnaire corresponding to the work site on the display, and collect user interaction information regarding the questionnaire; divide the work site into multiple sub-areas based at least on the interaction information, each sub-area corresponding to one of at least two base stations, and receive differential data from the base station corresponding to the sub-area when the self-mobile device moves within the sub-area.

[0058] An external device includes: a display; an electronic processor configured to load and run an intelligent lawn mowing program; wherein the intelligent lawn mowing program is configured to: display a map of a work site of a mobile device on the display; display a questionnaire corresponding to the work site on the display and collect user interaction information regarding the questionnaire; calculate and output the number of base stations required for the work site based on at least the interaction information, and / or, divide the work site into multiple sub-areas based on at least the interaction information, each sub-area corresponding to a base station, and receive differential data from the base stations corresponding to the sub-areas when the mobile device moves within the sub-area.

[0059] In some embodiments, the smart mowing program is configured to collect the location range of the work area within the work site marked or revised by the user in response to the questionnaire.

[0060] In some embodiments, the smart mowing program is configured to collect the location ranges of obstructions in the work site marked or revised by the user in response to the questionnaire.

[0061] In some embodiments, the smart mowing program is configured to divide the working area into multiple sub-areas and determine the corresponding relationship between each sub-area and the base station based on the interaction information and the signal coverage radius of the base station.

[0062] In some embodiments, the obstruction in the work area includes a wall; the smart mowing program is configured to divide the work area into multiple work areas based on the extension direction of the wall and the positional relationship between the wall and the area boundary of the work area.

[0063] In some embodiments, the smart mowing program is configured to tile preset standard graphics in each work area until the work area is completely covered, and determine that the number of standard graphics tiled in the work area is the number of base stations required for the work area.

[0064] In some embodiments, the number of base stations required for the work site is the sum of the number of base stations required for each work area.

[0065] In some embodiments, the standard shape is a regular quadrilateral or a regular hexagon.

[0066] In some embodiments, the diagonal length of the standard pattern is twice the signal coverage radius of the base station.

[0067] In some embodiments, the smart mowing program is configured to display, on a display, the effect of tiling the standard graphics within the work area.

[0068] A base station switching method for a mobile device, wherein the working site of the mobile device includes at least a first base station and a second base station, and the mobile device is equipped with a radio station. The base station switching method includes: in a current cycle, setting the radio station to receive a first signal from the first base station, and obtaining a first common view satellite parameter and a first communication parameter between the mobile device and the first base station from the first signal; after the current cycle ends, setting the radio station to receive a second signal from the second base station, and obtaining a second common view satellite parameter and a second communication parameter between the mobile device and the second base station from the second signal; evaluating the signal quality of the first base station based on the first common view satellite parameter and the first communication parameter, and evaluating the signal quality of the second base station based on the second common view satellite parameter and the second communication parameter; if the signal quality of the second base station is better than that of the first base station, setting the radio station to receive the second signal from the second base station in the next cycle.

[0069] A base station switching method for a self-moving device, wherein the working site of the self-moving device includes at least a first base station and a second base station, and the self-moving device is equipped with a first radio station and a second radio station. The base station switching method includes: acquiring a satellite signal; the first radio station receives a first signal from the first base station, the first signal including first differential data of the first base station; the second radio station receives a second signal from the second base station, the second signal including second differential data of the second base station; correcting the initial coordinates of the self-moving device calculated based on the satellite signal according to the first differential data and / or the second differential data to obtain the corrected device coordinates of the self-moving device; and controlling the self-moving device according to the device coordinates.

[0070] A calibration method for a multi-base station system based on differential positioning technology includes: after the first base station is installed, determining the first installation coordinates of the first base station and setting the first base station to base station mode according to the first installation coordinates; after the second base station is installed, setting the second base station to mobile station mode and solving the second installation coordinates of the second base station in the coordinate system of the first base station, and setting the second base station to base station mode according to the second installation coordinates.

[0071] A method for controlling a self-moving device includes: obtaining differential data of the base station when communication parameters between the self-moving device and a base station meet corresponding parameter requirements, wherein the differential data of the base station is obtained by the base station and then calculated based on the satellite observation data and transmitted to the self-moving device; and obtaining differential data from a network RTK service provider when the communication parameters between the self-moving device and the base station do not meet the corresponding parameter requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] FIG1 is a schematic diagram of a working system of a mobile device according to an embodiment of the present application;

[0073] FIG2 is a perspective view of a self-moving device according to an embodiment of the present application;

[0074] FIG3 is a schematic diagram of the electrical control principle of the working system of the self-moving device shown in FIG1 ;

[0075] FIG4 is a plan view of a base station according to an embodiment of the present application;

[0076] FIG5 is a schematic diagram of the electrical control principle of the working system of the self-moving device shown in one embodiment of the present application;

[0077] 6A is a control flow chart of switching and acquiring differential data from the mobile device in the working system of the mobile device shown in FIG. 5 ;

[0078] 6B is another control flow chart of switching and obtaining differential data from the mobile device in the working system of the mobile device shown in FIG. 5 ;

[0079] FIG6C is another control flow chart of switching and obtaining differential data from the mobile device in the working system of the mobile device shown in FIG5 ;

[0080] FIG7 is a schematic diagram of a working system of a self-mobile device shown in another embodiment of the present application;

[0081] FIG8 is a schematic diagram of the electrical control principle of the working system of the self-moving device shown in FIG7;

[0082] 9A is a control flow chart of selecting the best base station from the mobile device in the working system of the mobile device shown in FIG. 7 ;

[0083] 9B is another control flow chart of selecting the best base station from the mobile device in the working system of the mobile device shown in FIG. 7 ;

[0084] FIG10 is a schematic diagram of an electrical control system of a self-propelled device according to another embodiment of the present application;

[0085] FIG11A is a control flow chart of determining device coordinates in the working system of the self-mobile device shown in FIG10;

[0086] FIG11B is another control flow chart of determining device coordinates in the working system of the self-mobile device shown in FIG10;

[0087] FIG12 is a schematic diagram of the electrical control principle of the working system of the self-moving device shown in another embodiment of the present application;

[0088] 13 is a control flow chart of the smart lawn mowing program loaded and run by an external device in the working system of the mobile device shown in FIG12 ;

[0089] FIG14A is a schematic diagram of the external device shown in FIG12 running the intelligent mowing program shown in FIG13 to divide the working area and lay out the standard pattern;

[0090] FIG14B is another schematic diagram of the external device shown in FIG12 running the intelligent mowing program shown in FIG13 , in which the working area is divided and the standard pattern is laid out;

[0091] 15 is a control flow chart of another smart lawn mowing program loaded and run by an external device in the working system of the mobile device shown in FIG12 ;

[0092] FIG16 is a schematic diagram of the external device shown in FIG12 running the intelligent mowing program shown in FIG15 to divide the sub-areas and determine the corresponding relationship between the sub-areas and base stations;

[0093] FIG17 is a flowchart of base station calibration in a multi-base station system shown in an embodiment of the present application.

[0094] Figure legend:

[0095] 100 / 100a / 100b / 100c / 100d, working system of self-equipped equipment;

[0096] 10. Self-moving device; 20. Base station; 21. First base station; 22. Second base station; 30. Satellite positioning system / satellite; 40. Network RTK service provider; 50. External device;

[0097] 110, housing; 120, travel assembly; 121, travel motor; 122, travel member; 130, working assembly; 131, working motor; 132, working member; 140, controller; 150, mobile station; 151, satellite receiving antenna / antenna; 152, radio station; 1521, first radio station; 1522, second radio station; 153, computing unit; 160, internet communication module;

[0098] 210, base station body; 220, power module; 230, power supply module;

[0099] 510. Display; 520. Electronic processor. DETAILED DESCRIPTION

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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).

[0105] 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.

[0106] 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.

[0107] 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.

[0108] In this application, the terms "device", "module" or "unit" can be implemented in the form of hardware or software to achieve specific functions.

[0109] 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.).

[0110] The technical solution proposed in this application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0111] Referring to Figure 1 , a base station 20 is installed within the work area of ​​a self-mobile device 10. The self-mobile device 10 and the base station 20 can form a differential positioning system with a satellite positioning system 30, such as GPS or Beidou (hereinafter and in the accompanying drawings, "satellite 30" may be used to refer to the satellite positioning system 30), i.e., the working system 100 of the self-mobile device 10. The self-mobile device 10, which moves freely within the work area, and the base station 20, which is pre-installed at a known installation location, can both receive satellite observation data specific to themselves from the satellite positioning system 30. The base station 20 can calculate differential data based on its own installation location and the satellite observation data and transmit it to the self-mobile device 10. The self-mobile device 10 can then correct errors in the satellite positioning system 30 based on the differential data and the satellite observation data, and use differential positioning to more accurately self-position for navigation and obstacle avoidance when performing various operations. It should be noted that the number of base stations 20 installed within the work area of ​​the same self-mobile device 10 can be one or more. The same base station 20 can serve one or more self-mobile devices 10 within its signal coverage area, or it can be manually controlled to serve only specific self-mobile devices 10.

[0112] Referring to Figures 2 and 3 , the self-mobile device 10 comprises at least a travel assembly 120 and a working assembly 130 . The travel assembly 120 includes a travel motor 121 and travel components 122 driven by the travel motor, such as travel wheels. The working assembly 130 includes a working motor 131 and working components 132 driven by the working motor, such as mowing components and cleaning components. Relying on the travel assembly 120 and the working assembly 130 , the self-mobile device 10 can autonomously travel within its working area and perform various operations, such as mowing, snow removal, sweeping, and irrigation. As shown in Figure 2 , in this embodiment, the self-mobile device 10 is an intelligent lawn mower or robotic lawn mower. In addition to the travel assembly 120 and the working assembly 130 , the self-mobile device 10 also includes a housing 110 , a power supply such as a battery pack, and other components or devices necessary to perform the basic functions of the device. In addition, as shown in FIG3 , the self-moving device 10 further includes a controller 140 and a mobile station 150 for implementing differential positioning. The mobile station 150 includes at least a satellite receiving antenna 151 (hereinafter and in the accompanying drawings, antenna 151 may be used to refer to the satellite receiving antenna 151) that interacts with the satellite positioning system 30 to receive satellite signals, a radio 152 that interacts with the base station 20 to receive base station signals, and a calculation unit 153 that calculates the device coordinates of the self-moving device 10. The controller 140 controls the walking component 120 to navigate and avoid obstacles based on its own device coordinates, and further controls the working component 130 to perform mowing operations, etc. It is understandable that the self-moving device 10 in this application can also be an intelligent snowplow, self-moving irrigation equipment, etc.

[0113] Referring to Figure 4, the base station 20 based on differential positioning technology in this application may include a base station body 210 that serves as a support and accommodation, a power module 220 for sending and receiving data and logical operations, and a power supply module 230 such as a battery pack that is connected to the power module 220 and supplies power to it.

[0114] Based on the foregoing, a brief description of the working system of the self-mobile device 10 has been provided. As can be readily seen from FIG1 , the quality of differential positioning performed by the self-mobile device 10 and the base station 20 is affected by multiple factors. Primarily, the quality of differential positioning within the system can be reflected in the communication quality between the self-mobile device 10 and the base station 20. For example, the differential positioning quality or communication quality is affected by force majeure factors such as topography and building obstruction, as well as uncertain factors such as obstruction by pedestrians and vehicles. Furthermore, it is also affected by the performance of the device's own transceiver. Furthermore, given the limited number of base stations 20 installed within a work site, the signal coverage of the base stations 20 is also limited.

[0115] In order to improve the above-mentioned problems, ensure the differential positioning quality of the self-mobile device 10, and ensure that it can smoothly achieve navigation and obstacle avoidance to work normally, from one perspective, there are currently some network RTK service providers 40 that provide third-party differential positioning data. That is, the network RTK service provider 40 is responsible for the deployment of the base station 20. Users or devices that purchase its RTK service can establish a communication connection with it and request differential data from it to correct their own positioning errors. The self-mobile device 10 in this application can use the differential data of the network RTK service provider 40 as an alternative in addition to using the differential data provided by the base station 20 in the work site; from another perspective, a larger number of base stations 20 can be set up in the work site. The self-mobile device 10 in this application can self-evaluate and select the base station 20 with better data quality as the data source during the movement; from another perspective, the number and location deployment of the base station 20 will have a significant impact on the communication and positioning quality within the system. This application can provide a solution for determining the appropriate number and location of base stations for the working area of ​​the self-mobile device 10.

[0116] Continuing with the foregoing, as shown in Figures 1 to 5, the present application proposes a working system 100a for a mobile device 10. Similar to the foregoing, the working system 100a for the mobile device 10 may include at least the mobile device 10, which travels and operates, and a base station 20, which solves and transmits data. The mobile device 10 may obtain differential data from a network RTK service provider 40 when its communication parameters with the base station 20 fail to meet corresponding parameter requirements. Specifically, the mobile device 10 defaults to obtaining differential data solved by the base station 20 from the base station 20 within the working system 100a. Furthermore, the mobile device 10 may periodically or irregularly check whether the communication parameters between the mobile device 10 and the base station 20 meet corresponding parameter requirements. If the communication parameters fail to meet the corresponding parameter requirements during a single check, the mobile device 10 switches to using differential data from the network RTK service provider 40, stops obtaining differential data from the base station 20, and instead requests differential data from the network RTK service provider 40. In some embodiments, the self-mobile device 10 is equipped with a mobile station 150 including an antenna 151 and a radio 152. The base station 20 is also equipped with an antenna and a radio. The two interact with the satellite via the antenna and with each other via the radio. In other embodiments, the self-mobile device 10 is further equipped with an internet communication module 160. The self-mobile device 10 interacts with the network platform, nodes, servers, etc. of the network RTK service provider 40 via the internet communication module 160 to obtain the aforementioned differential data. The internet communication module 160 and the radio 152 may be independent in hardware or partially functionally related.

[0117] In some embodiments, the differential data of the network RTK service provider 40 is not obtained unconditionally. Only users or devices that have purchased its services in advance can obtain its differential data. When the mobile device 10 switches to the differential data of the network RTK service provider 40, it needs to send verification information to the network RTK service provider 40 for authentication of the mobile device 10. The above verification information carries at least the identity information and target mounting point information of the mobile device 10, and can reflect the account number, password, permissions, etc. of the purchased network RTK service. The mobile device 10 will receive the differential data provided by the network RTK service provider 40 after the above verification information is authenticated by the corresponding server.

[0118] In some embodiments, the mobile device 10 periodically checks whether its communication parameters with the base station 20 meet corresponding parameter requirements. If the parameters meet the requirements, if the current data being acquired is differential data from the base station 20 in the system, the mobile device 10 continues to acquire differential data from the base station 20. If the current data being acquired is differential data from the network RTK service provider 40, the mobile device 10 switches to acquiring differential data from the base station 20 in the system 100a and stops acquiring differential data from the network RTK service provider, thereby reducing data usage and associated costs. In some embodiments, the communication parameter detection period and / or detection criteria when using differential data from the base station 20 and when using differential data from the network RTK service provider may be different or partially different.

[0119] The aforementioned communication parameters between the mobile device 10 and the base station 20 may be of various types, including but not limited to distance parameters, data loss parameters, and common view satellite parameters. The failure of a communication parameter to meet a corresponding parameter requirement may occur when a single communication parameter fails to meet its corresponding parameter requirement (i.e., one parameter, one requirement), or when multiple communication parameters fail to meet their collective corresponding parameter requirement (i.e., multiple parameters, one requirement). In some embodiments, if any communication parameter fails to meet its corresponding parameter requirement, the mobile device 10 switches to a different differential data type; in other embodiments, if any communication parameter fails to meet its corresponding parameter requirement, the mobile device 10 switches to a different data type. In some embodiments, failure of a communication parameter to meet a corresponding parameter requirement means that any communication parameter or its calculated value exceeds a parameter threshold corresponding to the communication parameter; in other embodiments, failure of a communication parameter to meet a corresponding parameter requirement means that the calculated values ​​of multiple communication parameters exceed the corresponding parameter threshold. In these circumstances, the mobile device 10 may instead obtain differential data from the network RTK service provider 40.

[0120] In some embodiments, the mobile device 10 can obtain differential data from the network RTK service provider 40 when the distance parameter between the mobile device 10 and the base station 20 exceeds a distance threshold. The distance parameter can be the current distance between the mobile device 10 and the base station 20 or a calculated value thereof, for example, the calculated value is the average of the distances between the two over a current period of time. Correspondingly, the distance threshold can be the signal coverage radius of the base station 20. In one example, the mobile device 10 can request differential data from the network RTK service provider 40 when the current distance between the mobile device 10 and the base station 20 exceeds the signal coverage radius of the base station 20.

[0121] In other embodiments, the mobile device 10 may obtain differential data from the network RTK service provider 40 when a data loss parameter between the mobile device 10 and the base station 20 exceeds a data loss threshold. The data loss parameter may be the number of packet losses, the packet loss rate, the data reception time interval, or a calculated value thereof, during a current period of time between the mobile device 10 and the base station 20. Correspondingly, the data loss threshold may be a packet loss number threshold, a packet loss rate threshold, or a data reception time interval threshold. In one example, the mobile device 10 may request differential data from the network RTK service provider 40 when the packet loss rate during a single communication between the mobile device 10 and the base station 20 exceeds the packet loss rate threshold.

[0122] In some further embodiments, the mobile device 10 can obtain differential data from the network RTK service provider 40 when the common view satellite parameter between the mobile device 10 and the base station 20 does not meet the common view threshold. The common view satellite parameter can be the current number of common view satellites between the mobile device 10 and the base station 20, or the angle of the common view satellite distribution, or a calculated value thereof. Correspondingly, the common view threshold can be a threshold number of common view satellites, a threshold angle of the common view satellite distribution, or the like. In one example, the mobile device 10 can request differential data from the network RTK service provider 40 when the current number of common view satellites between the mobile device 10 and the base station 20 falls below the threshold number. In some embodiments, the common view satellites between the mobile device 10 and the base station 20 can be determined based on satellite observation data from the satellite positioning system 30. The mobile device 10 receives the satellite observation data of the mobile device 10 transmitted by the satellite positioning system 30 and the satellite observation data of the base station 20 forwarded by the base station 20. The satellite observation data includes data from the satellite positioning system 30 that can observe a number of satellites of the mobile device 10 or the base station 20 at the current location. Among them, the satellite observation data of the mobile device 10 can obtain the data of several device-visible satellites, and the satellite observation data of the base station 20 can obtain the data of several base station-visible satellites. In some embodiments, the above data may include the satellite number, satellite coordinates, channel signal-to-noise ratio, etc. of the device-visible satellite or the base station-visible satellite. In one example, the self-mobile device 10 can determine the common view satellites of several device-visible satellites and several base station-visible satellites by comparing their satellite numbers; in another example, the self-mobile device 10 can also add conditions for determining the common view satellites. For example, the self-mobile device 10 can map the satellite coordinates of several device-visible satellites to the navigation coordinate system of the self-mobile device 10, and then filter out satellites with satellite elevation angles lower than the elevation angle threshold based on the connection vectors between each device-visible satellite and the self-mobile device 10 in the navigation coordinate system, and further filter out satellites with channel signal-to-noise ratios lower than the signal-to-noise ratio threshold, so as to finally obtain device-visible satellites with satellite elevation angles exceeding the elevation angle threshold and channel signal-to-noise ratios exceeding the signal-to-noise ratio threshold. Similarly, base station-visible satellites whose satellite elevation angles and signal-to-noise ratios meet the requirements are filtered out, and the satellite numbers of the filtered device-visible satellites and base station-visible satellites are compared to obtain more accurate common view satellites.

[0123] In some embodiments, the detection of the above-mentioned distance parameter, data loss parameter, and common view satellite parameter can be performed in parallel. If any communication parameter does not meet the corresponding parameter requirement, the mobile device 10 can instead obtain differential data from the network RTK service provider 40. However, it is understood that the above-mentioned parameter detection can also be progressive. For example, the mobile device 10 can first detect whether the distance parameter and data loss parameter no longer meet the corresponding parameter requirements. Only when both do not meet the requirements can the common view satellite parameter be detected to determine whether it meets the requirements. Further, if all three do not meet the corresponding parameter requirements, the differential data from the network RTK service provider 40 can be used instead. In other embodiments, the above-mentioned distance parameter, data loss parameter, and common view satellite parameter can be comprehensively evaluated to determine whether to use the differential data from the network RTK service provider 40 instead.

[0124] In some embodiments, in order to ensure that the differential data used by the self-mobile device 10 is accurate, effective, uniform and consistent, the base station 20 in the working system can obtain the differential data of the network RTK service provider 40 during the initial power-on stage and use the differential data of the network RTK service provider 40 to correct the base station installation coordinates stored in itself to obtain the differential positioning coordinates of the base station 20. The base station 20 will subsequently use the differential positioning coordinates to replace the original installation coordinates to solve the differential data, and transmit the differential data obtained based on the differential positioning coordinates to the self-mobile device 10.

[0125] 6A , the control process of switching to obtain differential data from the mobile device 10 in the above-mentioned working system 100a may include:

[0126] 610 , obtaining differential data of the base station 20 from the mobile device 10 ;

[0127] 620 , the mobile device 10 detects whether the communication parameters between the mobile device 10 and the base station 20 meet the corresponding parameter requirements, and obtains differential data from the network RTK service provider 40 if the communication parameters do not meet the corresponding parameter requirements.

[0128] 6B , another control process for switching to obtain differential data from the mobile device 10 in the above working system may include:

[0129] 610a, the mobile device 10 obtains differential data from the base station 20 via the radio during the initial power-on phase;

[0130] 620a, the mobile device 10 periodically checks whether the communication parameters between the mobile device 10 and the base station 20 meet the corresponding parameter requirements;

[0131] 620b, when the above communication parameters meet the corresponding parameter requirements, the mobile device 10 obtains the differential data of the base station 20 in the system through the radio;

[0132] 620c, when the above communication parameters do not meet the corresponding parameter requirements, the mobile device 10 obtains the differential data from the network RTK service provider 40 through the Internet communication module.

[0133] FIG. 6C shows a specific control flow of switching and acquiring differential data from the mobile device 10 in the working system 100 a of the mobile device 10 .

[0134] Continuing with the above, with reference to Figures 7 and 8 , this application proposes another operating system 100b for a mobile device 10. Similar to the above, this operating system 100b for a mobile device 10 may include at least a mobile device 10 that travels and operates, and a base station 20 that calculates and transmits differential data. Furthermore, the operating system includes at least two base stations 20: a first base station 21 and a second base station 22. The mobile device 10 includes a housing 110, a travel component 120, an operating component 130, a controller 140, and a mobile station 150. The mobile station 150 of the mobile device 10 includes a satellite receiving antenna 151, a computing unit 153, and a single radio station 152. The mobile device 10 can receive signals from different base stations 20, evaluate the signal quality of each base station, and select the base station 20 with the best signal quality for data exchange. Specifically, the mobile device 10 can employ a time-slice rotation scheme, selecting the optimal base station 20 for interaction in the next cycle and serving as the data source based on the signal quality of each base station 20 in the current cycle. The following description mainly uses a working system including a first base station 21 and a second base station 22 as an example. It is understandable that the relevant solutions can also be applied to systems including more base stations 20. Referring to Figure 9A, the control process for selecting the best base station 20 from the mobile device 10 in the above working system may include:

[0135] 910 , in the current cycle, setting the radio station 152 to receive a first signal from the first base station 21 , and obtaining first common view satellite parameters and first communication parameters between the mobile device 10 and the first base station 21 from the first signal;

[0136] 920 , after the current cycle ends, setting the radio station 152 to receive a second signal from the second base station 22 , and obtaining second common view satellite parameters and second communication parameters between the mobile device 10 and the second base station 22 from the second signal;

[0137] 930, evaluating the signal quality of the first base station 21 based on the first common view satellite parameter and the first communication parameter, and evaluating the signal quality of the second base station 22 based on the second common view satellite parameter and the second communication parameter;

[0138] 940 , when the signal quality of the second base station 22 is better than that of the first base station 21 , in the next cycle, the radio station 152 is set to receive the second signal from the second base station 22 .

[0139] FIG. 9B shows a specific control flow of selecting the best base station 20 from the mobile device 10 in the working system 100 b of the mobile device 10 .

[0140] In the above embodiment, the mobile device 10 periodically selects a base station 20 for communication with the radio 152 during its mobile operation. Assuming the aforementioned period is preset to T, within the current period T0, i.e., the time period (t0, t0+T), the radio 152 of the mobile device 10 is configured to receive a first signal from the first base station 21. The first signal may include at least satellite observation data of the first base station 21. The satellite observation data of the first base station 21 may include the satellite numbers, satellite coordinates, and channel signal-to-noise ratios of the satellites visible to the first base station 21. Based on the first signal, first common-view satellite parameters and first communication parameters of the first base station 21 can be obtained. The first common-view satellite parameters may be parameters of common-view satellites between the first base station 21 and the mobile device 10 at a certain moment in the current period T0, including the number of common-view satellites and the distribution angle of the common-view satellites. The first communication parameters may be communication parameters between the first base station 21 and the mobile device 10 at a certain moment in the current period T0, including distance, packet loss rate, and the time interval for data reception.

[0141] At the end of the current cycle T0, such as at time (t0+T), the radio 152 of the mobile device 10 can be configured to receive a second signal from the second base station 22. The second signal can include at least satellite observation data of the second base station 22. The satellite observation data of the second base station 22 can include the satellite number, satellite coordinates, channel signal-to-noise ratio, etc. of the satellites visible to the second base station 22. Based on the second signal, second common-view satellite parameters and second communication parameters of the second base station 22 can be obtained. The second common-view satellite parameters are parameters of common-view satellites between the second base station 22 and the automatic mapping device at time (t0+T) at the end of the current cycle T0, including the number of common-view satellites, the distribution angle of the common-view satellites, etc., while the second communication parameters are communication parameters between the second base station 22 and the mobile device 10 at time (t0+T), including distance, packet loss rate, data reception time interval, etc. The method for determining the common-view satellites between the base station 20 and the mobile device 10 is similar to that described above. The distance and packet loss rate are not further explained. The data reception interval of the base station 20 is the time interval between the mobile device 10 receiving signals from the base station 20 twice.

[0142] Based on the first common-view satellite parameters and first communication parameters of the first base station 21 and the second common-view satellite parameters and second communication parameters of the second base station 22, it can be determined whether the signal quality of the first base station 21 is better than that of the second base station 22. In principle, the more common-view satellites the base station 20 has, the larger the distribution angle of the common-view satellites, and the smaller the parameters such as the distance, packet loss rate, and data reception time interval of the base station 20, the better the signal quality of the base station 20. If the signal quality of the first base station 21 is better than that of the second base station 22, during the next period T1, i.e., the time period (t1, t1+T), the radio 152 of the mobile device 10 will continue to receive the first signal from the first base station 21. During the next period T1, the mobile device 10 will continue to perform navigation, obstacle avoidance, mowing, and other operations based on the differential data provided by the first base station 21. If the signal quality of the second base station 22 is better than that of the first base station 21, during the next period T1, i.e., the time period (t1, t1+T), the radio 152 of the mobile device 10 will switch to receiving the second signal from the second base station 22. During the next period T1, the mobile device 10 will perform navigation, obstacle avoidance, mowing, and other operations based on the differential data provided by the second base station 22. In some examples, t1 is (t0+T).

[0143] In some embodiments, if the difference between the second common view satellite parameter of the second base station 22 and the first common view satellite parameter of the first base station 21 exceeds a first threshold, and the difference between the first communication parameter of the first base station 21 and the second communication parameter of the second base station 22 exceeds a second threshold, then the signal quality of the second base station 22 can be determined to be superior to the signal quality of the first base station 21. Specifically, if the difference (N2-N1) between the number of second common view satellites N2 between the second base station 22 and the self-mobile device 10 and the first number of first common view satellites N1 between the first base station 21 and the self-mobile device 10 exceeds a threshold N', and the difference (θ2-θ1) between the distribution ratio angle θ2 of the second common view satellites between the second base station 22 and the self-mobile device 10 and the distribution ratio angle θ1 of the first base station 21 and the self-mobile device 10 exceeds a threshold θ', and the difference (ΔT1-ΔT2) between the time interval ΔT1 for data reception by the first base station 21 and the time interval ΔT2 for data reception by the second base station 22 exceeds a threshold ΔT', then the signal quality of the second base station 22 can be determined to be superior to that of the first base station 21. In other embodiments, if two of the three conditions, namely, the difference in the number of commonly-viewed satellites exceeds a threshold, the difference in the angle of the distribution ratio of commonly-viewed satellites exceeds a threshold, and the difference in the time interval for data reception exceeds a threshold, are met, it can be determined that the signal quality of the second base station 22 is superior to that of the first base station 21. In still other embodiments, the three conditions can be combined to determine which signal quality of the first and second base stations 21, 22 is superior. For example, a weighted sum can be taken of the difference in the number of commonly-viewed satellites, the difference in the angle of the distribution ratio of commonly-viewed satellites, and the difference in the time interval for data reception. If S = k1*(N2-N1)+k2*(θ2-θ1)+k3*(ΔT1-ΔT2) exceeds a threshold S', it can be determined that the signal quality of the second base station 22 is superior to that of the first base station 21.

[0144] In some embodiments, the self-mobile device 10 receives the first signal from the first base station 21 by default in the initial power-on stage. The first base station 21 can be a base station 20 that is uniformly defaulted by each mobile device 10, for example, a base station 20 closest to the charging pile, or a base station 20 that is closest to the self-mobile device 10 in the initial power-on stage.

[0145] In some embodiments, the first base station 21 and the second base station 22 have different communication frequency bands, and the radio 152 of the mobile device 10 is configured to enable corresponding frequency bands to receive the first signal from the first base station 21 or the second signal from the second base station 22 .

[0146] In some embodiments, if the operating system of the mobile device 10 also includes a third base station 23, then at the end of the current cycle, the radio 152 of the mobile device 10 can be configured to receive a second signal from the second base station 22 and a third signal from the third base station 23, respectively. The second signal is used to obtain the second common view satellite parameter and the second communication parameter of the second base station 22, and the third signal is used to obtain the third common view satellite parameter and the third communication parameter of the third base station 23. The optimal base station 20 is then selected based on the first, second, and third common view satellite parameters and the first, second, and third communication parameters. The same logic applies to the case where the operating system includes more base stations 20, and is not further described.

[0147] Correspondingly, referring to Figure 10, the working system 100c of the self-mobile device 10 still includes two base stations 20: a first base station 21 and a second base station 22, and the self-mobile device 10 includes a shell 110, a walking component 120, a working component 130, a controller 140 and a mobile station 150. The mobile station 150 of the self-mobile device 10 includes a satellite receiving antenna 151 and a computing unit 153, and is provided with two radio stations 152: a first radio station 1521 and a second radio station 1522. Among them, the self-mobile device 10 can be equipped with two radio stations 152 to receive signals from two base stations 20 respectively. The first radio station 1521 receives a first signal from the first base station 21, and the first signal may include first differential data calculated by the first base station 21. The second radio station 1522 receives a second signal from the second base station 22, and the second signal may include second differential data calculated by the second base station 22; the satellite receiving antenna 151 can receive satellite signals from the satellite positioning system 30 to obtain satellite observation data of the self-mobile device 10, and the calculation unit 153 can use the first differential data obtained by the first radio station 1521 or the second differential data obtained by the second radio station 1522 to correct the initial coordinates of the mobile station 150 obtained based on the satellite observation data to obtain the device coordinates of the self-mobile device 10, that is, the differential positioning coordinates of the mobile station 150; the controller 140 will subsequently control the walking component 120 and / or the working component 130 to implement navigation, obstacle avoidance, mowing, etc. based on the device coordinates of the self-mobile device 10.

[0148] In some embodiments, the computing unit 153 in the mobile station 150 of the mobile device 10 uses the first differential data from the first base station 21 to correct the initial coordinates of the mobile station 150 to obtain first device coordinates, and uses the second differential data from the second base station 22 to correct the initial coordinates of the mobile station 150 to obtain second device coordinates. The computing unit 153 compares the accuracy of the first and second device coordinates and selects the coordinates with higher accuracy as the final device coordinates output to the controller 140 for subsequent reference. Specifically, when using differential positioning technology to solve coordinates, possible solutions include fixed solutions, floating-point solutions, and single-point solutions, with their accuracy ranking from high to low. The computing unit 153 can select the device coordinates with higher accuracy for output depending on the type of solution obtained when solving the device coordinates. In some embodiments, if the first device coordinates are a fixed solution and the second device coordinates are a floating-point solution, the computing unit 153 outputs the first device coordinates to the controller 140 for subsequent use. In other embodiments, if the first device coordinates are a floating-point solution and the second device coordinates are a fixed solution, the computing unit 153 outputs the second device coordinates to the controller 140. Based on the accuracy of the various types of solutions described above, similar inferences can be made in other cases.

[0149] In other embodiments, when the solution accuracy of the first device coordinates and the second device coordinates are consistent, for example, when both the first device coordinates and the second device coordinates are fixed solutions or floating-point solutions, the calculation unit 153 may evaluate the signal quality of the first base station 21 based on the first signal, and evaluate the signal quality of the second base station 22 based on the second signal, and then select the device coordinates obtained from the differential data of the base station 20 with the better signal quality. In some embodiments, the calculation unit 153 may obtain the first common view satellite parameter and the first communication parameter of the first base station 21 from the first signal, and obtain the second common view satellite parameter and the second communication parameter of the second base station 22 from the second signal, and then determine the base station 20 with the better signal quality between the first base station 21 and the second base station 22 based on the first and second common view satellite parameters and the first and second communication parameters. The relevant evaluation method is similar to the single-station signal quality evaluation method described above. In other embodiments, when the solution accuracy of the first device coordinates and the second device coordinates is consistent, the difference between the first device coordinates and the second device coordinates within a certain period of time can be averaged, and the difference average can be used to correct the device coordinates corresponding to the secondary base station with slightly worse signal quality.

[0150] 11A , the control process for determining the device coordinates of the mobile device 10 in the above working system may include:

[0151] 1110, obtaining satellite signals through the satellite receiving antenna 151;

[0152] 1120 , setting the first radio station 1521 to receive a first signal from the first base station 21 , where the first signal includes first differential data of the first base station 21 ;

[0153] 1130 , setting the second radio station 1522 to receive a second signal from the second base station 22 , where the second signal includes second differential data of the second base station 22 ;

[0154] 1140, correcting the initial coordinates of the mobile device 10 obtained by calculating the satellite signal based on the first differential data and / or the second differential data to obtain corrected device coordinates of the mobile device 10;

[0155] 1150 , controlling the self-mobile device 10 based on the device coordinates.

[0156] FIG. 11B shows a specific control flow for determining device coordinates from the mobile device 10 .

[0157] It can be understood that in the above embodiments, each control scheme can be executed by the mobile device 10. However, in some embodiments, the mobile device 10 can also transmit the base station 20 signal to other external devices 50, so that the other external devices 50 can evaluate the base station signal quality and provide feedback to the mobile device 10 on the best base station 20 to be selected.

[0158] 12 , the present application proposes another working system 100d for a self-mobile device 10. To meet some optimization requirements, the working system of the self-mobile device 10 may include, in addition to the self-mobile device 10 and the base station 20, an external device 50. The external device 50 may be a user device such as a smart phone, a tablet computer, a portable computer, or a server or server cluster such as a cloud platform for unified management of the self-mobile device 10 and / or the base station 20.

[0159] As shown in FIG12 , the external device 50 may include at least a display 510 and an electronic processor 520 . The display 510 is electrically or communicatively connected to the electronic processor 520 . The electronic processor 520 may call the display 510 . Referring to FIG13 , the electronic processor 520 may also load and run the following intelligent mowing program, which is referred to as a first intelligent mowing program:

[0160] 1310 , displaying a map of the work site from the mobile device 10 via the display 510 ;

[0161] 1320 , displaying a questionnaire corresponding to the workplace via the display 510 and collecting user interaction information regarding the questionnaire;

[0162] 1330. Calculate and output the number of base stations 20 required for the work site based at least on the above interaction information.

[0163] In the above embodiment, the electronic processor 520 of the external device 50 invokes the display 510 to display a map of the workspace of the mobile device 10 and a questionnaire corresponding to the workspace. The workspace may cover the work area and typically includes information about the vicinity of the work area and beyond the work area. The map may at least reflect information such as the location and outline of various objects within the workspace of the mobile device 10. In some cases, the map may be a real-life mapping of the workspace of the mobile device 10, such as a satellite map. The questionnaire corresponding to the workspace may request the user to provide answers to specific questions in various ways, such as text, images, and audio. The electronic processor 520 may collect user interaction information regarding the questionnaire in response to various user operations, such as touch, click, and file input.

[0164] In some embodiments, the interactive information collected by the electronic processor 520 through questionnaire requests and in response to user operations includes the location range of the work area in the workplace, as marked or modified by the user, i.e., the boundary information of the work area. In other embodiments, the interactive information includes the location range of obstructions in the workplace, as marked or modified by the user. In some examples, obstructions include walls. In still other embodiments, the interactive information, such as the location range of the work area and / or obstructions, is collected in response to a user performing an operation, such as drawing, touching, or clicking, on a map of the workplace displayed on the display 510.

[0165] In some embodiments, when the electronic processor 520 calculates and outputs the number of base stations 20 required for the work site based on the above-mentioned interactive information, it can first divide the work area into multiple work areas based on the work area and the location range of the obstruction, and determine the number of base stations 20 required for the work area based on the divided work areas, wherein the division of the work areas should be aimed at covering the work area of ​​the self-mobile device 10 with as few base stations as possible; in addition, the division of the work areas also aims at basically no obstruction within the same area so as to facilitate the subsequent determination of the number of base stations 20 required for the area based on the signal coverage range of the base station 20, or the division of the work areas can also aim at basically balancing the areas of each area. In some embodiments, the electronic processor 520 can divide the work area of ​​the self-mobile device 10 based on the length and position of the area boundary, and the edge position of obstructions such as walls, to obtain multiple work areas. In an example, referring to Figure 14A, we can first determine the edge lines of the edges of obstructions such as walls that are parallel to the boundaries of the regions with shorter lengths. For example, the edge lines in Figure 14A include l1, l2, l3, etc., and determine the parallel line spacing between the edge lines of these obstructions and the boundaries of the regions with shorter lengths. The area between each edge line and the boundary of the region with a farther spacing is its corresponding candidate area. Among the candidate areas corresponding to each edge line, multiple candidate areas that can cover the entire working area and have the smallest overlapping area after combination are determined as working areas. In principle, the number of working areas should be as small as possible, and the working area does not include the area occupied by obstructions such as walls, and the same working area is not separated by the area occupied by obstructions such as walls. For example, the working area in Figure 14a can be divided into the working area AB-C1'-EFGH-A2' obtained by the edge line l3 and the working area A2-HGFE-C1'-CD obtained by the edge line l2. In other embodiments, the electronic processor 520 can also determine whether to implement the division of the work area based on the adjacent relationship between the obstruction such as the wall and the work area. For example, when a building has only two adjacent edges connected to the work area, the edge line confirmation and area division of the building may not be performed, that is, some buildings that are not located inside the work area and are not affected by partitions do not participate in the area division.

[0166] In some embodiments, after dividing the work area, the electronic processor 520 can tile standard patterns in each work area until the work area is completely covered. The number of standard patterns tiled in the work area is the number of base stations 20 required for the work area. In some embodiments, the standard pattern is a regular quadrilateral or a regular hexagon; in other embodiments, the diagonal length of the standard pattern is twice the signal coverage radius of the base station 20. In one example, when the signal coverage radius of the base station 20 is a, the standard pattern is a regular quadrilateral with a diagonal length of 2a. For example, the work area in Figure 14A can be tiled with two standard patterns: standard pattern A1-B1-C1-D1 tiled in work area AB-C1'-EFGH-A2, and standard pattern A2-B2-C2-D2 tiled in work area A2-HGFE-C1'-CD. In contrast, the work area in Figure 14B can be tiled with a total of six standard patterns.

[0167] In some embodiments, the electronic processor 520 can determine the number of base stations 20 required for the working area of ​​the mobile device 10 based on the standard patterns laid out in the working area. In some embodiments, the number of base stations 20 required to be deployed in the working area of ​​the mobile device 10 is the sum of the number of standard patterns laid out in each working area. In other embodiments, standard patterns laid out repeatedly in overlapping areas of multiple working areas can be filtered out, and the number of base stations 20 required to be deployed in the working area of ​​the mobile device 10 is less than the sum of the number of standard patterns laid out in each working area.

[0168] In some embodiments, when the electronic processor 520 loads and runs the first intelligent mowing program, it also calls the display 510 to display a tiled effect image of the standard image tiled in the work area of ​​the work site of the mobile device 10 .

[0169] As shown in FIG12 , the external device 50 may include at least a display 510 and an electronic processor 520 . The display 510 is electrically or communicatively connected to the electronic processor 520 . The electronic processor 520 may call the display 510 . Referring to FIG15 , the electronic processor 520 may also load and run the following intelligent mowing program, which is referred to as a second intelligent mowing program:

[0170] 1510 , displaying a map of the working site of the self-mobile device 10 on the display 510 , where the map includes at least two base stations 20 for transmitting differential data to the self-mobile device 10 ;

[0171] 1520 , displaying a questionnaire corresponding to the workplace via the display 510 and collecting user interaction information regarding the questionnaire;

[0172] 1530, dividing the work site into multiple sub-areas based on at least the interactive information; each sub-area corresponds to one base station 20 of at least two base stations 20, and receiving differential data of the base station 20 in the sub-area when the mobile device 10 moves in the sub-area.

[0173] In the above embodiment, the electronic processor 520 of the external device 50 invokes the display 510 to display a map of the workspace of the mobile device 10 and a questionnaire corresponding to the workspace. Similar to the above, the map can at least reflect information such as the location and outline of various objects within the workspace of the mobile device 10. In some cases, the map can be a real-life mapping of the workspace of the mobile device 10, such as a satellite map. In addition, the map also includes information about at least two base stations 20 for transmitting differential data to the mobile device 10. The questionnaire corresponding to the workspace can request the user to provide answers to specific questions in various ways such as text, images, and audio. The electronic processor 520 can collect user interaction information regarding the questionnaire in response to various user operations such as touch, click, and file input.

[0174] In some embodiments, the interactive information collected by the electronic processor 520 through questionnaire requests and responses and user operations includes the location range of the work area in the workplace marked or modified by the user, i.e., the boundary information of the work area. In other embodiments, the interactive information includes the location range of obstructions in the workplace marked or modified by the user. In some examples, obstructions include walls. In still other embodiments, the interactive information, such as the location range of the work area and / or obstructions, is collected in response to a user performing an operation such as drawing, touching, or clicking on a map of the workplace displayed on the display 510.

[0175] In some embodiments, the electronic processor 520 may divide the work site into multiple sub-areas based on the above-mentioned interaction information and the signal coverage radius of each base station 20, and determine the corresponding relationship between each sub-area and one of the at least two base stations 20. Specifically, the electronic processor 520 may determine the installation location of each base station 20 based on the map, and within the constraints of the area boundary, draw a circle with the installation location of the base station 20 as the center and the signal coverage radius of the base station 20 as the radius to determine the signal coverage range of each base station 20 within the work site. If there are obstructions such as walls within the signal coverage range of the base station 20, the signal coverage range of the base station 20 is divided by two radii that intersect with the obstructions and form the largest angle, and then obtain a number of corresponding sub-areas from the signal coverage range of the base station 20. It is determined that the sub-areas of the sub-areas whose lines connecting the installation location of the base station 20 are not obstructed by the obstructions have a corresponding relationship with the base station 20. Referring to Figure 16, the signal coverage range of the first base station 21 is divided into sub-areas D11 to D15 by radii r11 and r12, and the sub-areas D11 to D13 have a corresponding relationship with the first base station 21; similarly, as shown in Figure 16, the signal coverage range of the second base station 22 is divided into sub-areas D21 to D24 by radii r21 and r22, and the sub-areas D21 to D23 have a corresponding relationship with the second base station 22.

[0176] It should be noted that in some embodiments, some of the multiple sub-areas may correspond to the same base station 20. For example, sub-areas D11 and D13 both correspond to the first base station 21, and sub-areas D21 and D22 both correspond to the second base station 22. In some embodiments, some of the multiple sub-areas may overlap with each other. For example, sub-area D12 is generated by the signal coverage range of the first base station 21, and sub-area D22 is generated by the signal coverage range of the second base station 22. Sub-areas D12 and D22 partially overlap. In some embodiments, a location point in a workspace may belong to different sub-areas but correspond to only one base station 20. For example, location point P1 belongs to both sub-area D14 generated by the signal coverage range of the first base station 21 and sub-area D23 generated by the signal coverage range of the second base station 22. However, since location point P1 is blocked by an obstruction when it is facing the first base station 21, sub-area D14 does not correspond to the first base station 21. However, since location point P1 is not blocked by an obstruction when it is facing the second base station 22, sub-area D23 corresponds to the second base station 22. In some embodiments, a location point in a workspace may belong to different sub-areas and correspond to different base stations 20. For example, location point P2 belongs to both sub-area D12 generated by the signal coverage range of the first base station 21 and sub-area D22 generated by the signal coverage range of the second base station 22. Since location point P2 is not blocked by an obstruction when it is facing both the first and second base stations 20, sub-area D12 corresponds to the first base station 21, and sub-area D22 corresponds to the second base station 22.

[0177] In some embodiments, after the above-mentioned working system completes the division of sub-areas and the correspondence between the sub-areas and the base stations 20 through the external device 50, and the mobile station 150 of the self-mobile device 10 is equipped with a single radio station, it can preliminarily calculate the initial coordinates of the self-mobile device 10 based on the satellite signal including the satellite observation data of the self-mobile device 10 received by the satellite receiving antenna, and determine the base station 20 that the self-mobile device 10 should select at the current position based on the sub-area to which the initial coordinates belong and the base station 20 corresponding to the sub-area.

[0178] In some embodiments, if the initial coordinates belong to only one sub-area, the base station 20 corresponding to the sub-area is selected, and the differential data of the base station 20 is used to correct the initial coordinates to obtain differential positioning coordinates, i.e., device coordinates.

[0179] In other embodiments, the initial coordinates belong to multiple sub-areas and only one sub-area has a corresponding base station 20. For example, the initial coordinates belong to sub-areas D14 and D23, but only sub-area D23 has a corresponding relationship with the second base station 22. Then, the second base station 22 with the corresponding relationship is selected and the differential data of the second base station 22 is used to correct the above initial coordinates to obtain the device coordinates. In some other embodiments, the initial coordinates belong to multiple sub-areas and there are different corresponding base stations 20 in the multiple sub-areas. For example, the initial coordinates belong to sub-areas D12 and D22 and sub-area D12 corresponds to the first base station 21, and sub-area D22 corresponds to the second base station 22. Then, the mobile device 10 can set a radio to receive the first signal from the first base station 21 and the second signal from the second base station 22, respectively, to determine the first common view satellite parameters and first communication parameters of the mobile device 10 and the first base station 21, as well as the second common view satellite parameters and second communication parameters with the second base station 22, and then evaluate the signal quality of the first and second base stations 21 and 22 based on the above parameters, and then select the base station 20 with better signal quality. The relevant method is the same as the previous one and will not be repeated here.

[0180] In some embodiments, the current initial coordinates may be corrected using the differential data used in the last device coordinate calculation to determine to which sub-region the current location of the mobile device 10 belongs.

[0181] Following the above, when multiple base stations 20 are set up in the working site of the self-mobile device 10, and when the differential data of different base stations 20 are switched during the mobile operation of the self-mobile device 10, the above multiple base stations 20 constitute a multi-base station 20 system based on differential positioning technology, and each base station 20 is installed at its own fixed installation position. In order to ensure that the data during the mobile operation of the self-mobile device 10 is accurate, effective, unified and coherent, the above multi-base station 20 system needs to be calibrated between the multiple base stations 20. The following mainly uses the multi-base station system including the first base station 21 and the second base station 22 as an example for explanation. It can be understood that the relevant scheme can also be naturally extrapolated to the system including more base stations 20. Referring to Figure 17, the control process of the base station 20 calibration in the above multi-base station 20 system may include:

[0182] 1710. After the first base station 21 is installed, first installation coordinates of the first base station 21 are determined, and the first base station 21 is set to a base station mode based on the first installation coordinates.

[0183] 1720. After the second base station 22 is installed, set the second base station 22 to mobile station mode, calculate the second installation coordinates of the second base station 22 in the coordinate system of the first base station 21, and set the second base station 22 to base station mode based on the second installation coordinates.

[0184] In the above embodiment, after the first base station 21 is installed at a corresponding installation location in the site of the self-mobile device 10, the first installation coordinates of the first base station 21 can first be determined, and the first base station 21 can be set to base station mode using the first installation coordinates. In some embodiments, the first installation coordinates are obtained non-manually. For example, the first base station 21 can automatically calculate the first installation coordinates through Precise Point Positioning (PPP) convergence, single point convergence, etc. For another example, the first base station 21 can be set to rover mode and the first installation coordinates can be calculated through network RTK. In other embodiments, the first installation coordinates can also be manually set.

[0185] Then, the second base station 22 is installed at the corresponding installation location in the site. The second base station 22 is set to mobile station mode. The differential positioning coordinates of the second base station 22 are calculated based on the differential data of the first base station 21. In other words, the second installation coordinates of the second base station 22 in the coordinate system of the first base station 21 are obtained, and the second base station 22 is set to base station mode using the second installation coordinates. The difference between the mobile station mode and the base station mode described above is that the position of the mobile station 150 changes, and its differential positioning coordinates can be calculated using satellite observation data and differential data. The position of the base station 20 is fixed, and the differential data used by the mobile station 150 can be calculated using satellite observation data and the fixed installation location.

[0186] In some embodiments, a multi-base station 20 system may further include a third base station. After the third base station is installed at a corresponding installation location in the site, the third base station may be set to mobile station mode. The differential positioning coordinates of the third base station are calculated based on the differential data of the first base station 21. That is, the third installation coordinates of the third base station in the coordinate system of the first base station 21 are obtained, and the third base station is set to base station mode using the third installation coordinates. The same applies to the case where the system includes more base stations 20, and is not further described.

[0187] In some embodiments, each base station 20 needs to be restarted after being set to the base station mode.

[0188] 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 for a self - moving device, comprising: A self - moving device configured to autonomously walk and complete work tasks; A first base station configured to calculate and generate first differential data; A second base station configured to calculate and generate second differential data; Wherein, the self - moving device includes a controller and at least one radio station; The controller is configured to: within the current cycle, set the radio station to receive a first signal from the first base station, and obtain a first common - view satellite parameter and a first communication parameter of the self - moving device and the first base station from the first signal; After the current cycle ends, set the radio station to receive a second signal from the second base station, and obtain a second common - view satellite parameter and a second communication parameter of the self - moving device and the second base station from the second signal; Evaluate the signal quality of the first base station based on the first common - view satellite parameter and the first communication parameter, and evaluate the signal quality of the second base station based on the second common - view satellite parameter and the second communication parameter. In the case where the signal quality of the second base station is better than that of the first base station, set the radio station to receive the second signal from the second base station in the next cycle.

2. The working system according to claim 1, wherein, The controller is configured to, in the case where the difference between the second common - view satellite parameter and the first common - view satellite parameter exceeds a first threshold, and the difference between the first communication parameter and the second communication parameter exceeds a second threshold, set the radio station to receive the second signal from the second base station in the next cycle.

3. The working system according to claim 2, wherein, The first common - view satellite parameter or the second common - view satellite parameter includes at least one of the following: The number of common - view satellites of the self - moving device and the first base station or the second base station, the distribution proportion angle of the common - view satellites of the self - moving device and the first base station or the second base station.

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

5. The working system according to claim 1, wherein, The controller is configured to obtain satellite observation data of the first base station from the first signal, and determine the common - view satellites of the two based on the satellite observation data of the self - moving device and the satellite observation data of the first base station, and / or obtain satellite observation data of the second base station from the second signal, and determine the common - view satellites of the two based on the satellite observation data of the self - moving device and the satellite observation data of the second base station.

6. The working system according to claim 5, wherein, The satellite elevation angle of the common - view satellites of the self - moving device and the first base station or the second base station exceeds an elevation angle threshold and the signal - to - noise ratio exceeds a signal - to - noise ratio threshold.

7. The working system according to claim 1, wherein, The controller is configured to, in the case where the signal quality of the first base station is better than that of the second base station, set the radio station to receive the first signal from the first base station in the next cycle.

8. The working system according to claim 1, wherein, the self - moving device includes: a housing; a traveling assembly including a traveling motor and traveling wheels, the traveling assembly being coupled to the housing; a mobile station including a satellite receiving antenna, a first radio station, a second radio station, and a computing unit; the satellite receiving antenna is configured to acquire satellite signals; the first radio station is configured to receive a first signal from a first base station, the first signal including first differential data of the first base station; the second radio station is configured to receive a second signal from a second base station, the second signal including second differential data of the second base station; the computing unit is configured to correct an initial coordinate of the self - moving device obtained by resolving the satellite signals according to the first differential data and / or the second differential data to obtain a corrected device coordinate of the self - moving device; a controller is configured to control the self - moving device according to the device coordinate output by the computing unit.

9. The working system according to claim 8, wherein, the computing unit is configured to correct the initial coordinate according to the first differential data to obtain a first device coordinate, and correct the initial coordinate according to the second differential data to obtain a second device coordinate; compare the solution accuracies of the first device coordinate and the second device coordinate, and select the device coordinate with a higher solution accuracy as the finally output device coordinate.

10. The working system according to claim 9, wherein, the computing unit is configured to, when the first device coordinate is a fixed solution and the second device coordinate is a floating - point solution, output the first device coordinate as the final device coordinate; when the first device coordinate is a floating - point solution and the second device coordinate is a fixed solution, output the second device coordinate as the final device coordinate.

11. The working system according to claim 9, wherein, the computing unit is configured to, when both the first device coordinate and the second device coordinate are fixed solutions or both are floating - point solutions, evaluate the signal qualities of the first base station and the second base station, and select the device coordinate corresponding to the base station with better signal quality as the finally output device coordinate.

12. The working system according to claim 1, wherein, the first base station is configured to determine a first installation coordinate of the first base station after installation is completed, and set it to the base - station mode with the first installation coordinate; the second base station is configured to be set to the mobile - station mode after installation is completed and resolve a second installation coordinate of the second base station in the coordinate system of the first base station, and update and set it to the base - station mode with the second installation coordinate.

13. The working system according to claim 12, wherein, the first installation coordinate is obtained manually; or, the first installation coordinate is obtained by single - point convergence resolution of the first base station; or, the first installation coordinate is obtained by network RTK of the first base station.

14. The working system according to claim 1, wherein, The controller is configured to obtain differential data from a network RTK service provider when the first communication parameter between the self - moving device and the first base station and / or the second communication parameter between the self - moving device and the second base station do not meet the corresponding parameter requirements.

15. The working system according to claim 1, wherein, The working area of the self - moving device includes multiple sub - areas, and each of the sub - areas corresponds to a base station respectively; The self - moving device includes: a satellite receiving antenna configured to obtain satellite signals; The radio station is configured to receive radio signals from one of at least two base stations; The controller is configured to calculate the device coordinates of the self - moving device based on the satellite signals and the radio signals, determine the sub - area where the self - moving device is currently located based on the device coordinates, and set the radio station to receive radio signals from the base station corresponding to the sub - area where the self - moving device is currently located.

16. A self - moving device, comprising: A housing; A traveling assembly including a traveling motor and traveling wheels, the traveling assembly being coupled to the housing; Wherein, the self - moving device includes a controller and at least one radio station; The controller is configured to: obtain differential data from a network RTK service provider when the communication parameter between the self - moving device and the base station does not meet the corresponding parameter requirements.

17. The self - moving device according to claim 16, wherein, The controller is configured to obtain differential data from a network RTK service provider when the communication parameter or its calculated value exceeds the corresponding parameter threshold.

18. The self - moving device according to claim 17, wherein, The communication parameter includes at least one of the distance parameter between the self - moving device and the base station, the data loss parameter, and the common - view satellite parameter.

19. The self - moving device according to claim 16, wherein, The controller is further configured to periodically detect whether the current communication parameter meets the corresponding parameter requirements, and when the communication parameter meets the corresponding parameter requirements, stop obtaining differential data from the network RTK service provider and instead obtain differential data from the base station.

20. An external device, comprising: A display; An electronic processor for loading and running an intelligent mowing program; Wherein, the intelligent mowing program is configured to: Display a map of the working site of the self - moving device through the display; Display a questionnaire corresponding to the working site through the display and collect interactive information of the user for the questionnaire; calculate and output at least the number of base stations required for the working site based on at least the interactive information, and / or divide the working site into multiple sub - areas based on at least the interactive information, and each of the sub - areas corresponds to a base station respectively, and the self - moving device receives differential data from the base station corresponding to the sub - area where it is located when moving within a sub - area.

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