Mounting position recommendation method and apparatus, terminal device, computer storage medium, and computer program product

Abstract

Embodiments of the present application relate to the technical field of autonomous mobile devices, and provide a mounting position recommendation method and a related device. The mounting position recommendation method comprises: acquiring each piece of satellite observation data collected by an autonomous mobile device by moving in a working area, and determining a plurality of recommended positions in the working area on the basis of each piece of satellite observation data; acquiring a first mounting position corresponding to a first positioning device, wherein the first positioning device is used for indicating a positioning device to be mounted of which the position has been recommended, and the positioning device to be mounted is a base station or a charging pile; and on the basis of acquired mounting requirement parameters and the first mounting position, determining, from among the recommended positions, a second mounting position corresponding to a second positioning device, wherein the second positioning device is a positioning device to be mounted other than the first positioning device, and the number of common-view satellites at the second mounting position is greater than a preset number. The present application improves the positioning accuracy of an autonomous mobile device.

Description

Installation position recommendation method, device, terminal equipment, computer storage medium and computer program product

[0001] Cross-reference to related applications

[0002] The present application is based on the Chinese patent application No. 202410431298.5, filed on April 10, 2024, and claims priority to the Chinese patent application No. 202410431298.5, the entire contents of which are hereby incorporated by reference into the present application. TECHNICAL FIELD

[0003] The present application relates to the technical field of autonomous mobile devices, and in particular to an installation position recommendation method, device, terminal equipment, computer storage medium and computer program product. BACKGROUND

[0004] In the field of autonomous mobile devices, the base station refers to the control center of the autonomous mobile device, and the base station can provide charging, communication, positioning and monitoring functions for the autonomous mobile device; and the charging pile can supply power for the base station and the autonomous mobile device.

[0005] The working area of the autonomous mobile device is mostly in a position that blocks satellite signals, so that when the autonomous mobile device is in different directions of the blocking source, the number of visible satellites of the autonomous mobile device will have a very large difference, and the number of common visible satellites at the current position of the autonomous mobile device is also large. The number of common visible satellites determines the positioning accuracy of the autonomous mobile device.

[0006] At present, when the autonomous mobile device moves, it judges whether the signal at the position of the base station meets the positioning requirement of the autonomous mobile device by detecting the number of common visible satellites at the position of the base station, and when the autonomous mobile device is charging at the charging pile, it judges whether the signal at the position of the base station meets the positioning requirement of the autonomous mobile device by detecting the number of common visible satellites at the position of the charging pile. Due to the interference factors in the installation process of the base station and the charging pile, the number of common visible satellites corresponding to the position of the base station and the charging device may not necessarily meet the positioning requirement of the autonomous mobile device, resulting in low positioning accuracy of the autonomous mobile device. SUMMARY

[0007] The present application provides an installation position recommendation method, device, terminal equipment, computer storage medium and computer program product to solve the problem of low positioning accuracy of the autonomous mobile device.

[0008] In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:

[0009] In a first aspect, the present application provides an installation position recommendation method applied to an installation position recommendation device, the installation position recommendation method comprising:

[0010] acquire each satellite observation data collected by the autonomous mobile device moving in the working area, and determine a plurality of recommended positions in the working area according to each satellite observation data;

[0011] acquire a first installation position corresponding to a first positioning device; wherein the first positioning device is used to indicate a to-be-installed positioning device which has been recommended for position, and the to-be-installed positioning device is a base station or a charging pile;

[0012] determine a second installation position corresponding to a second positioning device in each recommended position according to the acquired installation requirement parameter and the first installation position; wherein the second positioning device is a to-be-installed positioning device other than the first positioning device, and the number of common visible satellites of the second installation position is greater than a preset number.

[0013] In the above installation position recommendation method, the determination of the second installation position corresponding to the second positioning device in each recommended position according to the installation requirement parameter and the first installation position comprises:

[0014] determining a plurality of first recommended positions in each recommended position according to the first installation position, wherein the number of common visible satellites corresponding to the first recommended position is greater than the preset number;

[0015] determining the second installation position corresponding to the second positioning device in each first recommended position according to the installation requirement parameter and the first installation position; wherein the installation requirement parameter comprises at least one of a distance range parameter between positioning devices, a number of to-be-installed positioning devices, an area of the working area, and a signal strength range parameter.

[0016] In the above installation position recommendation method, the determination of the plurality of first recommended positions in each recommended position according to the first installation position comprises:

[0017] combining each second recommended position and the first installation position with each third recommended position in sequence to obtain a plurality of sets corresponding to each second recommended position; wherein the second recommended position is determined in the plurality of recommended positions in sequence; and the third recommended position is the recommended position other than the second recommended position.

[0018] determining the number of common visible satellites corresponding to the set according to the satellite observation data corresponding to each position in the set;

[0019] determining the number of common visible satellites of the second recommended position according to the number of common visible satellites of each set corresponding to the second recommended position;

[0020] The first recommended position is determined from the second recommended positions according to a number of common view satellites of the second recommended positions, wherein the number of common view satellites of the first recommended position is greater than a preset number.

[0021] In the installation position recommendation method, the second installation position of the second positioning device is determined from the first recommended positions according to the installation requirement parameters and the first installation position, comprising:

[0022] The satellite observation value of the first recommended position is determined according to the satellite observation data corresponding to the first recommended position.

[0023] The signal strength parameter corresponding to the first recommended position is determined according to the satellite observation value and the number of common view satellites of the first recommended position.

[0024] The second installation position of the second positioning device is determined from the first recommended positions according to the signal strength parameter and the installation requirement parameters of the first recommended positions.

[0025] In the installation position recommendation method, the satellite observation value of the first recommended position is determined according to the satellite observation data corresponding to the first recommended position, comprising:

[0026] A plurality of to-be-processed observation values of the first recommended position are determined according to the satellite observation data corresponding to the first recommended position, wherein the plurality of to-be-processed observation values include at least two of signal strength, signal strength standard deviation, elevation angle and lock loss probability.

[0027] The satellite observation value corresponding to the first recommended position is determined according to each to-be-processed observation value and a corresponding weight.

[0028] In the installation position recommendation method, the plurality of to-be-processed observation values of the first recommended position are determined according to the satellite observation data corresponding to the first recommended position, comprising:

[0029] A region where the first recommended position is located is determined, and a fourth recommended position located in the region is determined, wherein the fourth recommended position is a recommended position other than the first recommended position.

[0030] The average observation value corresponding to the first recommended position is determined as a to-be-processed observation value corresponding to the first recommended position according to the satellite observation data of the first recommended position and the satellite observation data of the fourth recommended position.

[0031] In the installation position recommendation method, the second installation position corresponding to the second positioning device is determined in each of the recommended positions according to the installation requirement parameter and the first installation position, including:

[0032] According to the installation requirement parameter and the first installation position, a plurality of to-be-displayed positions are determined in each of the recommended positions;

[0033] In the map interface corresponding to the working area, each of the to-be-displayed positions is displayed;

[0034] When detecting a selection operation of the installation position of the second positioning device, the to-be-displayed position corresponding to the selection operation is determined as the second installation position corresponding to the second positioning device.

[0035] In the installation position recommendation method, the display of each of the to-be-displayed positions in the map interface corresponding to the working area includes:

[0036] According to the signal strength parameter corresponding to the to-be-displayed position, a display identifier of the to-be-displayed position in the map is determined;

[0037] The identifier of the to-be-displayed position in the map is adjusted to the display identifier corresponding to the to-be-displayed position.

[0038] In the installation position recommendation method, optionally, after the identifier of the to-be-displayed position in the map is adjusted to the display identifier corresponding to the to-be-displayed position, the method further includes:

[0039] A first position of the to-be-displayed position in the map interface is determined, and a second position of the first position in a page where the map is located is determined, and a control is set for the second position;

[0040] The control is associated with the signal strength parameter corresponding to the to-be-displayed position;

[0041] When detecting an operation acting on the control, the signal strength parameter of the to-be-displayed position corresponding to the control is displayed.

[0042] In the installation position recommendation method, the plurality of recommended positions are determined in the working area according to each of the satellite observation data, including:

[0043] A collection position corresponding to the satellite observation data collected by the autonomous mobile device is determined;

[0044] According to the satellite observation data of the collection position, a target parameter of the collection position is determined; wherein the target parameter comprises at least one of the following: a number of visible satellites, a signal strength, a number of satellites out of lock, and a distance between two adjacent third positions;

[0045] According to the target parameter, a plurality of recommended positions are determined in each of the collection positions in the working area.

[0046] In the above installation position recommendation method, after the plurality of recommended positions are determined in the working area according to the satellite observation data, the method further comprises:

[0047] When the second positioning device is not the first positioning device to recommend a position, the step of obtaining the first installation position corresponding to the first positioning device is performed;

[0048] When the second positioning device is the first positioning device to recommend a position, a second installation position corresponding to the second positioning device is determined in each of the recommended positions.

[0049] In a second aspect, an embodiment of the present application provides an installation position recommendation method, applied to a user terminal, and the installation position recommendation method comprises:

[0050] A plurality of to-be-displayed positions are displayed in a map interface of a working area of a self-moving device, and a signal strength parameter of the to-be-displayed position is greater than a preset threshold;

[0051] When a selection operation for the to-be-displayed position is detected, the to-be-displayed position corresponding to the selection operation is displayed as a second installation position of a second positioning device to be installed; wherein a number of common visible satellites of the second installation position is greater than a preset number; and the second positioning device is a base station or a charging pile.

[0052] In the above installation position recommendation method, the plurality of to-be-displayed positions are displayed in the map of the working area of the self-moving device, and the method comprises:

[0053] A first installation position of a first positioning device that has recommended a position in the map interface is obtained;

[0054] According to the first installation position and satellite observation data of each point in the map interface, a plurality of to-be-displayed positions are displayed in the map interface.

[0055] In the above installation position recommendation method, the plurality of to-be-displayed positions are displayed in the map of the working area of the self-moving device, and the method comprises:

[0056] According to the signal strength parameter corresponding to the to-be-displayed position, determine a display identifier of the to-be-displayed position in a map interface of a working area of the autonomous mobile device;

[0057] Adjust the identifier of the to-be-displayed position in the map interface to a display identifier corresponding to the to-be-displayed position.

[0058] In the installation position recommendation method described above, after the color of the to-be-displayed position in the map is adjusted to a display color corresponding to the to-be-displayed position, the method further includes:

[0059] Determine a first position of the to-be-displayed position in the map interface, and determine a second position of the first position in a page where the map interface is located, and set a control to the second position;

[0060] Associate the control with a signal strength parameter corresponding to the to-be-displayed position;

[0061] When detecting an operation acting on the control, display the signal strength parameter of the to-be-displayed position corresponding to the control.

[0062] In the installation position recommendation method described above, before displaying the plurality of to-be-displayed positions in the map of the working area of the autonomous mobile device, the method further includes:

[0063] Receive a plurality of collected positions of the autonomous mobile device moving in the working area;

[0064] According to each of the collected positions, construct and display the map interface.

[0065] In a third aspect, an embodiment of the present application provides an installation position recommendation device, including:

[0066] A first acquisition module configured to acquire a plurality of satellite observation data collected by an autonomous mobile device moving in a working area, and determine a plurality of recommended positions in the working area according to each of the satellite observation data;

[0067] A second acquisition module configured to acquire a first installation position corresponding to a first positioning device; wherein the first positioning device is used to indicate a to-be-installed positioning device for which a position recommendation has been performed, and the to-be-installed positioning device is a base station or a charging pile;

[0068] A determination module configured to determine a second installation position corresponding to a second positioning device in each of the recommended positions according to an acquired installation requirement parameter and the first installation position, wherein the second positioning device is a to-be-installed positioning device other than the first positioning device, and a number of common view satellites of the second installation position is greater than a preset number.

[0069] In a fourth aspect, an embodiment of the present application provides a user terminal, comprising:

[0070] The first display module is configured to display a plurality of to-be-displayed positions in a map interface of the working area of the autonomous mobile device, the signal strength parameters of the to-be-displayed positions being greater than a preset threshold value.

[0071] The second display module is configured to display the to-be-displayed position corresponding to the selection operation as a second installation position of a second positioning device to be installed when detecting the selection operation on the to-be-displayed position, the second positioning device being a base station or a charging pile; wherein the number of common view satellites of the second installation position is greater than a preset number; and the second positioning device is a base station or a charging pile.

[0072] In a fifth aspect, an embodiment of the present application provides a terminal device, comprising a memory and a processor.

[0073] The memory stores computer execution instructions.

[0074] The processor executes the computer execution instructions stored in the memory, so that the battery detection device executes the method as described above.

[0075] In a sixth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing computer execution instructions, the computer execution instructions being executed by a processor to implement the method as described above.

[0076] In a seventh aspect, an embodiment of the present application provides a computer program product, comprising a computer program, the computer program being executed by a processor to implement the method as described above.

[0077] The installation position recommendation method and related device provided by the present application determine a plurality of recommended positions by the autonomous mobile device moving in the working area to collect each satellite observation data, and obtain a first installation position of a base station or a charging pile that has been recommended for position, so as to determine a second installation position of a base station or a charging pile that has not been recommended for position in each recommended position by the installation requirement parameter and the first installation position. In the present application, the first installation position of the base station or the charging pile that has been recommended for position and the installation requirement parameter can be used to determine the second installation position of the base station or the charging pile that has not been recommended for position, and the number of common view satellites of the second installation position is greater than a preset number, so that the base station or the charging pile can provide enough number of common view satellites for the autonomous mobile device, and the positioning accuracy of the autonomous mobile device is met, thereby improving the positioning accuracy of the autonomous mobile device. BRIEF DESCRIPTION OF DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0079] Fig. 1 is a flowchart of a first embodiment of the installation position recommendation method of the present application;

[0080] Fig. 2 is a flowchart of a second embodiment of the installation position recommendation method of the present application;

[0081] Fig. 3 is a flowchart of a third embodiment of the installation position recommendation method of the present application;

[0082] Fig. 4 is a flowchart of a fourth embodiment of the installation position recommendation method of the present application;

[0083] Fig. 5 is a schematic diagram of a working area of an autonomous mobile device involved in the present application;

[0084] Fig. 6 is a flowchart of a fifth embodiment of the installation position recommendation method of the present application;

[0085] Fig. 7 is another schematic diagram of a working area of an autonomous mobile device involved in the present application;

[0086] Fig. 8 is a flowchart of a sixth embodiment of the installation position recommendation method of the present application;

[0087] Fig. 9 is an interface diagram of a working area of an autonomous mobile device involved in the present application;

[0088] Fig. 10 is another interface diagram of a working area of an autonomous mobile device involved in the present application;

[0089] Fig. 11 is a flowchart of a seventh embodiment of the installation position recommendation method of the present application;

[0090] Fig. 12 is a flowchart of a first embodiment of the installation position recommendation method of the present application;

[0091] Fig. 13 is a schematic diagram of a map displayed by a user terminal of the present application;

[0092] Fig. 14 is a functional module schematic diagram of an installation position recommendation device of the present application;

[0093] Fig. 15 is a functional module schematic diagram of a user terminal of the present application;

[0094] Fig. 16 is a structural schematic diagram of an electronic device of the present application.

[0095] The present application has been shown and described with reference to the preferred embodiments. Equivalent mechanisms of the application can be implemented or performed with other structures or methods. Other structures or methods can be implemented or performed. DETAILED DESCRIPTION

[0096] The illustrative examples set forth herein will vary from to the specific apparatus and methods described. It is to be understood, therefore, that the application is not limited to the particular examples disclosed. Rather, the particular examples are intended to convey the principles of the application so that others can further appreciate and utilize the application.

[0097] In the field of autonomous mobile devices, the base station refers to the control center of the autonomous mobile device, and the base station can provide the functions of charging, communication, positioning, and monitoring for the autonomous mobile device; and the charging pile can supply power for the base station and the autonomous mobile device.

[0098] The working area of the autonomous mobile device is mostly in a position that blocks satellite signals, so that when the autonomous mobile device is in different positions of the blocking source, the number of visible satellites of the autonomous mobile device will have a very large difference, so that the number of common visible satellites of the current position of the autonomous mobile device is also large, and the number of common visible satellites determines the positioning accuracy of the autonomous mobile device.

[0099] At present, when the autonomous mobile device moves, it judges whether the signal at the position of the base station meets the positioning requirement of the autonomous mobile device by detecting the number of common visible satellites at the position of the base station, and when the autonomous mobile device is charging at the charging pile, it judges whether the signal at the position of the base station meets the positioning requirement of the autonomous mobile device by detecting the number of common visible satellites at the position of the charging pile.

[0100] The present inventors have found that the installation of the base station and the charging pile is performed by manual installation, and the number of common visible satellites corresponding to the position of the manually installed base station and charging device does not necessarily meet the positioning requirement of the autonomous mobile device, resulting in low positioning accuracy of the autonomous mobile device.

[0101] The present inventors have therefore conceived that the first installation position and installation requirement parameters of the base station or charging pile that have been recommended for position can be used to determine the second installation position of the base station or charging pile that has not been recommended for position, and the number of common visible satellites of the second installation position is greater than a preset number, so that the base station or charging pile can provide a sufficient number of common visible satellites for the autonomous mobile device, meeting the positioning accuracy of the autonomous mobile device, thereby improving the positioning accuracy of the autonomous mobile device.

[0102] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0103] Referring to FIG. 1, FIG. 1 is a flowchart of a first embodiment of an installation position recommendation method provided by the present application. The installation position recommendation method comprises the following steps:

[0104] In step S101, each satellite observation data collected by the autonomous mobile device moving in the working area is acquired, and a plurality of recommended positions in the working area are determined according to each satellite observation data.

[0105] In the embodiment, the execution subject is an installation position recommendation device. For the convenience of description, the device is used to represent the installation position recommendation device in the following. The device can be an autonomous mobile device, a terminal device or a control device of the autonomous mobile device. The terminal device is, for example, a computer or a mobile phone, and the terminal device can be in communication connection with the autonomous mobile device. The autonomous mobile device can be a mower, a robot or the like. Before a base station needs to be installed, the autonomous mobile device moves in the working area to collect satellite observation data.

[0106] In an example, the device controls the autonomous mobile device to move in the working area according to a set path. The set path can be a path constituted by the outer boundary of the working area, and the set path can also be a path in which the autonomous mobile device works in the working area.

[0107] In another example, the device controls the autonomous mobile device to move randomly, that is, the autonomous mobile device moves in an arbitrary path in the working area. In some embodiments, the autonomous mobile device does not repeatedly move in the process of random movement, that is, the number of times of controlling the autonomous mobile device to move in a path is 1.

[0108] In the process of moving, the autonomous mobile device positions the current position of the autonomous mobile device, so as to acquire satellite observation data of the current position. The satellite observation data comprises an observation timestamp, a satellite number, a signal strength, a lost lock satellite identifier, a satellite elevation angle, a satellite azimuth angle, an ENU (local Cartesian coordinates coordinate system) global positioning, an ENU instantaneous Doppler horizontal velocity and the like.

[0109] For example, the autonomous mobile device is provided with a GNSS (Global Navigation Satellite System) receiver. The GNSS receiver is responsible for receiving electromagnetic wave signals from GNSS satellites received by a GNSS antenna, and generating useful GNSS observation data from the signals as satellite observation data.

[0110] After obtaining the plurality of satellite observation data, the device determines a plurality of recommended positions in the working area based on each satellite observation data. For example, the device obtains the satellite number and the signal strength corresponding to the satellite number from the satellite observation data. The device determines the signal strength greater than the preset signal strength as the target signal strength, and the number of each target signal strength is the number of visible satellites. The device determines the position corresponding to the number of visible satellites greater than the preset number as the recommended position, and the position corresponding to the number of visible satellites is the position where the autonomous mobile device collects satellite observation data.

[0111] The number of visible satellites refers to the number of satellites that can be received and used for positioning. The autonomous mobile device usually needs to receive signals from at least 4 satellites to perform accurate positioning. Therefore, the more the number of visible satellites, the better the positioning accuracy and stability. In addition, in some high-precision positioning applications, more satellite signals need to be received to improve the positioning accuracy. Therefore, the preset number is the minimum number of visible satellites for the positioning application of the autonomous mobile device.

[0112] In step S102, a first installation position corresponding to a first positioning device is obtained; wherein the first positioning device is used to indicate a to-be-installed positioning device that has performed position recommendation, and the to-be-installed positioning device is a base station or a charging pile.

[0113] A plurality of positioning devices need to be installed in the working area, and these positioning devices are defined as to-be-installed positioning devices, which include base stations or charging piles. When performing position recommendation of the to-be-installed positioning device, the installation position of the to-be-installed positioning device that has performed position recommendation needs to be determined. The to-be-installed positioning device that has performed position recommendation is positioned as the first positioning device, and the installation position corresponding to the first positioning device is defined as the first installation position.

[0114] After obtaining each recommended position, the device obtains the first installation position corresponding to the first positioning device from the position recommendation record. The first positioning device can be any recommended position.

[0115] In step S103, according to the obtained installation requirement parameter and the first installation position, a second installation position corresponding to a second positioning device is determined in each recommended position; wherein the second positioning device is a to-be-installed positioning device other than the first positioning device, and the number of common visible satellites of the second installation position is greater than the preset number.

[0116] After determining the first installation position, the device acquires installation requirement parameters, the installation requirement parameters including at least one of a distance range parameter between positioning devices, a number of positioning devices to be installed, an area of a working area, and a signal strength range parameter. After acquiring the installation requirement parameters and the first installation position, the device determines a second installation position of a second positioning device in each recommended position based on the installation requirement parameters and the first installation position, the second installation position being a positioning device to be installed other than the first installation position.

[0117] In a first example, when the installation requirement parameters include the distance range parameter between positioning devices, when the distance range parameter is within 3 meters (3 meters being a target distance), the distance between the first positioning device and the second positioning device should be less than 3 meters, and a recommended position with a distance less than 3 meters from the first installation position is taken as the installation position of the second positioning device. If there are multiple first positioning devices, the installation position of the second positioning device needs to meet the distance range corresponding to each first positioning device, for example, the distance range parameter of the first positioning device A is within 3 meters, and the distance range parameter of the first positioning device B is within 2 meters, the distance between the installation position of the second positioning device and the installation position of the first positioning device A is less than 3 meters, and the distance between the installation position of the second positioning device and the installation position of the first positioning device B is less than 2 meters.

[0118] In a second example, the installation requirement parameters include the number of positioning devices to be installed, which can be the number of base stations to be installed in the working area. If the number is less than a default number, the overlap area of the signal radiation areas between the to-be-installed base stations should be as small as possible, that is, the distance between the base station in the recommended position and the base station in the to-be-displayed position is slightly less than the maximum signal radiation distance (target distance) between the two base stations. The maximum signal radiation distance is, for example, 3 meters for both base station A and base station B, and the maximum signal radiation distance between base station A and base station B is 6 meters. The above slightly less means that the difference between the distance between the base station in the recommended position and the base station in the to-be-displayed position and the maximum signal radiation distance is less than a preset difference value, and the preset difference value is a small number, for example, the preset difference value is 0.5 m or less. When the number of base stations to be installed is greater than or equal to the default number, the overlap area of the signal radiation areas between the base stations can be slightly larger, but cannot be greater than a set value, that is, the maximum signal radiation distance minus the distance between the base station in the recommended position and the base station in the to-be-displayed position is less than the set value.

[0119] In the third example, the first installation requirement parameter comprises an area of the work area, and the positioning device is to be installed for the base station. The larger the area of the work area is, the more the number of the base stations to be installed in the work area is. The device determines the number of the base stations to be installed based on the area of the work area, and the area and the number of the base stations to be installed are in a positive correlation. After the number of the base stations to be installed is determined, the recommended positions of the base stations to be installed can be determined in the manner of the second example. In addition, the number of the base stations to be installed can also be determined based on the area and the contour of the work area. For example, the device preliminarily determines an initial number of the base stations to be installed based on the area of the work area, and then determines a final number of the base stations to be installed based on the contour of the work area. When the contour indicates that the work area is in a preset shape such as a square, a rectangle or a circle, the initial number is taken as the final number. When the contour indicates that the shape of the work area is not a preset shape, the initial number is increased to obtain the final number.

[0120] In the fourth example, the first installation requirement parameter comprises a signal strength range parameter between the positioning devices to be installed. For example, the signal strength of the signal of another positioning device detected by one positioning device is greater than a set signal strength. The target distance between the first positioning device and the second positioning device can be calculated based on the set signal strength, and thus the distance between the second positioning device and the first positioning device is less than or equal to the target distance.

[0121] Based on the above examples, the device can determine the target distance between the first positioning device and the second positioning device based on the installation requirement parameter, and thus the distance between the installation position corresponding to the second positioning device and the installation position of the first positioning device is less than or equal to the target distance. When the installation requirement parameter comprises any two or more of the above four parameters, the device obtains the target distance under each installation requirement parameter, and thus the distance between the second positioning device and the first positioning device needs to be less than or equal to the smallest target distance.

[0122] Further, the installation position determination process of the first positioning device to be installed for which the position recommendation is performed is different from the installation position determination process of the second positioning device to be installed for which the position recommendation is not performed.

[0123] Specifically, when the device obtains multiple recommended positions, if the second positioning device is not the first positioning device to be installed for which the position recommendation is performed, step S102 is performed, that is, the second installation position corresponding to the second positioning device is determined based on steps S102 to S104.

[0124] When the second positioning device is the first positioning device to be installed for which the position recommendation is performed, the second installation position corresponding to the second positioning device is determined in the multiple recommended positions.

[0125] In an example, the second positioning device is required to be far away from the user, and the central region of the working region is far away from the user, and thus the device takes the recommended position in the central region as the second installation position corresponding to the second positioning device. In another example, the device determines the recommended positions in which the number of visible satellites is greater than the set number in each recommended position as the second installation positions of the second positioning device.

[0126] It should be noted that the working region can include multiple sub-regions, and the sub-regions can be separated, for example, the working region includes two sub-regions of a front yard and a back yard. In this case, the device determines the sub-region of the working region to which the second positioning device belongs, and determines the second installation position of the second positioning device in each recommended position in the sub-region through the first positioning device in the sub-region and the installation requirement parameter of the sub-region.

[0127] In addition, there are multiple positioning devices to be installed, and the positioning devices to be installed are base stations or charging piles. Each positioning device to be installed can be a base station, or each positioning device to be installed can be a charging pile, or each positioning device to be installed includes a base station and a charging pile. When each positioning device to be installed includes a base station and a charging pile, the position recommendation of each base station can be performed first, and then the position recommendation of each charging pile can be performed, or the position recommendation of each charging pile can be performed first, and then the position recommendation of each base station can be performed, or the position recommendation of one base station can be performed first, and then the position recommendation of one charging pile can be performed. It can be understood that the order of the position recommendation of the base station and the charging pile is not limited.

[0128] In this embodiment, the multiple recommended positions are determined through the satellite observation data collected by the autonomous mobile device moving in the working region, and the first installation position of the base station or the charging pile that has been recommended for position is obtained, so that the second installation position of the base station or the charging pile that has not been recommended for position is determined in each recommended position through the installation requirement parameter and the first installation position. In this application, the first installation position of the base station or the charging pile that has been recommended for position and the installation requirement parameter can be used to determine the second installation position of the base station or the charging pile that has not been recommended for position, and the number of common visible satellites of the second installation position is greater than the preset number, so that the base station or the charging pile can provide a sufficient number of common visible satellites for the autonomous mobile device, and the positioning accuracy of the autonomous mobile device is met, thereby improving the positioning accuracy of the autonomous mobile device.

[0129] Referring to FIG. 2, FIG. 2 is a flowchart of a second embodiment of the installation position recommendation method provided by the present application. Based on the first embodiment, step S104 includes:

[0130] In step S201, a plurality of first recommended positions are determined in each recommended position according to the first installation position, and the number of common visible satellites corresponding to the first recommended position is greater than the preset number.

[0131] In the embodiment, the device determines a first recommended position from the recommended positions via the first installation position, and the first recommended position corresponds to a number of common visible satellites greater than a preset number.

[0132] For example, the recommended position has corresponding satellite observation data, and the first installation position also has corresponding satellite observation data. The device determines the number of common visible satellites between the first installation position and each recommended position based on the satellite observation data. For example, based on the satellite observation data of the first installation position, it can be determined that the autonomous mobile device can receive signals of five satellites A, B, C, D and E at the first installation position, and based on the satellite observation data of the recommended position, it can be determined that the autonomous mobile device can receive signals of five satellites A, B, C, D and F at the first installation position. Therefore, the autonomous mobile device can receive signals of four satellites A, B, C and D at both the first installation position and the recommended position, and thus the number of common visible satellites between the first installation position and the recommended position is 4.

[0133] After determining the number of common visible satellites corresponding to each recommended position, the device determines the recommended position corresponding to the number of common visible satellites greater than the preset number as the first recommended position.

[0134] In step S202, the second installation position corresponding to the second positioning device is determined in each first recommended position based on the installation requirement parameter and the first installation position.

[0135] After determining each first recommended position, the device can determine the second installation position corresponding to the second positioning device in each first recommended position based on the installation requirement parameter and the first installation position.

[0136] Determining the second installation position corresponding to the second positioning device in each first recommended position based on the installation requirement parameter and the first installation position is consistent with the process of determining the second installation position corresponding to the second positioning device in each recommended position based on the installation requirement parameter and the first installation position, which will not be described here.

[0137] In the embodiment, the first recommended position is selected from the plurality of recommended positions, which reduces the calculation amount of the device for determining the second installation position of the second positioning device and saves the calculation resources of the device.

[0138] Referring to FIG. 3, FIG. 3 is a flowchart of a third embodiment of the installation position recommendation method provided by the present application. Based on the second embodiment, step S201 includes:

[0139] Step S301, sequentially combine the second recommended position and the first installation position with each third recommended position to obtain a plurality of sets corresponding to each second recommended position; wherein the second recommended position is sequentially determined in the plurality of recommended positions; and the third recommended position is a recommended position other than the second recommended position.

[0140] In the embodiment, the device needs to determine the number of common view satellites of each recommended position, and then determine the first recommended position in each recommended position through the number of common view satellites. The number of common view satellites of the recommended position is related to the first installation position. For this purpose, the device sequentially takes each recommended position as the second recommended position, and then sequentially combines the second recommended position, the first installation position and each third recommended position to obtain a plurality of sets corresponding to each second recommended position, wherein the third recommended position is a recommended position other than the second recommended position. For example, the first installation position is point A, and the recommended positions include three positions B, C and D. First, take point B as the second recommended position, and then the sets corresponding to point B are (A, B, C), (A, B, D); when point C is taken as the second recommended position, the sets corresponding to point C are (A, C, B), (A, C, D); and when point D is taken as the second recommended position, the sets corresponding to point D are (A, D, B), (A, D, C).

[0141] It should be noted that when there are multiple first positioning devices, there are multiple first installation positions, and all the first installation positions need to be sequentially combined with the second recommended position and each third recommended position. For example, there are two first installation positions, namely point A and point B, and the recommended positions include three points F, G and H. First, take point F as the second recommended position, and then the sets corresponding to point F are (A, B, F, G), (A, B, F, H); when point G is taken as the second recommended position, the sets corresponding to point G are (A, B, G, F), (A, B, G, H); and when point H is taken as the second recommended position, the sets corresponding to point H are (A, B, H, F), (A, B, H, G).

[0142] Step S302, determining the number of common view satellites corresponding to the set according to the satellite observation data corresponding to each position in the set.

[0143] After determining the respective sets of each second recommended position, the number of common visible satellites corresponding to each set is determined. For example, the set (A, B, C) includes three points A, B and C, based on the satellite observation data of A, it is known that the signals of satellites 1, 2, 3, 4 and 5 can be received by A, based on the satellite observation data of B, it is known that the signals of satellites 1, 2, 3, 4, 5 and 6 can be received by B, and based on the satellite observation data of C, it is known that the signals of satellites 2, 3, 4, 5, 6 and 7 can be received by C, then the signals of satellites 2, 3, 4 and 5 can be received by A, B and C, and thus the number of common visible satellites of the set (A, B, C) is 4.

[0144] In step S303, the number of common visible satellites of the second recommended position is determined according to the number of common visible satellites of each set corresponding to the second recommended position.

[0145] After calculating the number of common visible satellites of each set, the device determines the number of common visible satellites of the second recommended position based on the number of common visible satellites of each set corresponding to the second recommended position.

[0146] For example, the second recommended position is B, the respective sets corresponding to B are (A, B, C) and (A, B, D), the number of common visible satellites of the set (A, B, C) is 4, the number of common visible satellites of the set (A, B, D) is 5, and thus the number of common visible satellites of B is the sum of the number of common visible satellites of the two sets divided by the number of sets corresponding to B, that is, the number of common visible satellites of B = (4+5) / 2 = 4.5.

[0147] In step S304, the first recommended position is determined from the respective second recommended positions according to the number of common visible satellites of the second recommended position, wherein the number of common visible satellites of the first recommended position is greater than the preset number.

[0148] After determining the number of common visible satellites of each second recommended position, the device determines the first recommended position from the respective second recommended positions, that is, the second recommended position corresponding to the number of common visible satellites greater than the preset number is taken as the first recommended position.

[0149] In this embodiment, the device combines the first installation position and the recommended position, and considers the factors of the positioning device to be installed for which the position has been recommended, so as to accurately determine the number of common visible satellites of the recommended position.

[0150] Referring to FIG. 4, FIG. 4 is a flowchart of a fourth embodiment of the installation position recommendation method provided by the present application, and based on the third embodiment, step S202 includes:

[0151] In step S401, the satellite observation value of the first recommended position is determined according to the satellite observation data corresponding to the first recommended position.

[0152] In the embodiment, after the number of common view satellites of the first recommended position is determined, the second installation position is determined in each first recommended position based on the satellite observation value of the first recommended position.

[0153] For example, the device determines the satellite observation value of the first recommended position based on the satellite observation data of the first recommended position.

[0154] For example, the device determines the plurality of to-be-processed observation values of the first recommended position based on the satellite observation data corresponding to the first recommended position, and the plurality of to-be-processed observation values include at least two of the signal strength, the signal strength standard deviation, the elevation angle, and the loss probability. The elevation angle refers to the average value of the elevation angle of each satellite label in the satellite observation data, and the loss probability refers to the satellite loss probability. The loss probability can be determined by the ratio between the number of loss times of the satellite and the number of signal receiving times of the satellite. Different to-be-processed observation values have different weights, and the device can determine the satellite observation value corresponding to the first recommended position based on each to-be-processed observation value and the corresponding weight. For example, each to-be-processed observation value is converted into a numerical value of the same dimension, and the numerical value corresponding to each to-be-processed observation value is weighted and calculated based on the weight corresponding to the to-be-processed observation value to obtain the satellite observation value.

[0155] Further, the device determines the to-be-processed observation value corresponding to the first recommended position based on the first recommended position and the fourth recommended position adjacent to the first recommended position, that is, determines the to-be-processed observation value of the first recommended position based on the field data. For example, taking the first recommended position as the center and setting the distance as the radius to obtain the area of the first recommended position in the working area. The area where the first recommended position is located includes a plurality of fourth recommended positions, and the recommended positions in the area except the first recommended position are defined as the fourth recommended positions. For example, referring to FIG. 5, the circle in FIG. 5 is the area where the first recommended position is located, the black dots are the recommended positions, and the area formed by the lines is the working area. The device determines the average observation value corresponding to the first recommended position based on the satellite observation data of the first recommended position and the satellite observation data of the fourth recommended position, and takes the average observation value as the to-be-processed observation value corresponding to the first recommended position. For example, the first recommended position has a plurality of to-be-processed observation values, and the fourth recommended position has a plurality of to-be-processed observation values, and the average value of the same type of to-be-processed observation values in the first recommended position and the fourth recommended position is calculated to obtain the average observation value.

[0156] In step S402, the signal strength parameter corresponding to the first recommended position is determined based on the satellite observation value corresponding to the first recommended position and the number of common view satellites.

[0157] After the device acquires the satellite observation value of the first recommended position, the device determines the signal strength parameter based on the satellite observation value and the number of common-view satellites. For example, the satellite observation value and the number of common-view satellites have corresponding weights, and the device can obtain the signal strength parameter by performing weighted calculation on the satellite observation value of the first recommended position and the number of common-view satellites of the first recommended position.

[0158] In step S403, the second installation position of the second positioning device is determined in each first recommended position according to the signal strength parameter of each first recommended position and the installation requirement parameter.

[0159] After the signal strength parameter of each first recommended position is determined, the device can determine the second installation position of the second positioning device.

[0160] For example, the device determines a fifth recommended position in each first recommended position based on the signal strength parameter of each first recommended position, and the fifth recommended position is a first recommended position in which the signal strength parameter is greater than a preset signal strength parameter. Then, the device determines the second installation position of the second positioning device in each fifth recommended position by using the installation requirement parameter.

[0161] The second installation position of the second positioning device is determined in each fifth recommended position based on the installation requirement parameter and the first installation position, which is the same as the process of determining the second installation position of the second positioning device in each recommended position based on the installation requirement parameter and the first installation position, and thus will not be described here.

[0162] It should be noted that the first installation position of the first positioning device can also be determined by using the signal strength parameter of the recommended position, that is, the recommended position in which the signal strength parameter is greater than the preset signal strength parameter is selected as a candidate recommended position, and then the first installation position is determined from the candidate recommended position.

[0163] In this embodiment, the device determines the signal strength parameter of the first recommended position by combining the satellite observation value and the number of common-view satellites of the first recommended position, so that the second installation position of the second positioning device is more accurately determined.

[0164] Referring to FIG. 6, FIG. 6 is a flowchart of a fifth embodiment of the installation position recommendation method provided in the present application. Based on any one of the first to fourth embodiments, step S103 includes:

[0165] In step S501, a plurality of to-be-displayed positions are determined in each recommended position according to the installation requirement parameter and the first installation position.

[0166] In step S502, each to-be-displayed position is displayed in a map interface corresponding to the working area.

[0167] In the embodiment, the device displays the selectable recommended positions on the map interface of the working area. For example, the device determines a plurality of to-be-displayed positions in the recommended positions by using the installation requirement parameters and the first installation position. The determination process of the to-be-displayed positions is described above with reference to the description of the second positioning device based on the installation requirement parameters and the first installation position, which is not repeated here.

[0168] The device stores the map interface of the working area, and the map has a coordinate system. The to-be-displayed positions have corresponding coordinates. The device can determine the target position of the to-be-displayed position in the map interface based on the coordinates of the to-be-displayed position. The device marks the target position in the map interface, for example, marks the target position as a thick line. The schematic diagram of the to-be-displayed position is shown in the left part of FIG. 7.

[0169] In step S503, when detecting the selection operation of the installation position of the second positioning device, the device determines the to-be-displayed position corresponding to the selection operation as the second installation position corresponding to the second positioning device.

[0170] The user can select the second installation position of the second positioning device through each to-be-displayed position displayed on the map interface. For example, the user can double-click a to-be-displayed position on the map interface, and the device determines the to-be-displayed position as the second installation position. Alternatively, the user clicks a to-be-displayed position on the map interface, and the device outputs an option box for selecting whether to use the to-be-displayed position as the installation position of the second positioning device. If the user clicks the option box, the device determines the to-be-displayed position as the second installation position.

[0171] It can be understood that the device determines the to-be-displayed position corresponding to the selection operation as the second installation position when detecting the selection operation of the installation position of the second positioning device. The selection operation is a double-click operation of the to-be-displayed position or a click operation of the option box.

[0172] Further, when the user clicks the to-be-displayed position, the device displays a base station option box and a charging pile option box. If the user clicks the base station option box, the to-be-displayed position is used as the second installation position of the base station. If the user clicks the charging pile option box, the to-be-displayed position is used as the second installation position of the charging pile. By popping up the base station option box and the charging pile option box, the user can first recommend the installation position of the base station and then recommend the installation position of the charging pile, or first recommend the installation position of the charging pile and then recommend the installation position of the base station.

[0173] In addition, the selected operation can be a clicking operation, the device determines a position of the clicking operation in the map interface, if the position is a to-be-displayed position in the map interface, the position is determined as the second installation position, if the position is not a to-be-displayed position in the map interface, distances between the position and each to-be-displayed position are determined, if the smallest distance is smaller than a preset distance, the position can be determined as the second installation position. If the smallest distance is greater than or equal to the preset distance, a prompt information is output to prompt that the position selected by the user is not a better to-be-displayed position, if the user confirms the operation based on the prompt information, the position is determined as the second installation position, that is, the device allows the user to select an arbitrary position in the map interface as the second installation position of the second installation position, and user experience is improved.

[0174] It should be noted that after the user selects an installation position of a to-be-installed installation position in the map, the map interface needs to update the to-be-displayed position for the user to select an installation position of a next to-be-installed installation position in the updated to-be-displayed position. The reason for updating the to-be-displayed position is that the number of first installation positions changes, and the number of recommended positions changes (see the description of the number of recommended positions), so that the to-be-displayed position in the map interface changes. For example, referring to FIG. 7, after the map interface in the left figure displays each to-be-displayed position, if the user selects a to-be-displayed position in the map interface as a second installation position, the second installation position is marked in the middle figure, for example, if the second installation position is a base station, the identification of the base station is displayed at the second installation position; after the second installation position is marked, the right figure is obtained, that is, the map interface updates the to-be-displayed position, and the to-be-displayed position is a point on the thick line in the map.

[0175] In this embodiment, the device displays the to-be-displayed position on the map interface, so that the user selects an installation position of the second installation position in each to-be-displayed position, and user experience is improved.

[0176] Referring to FIG. 8, FIG. 8 is a flowchart of a sixth embodiment of an installation position recommendation method provided by the present application, based on the fifth embodiment, step S502 includes:

[0177] In step S601, a display mark of a to-be-displayed position in a map interface is determined according to a signal strength parameter corresponding to the to-be-displayed position.

[0178] In this embodiment, when the to-be-displayed position is displayed in the map interface, a target position of the to-be-displayed position in the map interface can be marked as a specific display mark, for example, the display mark can include a display color.

[0179] For example, the device determines the display color of the to-be-displayed position in the map interface according to the signal strength parameter corresponding to the to-be-displayed position. The determination manner of the signal strength parameter is as described above, and will not be repeated here.

[0180] In an example, the display color includes hue, brightness, and saturation. The hue of each to-be-displayed position in the map interface can be the same, but the greater the signal strength parameter of the to-be-displayed position, the greater the brightness of the target position of the to-be-displayed position in the map interface. Therefore, the greater the brightness of the to-be-displayed position in the map interface, the better the signal quality of the to-be-displayed position.

[0181] In another example, the greater the signal strength parameter of the to-be-displayed position, the greater the hue and saturation of the target position of the mark of the to-be-displayed position in the map interface.

[0182] In step S602, the identification of the to-be-displayed position in the map interface is adjusted to the display identification corresponding to the to-be-displayed position.

[0183] After determining the display identification corresponding to the to-be-displayed position, the device adjusts the identification of the position of the to-be-displayed position in the map interface to the display identification corresponding to the to-be-displayed position. For example, the color of the position of the to-be-displayed position in the map interface can be adjusted to the display color corresponding to the to-be-displayed position.

[0184] Referring to FIG. 9, FIG. 9 is an installation position of a base station selected based on a to-be-displayed position with a display color, and each point with a thick line in FIG. 9 is a to-be-displayed position, and the installation position displays an icon of the base station.

[0185] Referring to FIG. 10, an installation position of a charging pile is determined based on the installation position of the base station in each to-be-displayed position with a display color, and the installation position of the charging pile displays an icon of the charging pile, which is the lightning mark in FIG. 10.

[0186] Further, the device determines the position of the to-be-displayed position in the map interface, which is defined as a first position. The device further determines a second position of the first position in the page where the map interface is located, and sets a control on the second position, which is a touch control. The device associates the control with the signal strength parameter corresponding to the to-be-displayed position, and when detecting an operation on the control, displays the signal strength parameter of the to-be-displayed position corresponding to the control. It can be understood that the map interface is displayed in the page, and the to-be-displayed position in the map interface is provided with a touch control. When a user clicks the touch control, the signal strength parameter associated with the to-be-displayed position is displayed.

[0187] In the embodiment, the device determines the display color of the to-be-displayed position in the map interface according to the signal strength parameter corresponding to the to-be-displayed position, and then adjusts the color of the position of the to-be-displayed position in the map interface to the display color corresponding to the to-be-displayed position, so as to facilitate the user to locate the position with better signal to select the installation position of the base station or the charging pile, and improve the user experience.

[0188] Referring to FIG. 11, FIG. 11 is a flowchart of a seventh embodiment of the installation position recommendation method provided in the present application. Based on any one of the first to sixth embodiments, step S101 includes:

[0189] In step S1101, the device determines the collection position corresponding to the satellite observation data collected by the autonomous mobile device.

[0190] In the embodiment, each satellite observation data corresponds to a position, which is defined as a collection position. The collection position is the position where the satellite observation data is collected by the autonomous mobile device. The device determines each collection position.

[0191] In step S1102, the device determines the target parameter of the collection position according to the satellite observation data of the collection position. The target parameter includes at least one of the number of visible satellites, the signal strength, the number of satellite lockouts, and the distance between two adjacent third positions.

[0192] After determining the collection position, the device determines the target parameter of the collection position based on the satellite observation data of the collection position. The target parameter includes the number of visible satellites, the signal strength, the number of satellite lockouts, and the distance between two adjacent third positions

[0193] In step S1103, the device determines a plurality of recommended positions from the collection positions according to the target parameter.

[0194] After determining the target parameter, the target parameter is used to determine a plurality of recommended positions from the collection positions.

[0195] In an example, the target parameter includes the number of visible satellites. Since the installation position of the positioning device to be installed needs to meet the positioning requirements of the autonomous mobile device, the number of visible satellites of the recommended position needs to be greater than a preset number. In this regard, the collection position with a number of visible satellites greater than the preset number is determined as a recommended position.

[0196] In another example, the target parameter includes the signal strength. The device needs to filter out the collection positions with small signal strength, that is, the collection position with a signal strength greater than a preset signal strength is determined as a recommended position.

[0197] In another example, the target parameter includes the number of satellite lock losses. Satellite lock loss typically refers to a situation in which a receiving device in a satellite navigation system loses tracking and lock on to a satellite signal. The number of satellite lock losses at a location can, to a certain extent, reflect the signal strength at that location. For example, a location with a high number of satellite lock losses indicates a weak signal; a location with a low number of satellite lock losses indicates a strong signal. Therefore, the device determines a collection location corresponding to a number of satellite lock losses less than a preset number of satellite lock losses as a recommended location.

[0198] In another example, the target parameter includes the distance between two adjacent third locations. The autonomous mobile device collects satellite observation times at short intervals, resulting in multiple collection locations. However, the distance between recommended locations cannot be too small. Therefore, the device identifies two collection locations with a distance less than the preset distance, eliminates one of the two collection locations, and uses the remaining collection location as the recommended location.

[0199] 7 is a schematic diagram of the working area, and each black dot in the working area is a recommended position. The recommended position shown in FIG7 is located at the boundary of the working area, but the recommended position is not limited to the boundary and can also be a position inside the working area.

[0200] In this embodiment, the device determines the recommended location by collecting the number of visible satellites, signal strength, number of satellite lock failures, and the distance between two adjacent third locations at the location, that is, filtering out the recommended location from multiple collection locations, thereby reducing the computational complexity of the device.

[0201] 12 is a flowchart of a first embodiment of the installation location recommendation method provided by the present application, which is applied to a user terminal. The installation location recommendation method includes:

[0202] Step S701: Displaying a plurality of locations to be displayed on a map interface of a working area of ​​an autonomous mobile device, wherein a signal strength parameter of the locations to be displayed is greater than a preset threshold.

[0203] In this embodiment, the execution subject is the user terminal, which can be a control device of an autonomous mobile device with a display screen. The user terminal can also be a mobile phone, tablet or computer.

[0204] In one example, the user terminal receives the collection locations of satellite observation data collected by the autonomous mobile device in the work area and constructs a map interface based on each collection location. The method of collecting satellite observation data by the autonomous mobile device is described above and will not be repeated here.

[0205] In another example, the autonomous mobile device constructs a map interface, and the user terminal receives the map interface sent by the autonomous mobile device for display.

[0206] The user terminal can determine the to-be-displayed positions by itself or receive the to-be-displayed positions determined by the autonomous mobile device. The user terminal displays the to-be-displayed positions in the map interface. The determination of the to-be-displayed positions is described above and will not be repeated here.

[0207] At step S702, when detecting the selection operation on the to-be-displayed position, the user terminal displays the to-be-displayed position corresponding to the selection operation as a second installation position of a second positioning device to be installed; the number of visible satellites of the second installation position is greater than a preset number; and the second positioning device is a base station or a charging pile.

[0208] When detecting the selection operation on the to-be-displayed position, the user terminal displays the to-be-displayed position corresponding to the selection operation as a second installation position of a second positioning device to be installed. The display of the to-be-displayed position as the second installation position is described above and will not be repeated here.

[0209] In an example, the user terminal can further perform the following steps:

[0210] Obtaining a first installation position of a first positioning device in the map interface, the first positioning device having performed position recommendation;

[0211] According to the first installation position and satellite observation data of each point in the map interface, displaying a plurality of to-be-displayed positions in the map interface.

[0212] In this example, the to-be-displayed positions in the map interface are updated based on the existing installation position and satellite observation data. The description of the update of the map interface in the fifth embodiment is referred to and will not be repeated here.

[0213] In another example, the user terminal can further perform the following steps:

[0214] According to a signal strength parameter corresponding to the to-be-displayed position, determining a display identifier of the to-be-displayed position in the map interface of the working area of the autonomous mobile device;

[0215] Adjusting the identifier of the to-be-displayed position in the map to the display identifier corresponding to the to-be-displayed position.

[0216] In still another example, the user terminal can further perform the following steps:

[0217] Determining a first position of the to-be-displayed position in the map and a second position of the first position in a page of the map interface, and setting a control on the second position;

[0218] Associating the control with a signal strength parameter corresponding to the to-be-displayed position;

[0219] When detecting the operation acting on the control, a signal strength parameter of a to-be-displayed position corresponding to the control is displayed.

[0220] Details of the above examples are described with reference to the foregoing description of the embodiments, and are not repeated here.

[0221] In the embodiment, the user terminal displays the to-be-displayed positions in the map, so that the user selects a to-be-displayed position that can meet the positioning requirement of the autonomous mobile device as an installation position of the to-be-installed positioning device on the displayed map interface, thereby providing a user experience.

[0222] In an embodiment, before the step of displaying the plurality of to-be-displayed positions in the map of the working area of the autonomous mobile device, the method further comprises: receiving a plurality of collected positions of the autonomous mobile device moving in the working area; and constructing and displaying a map interface according to the plurality of collected positions.

[0223] In the embodiment, the user terminal is communicatively connected to the autonomous mobile device. When the user terminal is connected to the autonomous mobile device, the user terminal displays a blank map and displays a query information in the blank map, for example, whether to establish a map of the working area. If the user clicks the query information, a yes / no option box is popped up. When the user clicks the yes option box, the user terminal is considered to detect a map interface construction operation, and sends a mapping instruction to the autonomous mobile device. The autonomous mobile device moves in the working area based on its own positioning and collects positions during the movement to obtain a plurality of collected positions.

[0224] The user terminal constructs an initial map based on the plurality of collected positions. In addition, the user terminal also analyzes whether the map can install the to-be-installed positioning device. For example, the user terminal determines an area of the initial map. If a difference between the area of the initial map and an area of a region occupied by the to-be-installed positioning device is less than a preset difference, a prompt information is output, for example, the current map is not suitable for installing the positioning device, and the region can be explored again by being enlarged, that is, the prompt information is used to indicate to increase the area of the map. When the user terminal detects a determination operation based on the prompt information, a mapping instruction is re-sent, and the re-sent mapping instruction controls the autonomous mobile device to move on a new movement path, which is closer to an outer edge of the working area than an original movement path (a movement path for constructing the initial map).

[0225] If the difference between the area of the initial map and the area of the region occupied by the to-be-installed positioning device is greater than or equal to the preset difference, the map is displayed. Referring to FIG. 13, the left drawing of FIG. 13 is a constructed map, and the right drawing is a map displaying the to-be-displayed positions. The thick lines in the right drawing constitute the plurality of to-be-displayed positions.

[0226] After the map is constructed, the user end controls the autonomous mobile device to move in the sub-region to collect satellite observation data, and the sub-region is the region corresponding to the map in the working region. In an example, the autonomous mobile device moves in the sub-region according to a set path, and the set path can be a path formed by the outer boundary of the sub-region, and the set path can also be a path in which the autonomous mobile device works in the sub-region. In another example, the autonomous mobile device moves in the region along an arbitrary path. Further, in the process of random movement, the autonomous mobile device does not repeat the movement, that is, the number of times of moving the autonomous mobile device along a path is 1.

[0227] In the embodiment, the user end constructs the map, so as to display each to-be-displayed position in the map, to facilitate the user to select an installation position of a to-be-installed positioning device in the map.

[0228] FIG. 14 is a structural schematic diagram of an installation position recommendation device provided by an embodiment of the present application. As shown in FIG. 14, the installation position recommendation device comprises:

[0229] A first acquisition module 1410 is configured to acquire each satellite observation data collected by the autonomous mobile device moving in the working region, and determine a plurality of recommended positions in the working region according to each satellite observation data;

[0230] A second acquisition module 1420 is configured to acquire a first installation position corresponding to a first positioning device; wherein the first positioning device is used to indicate a to-be-installed positioning device for which a position has been recommended, and the to-be-installed positioning device is a base station or a charging pile;

[0231] A determination module 1430 is configured to determine a second installation position corresponding to a second positioning device in each recommended position according to the acquired installation requirement parameter and the first installation position; wherein the second positioning device is a to-be-installed positioning device other than the first positioning device, and the number of common view satellites of the second installation position is greater than a preset number.

[0232] In some embodiments, the determination module 1430 in the installation position recommendation device is configured to:

[0233] determine a plurality of first recommended positions in each recommended position according to the first installation position, and the number of common view satellites corresponding to the first recommended position is greater than the preset number;

[0234] determine the second installation position corresponding to the second positioning device in each first recommended position according to the installation requirement parameter and the first installation position.

[0235] In some embodiments, the determination module 1430 in the installation position recommendation device is configured to:

[0236] The second recommended position and the first installation position determined in sequence are combined with each third recommended position in sequence to obtain a plurality of sets corresponding to each second recommended position; wherein the second recommended position is determined in sequence in the plurality of recommended positions; and the third recommended position is a recommended position other than the second recommended position;

[0237] The number of common view satellites corresponding to the set is determined according to the satellite observation data corresponding to each position in the set;

[0238] The number of common view satellites of the second recommended position is determined according to the number of common view satellites of each set corresponding to the second recommended position;

[0239] The first recommended position is determined from the second recommended positions according to the number of common view satellites of the second recommended position; wherein the number of common view satellites of the first recommended position is greater than a preset number.

[0240] In some embodiments, the determining module 1430 in the installation position recommendation device is configured to:

[0241] The satellite observation value of the first recommended position is determined according to the satellite observation data corresponding to the first recommended position;

[0242] The signal strength parameter corresponding to the first recommended position is determined according to the satellite observation value and the number of common view satellites corresponding to the first recommended position;

[0243] The second installation position of the second positioning device is determined from the first recommended positions according to the signal strength parameters and the installation requirement parameters of the first recommended positions.

[0244] In some embodiments, the determining module 1430 in the installation position recommendation device is configured to:

[0245] A plurality of to-be-processed observation values of the first recommended position are determined according to the satellite observation data corresponding to the first recommended position; wherein the plurality of to-be-processed observation values include at least two of signal strength, signal strength standard deviation, elevation angle, and lock loss probability;

[0246] The satellite observation value corresponding to the first recommended position is determined according to each to-be-processed observation value and the corresponding weight.

[0247] In some embodiments, the determining module 1430 in the installation position recommendation device is configured to:

[0248] An area where the first recommended position is located is determined, and a fourth recommended position located in the area is determined; wherein the fourth recommended position is a recommended position other than the first recommended position;

[0249] According to the satellite observation data of the first recommended position and the satellite observation data of the fourth recommended position, an average observation value corresponding to the first recommended position is determined as a to-be-processed observation value corresponding to the first recommended position.

[0250] In some embodiments, the second obtaining module 1420 in the installation position recommendation apparatus is configured to:

[0251] According to the installation requirement parameter and the first installation position, a plurality of to-be-displayed positions are determined in each recommended position.

[0252] In the map interface corresponding to the working area, each to-be-displayed position is displayed.

[0253] When a selection operation of the installation position of the second positioning apparatus is detected, the to-be-displayed position corresponding to the selection operation is determined as the second installation position corresponding to the second positioning apparatus.

[0254] In some embodiments, the second obtaining module 1420 in the installation position recommendation apparatus is configured to:

[0255] According to the signal strength parameter corresponding to the to-be-displayed position, a display identifier of the to-be-displayed position in the map interface is determined.

[0256] The color of the to-be-displayed position in the map interface is adjusted to the display identifier corresponding to the to-be-displayed position.

[0257] In some embodiments, the second obtaining module 1420 in the installation position recommendation apparatus is configured to:

[0258] A first position of the to-be-displayed position in the map interface is determined, a second position of the first position in a page of the map interface is determined, and a control is set for the second position.

[0259] The control is associated with the signal strength parameter corresponding to the to-be-displayed position.

[0260] When an operation acting on the control is detected, the signal strength parameter of the to-be-displayed position corresponding to the control is displayed.

[0261] In some embodiments, the first obtaining module 1410 in the installation position recommendation apparatus is configured to:

[0262] A collection position corresponding to the acquisition of the satellite observation data by the autonomous mobile device is determined.

[0263] According to the satellite observation data of the collection position, a target parameter of the collection position is determined, the target parameter including at least one of the number of visible satellites, the signal strength, the number of satellite lock losses, and the distance between two adjacent third positions.

[0264] According to the target parameter, a plurality of recommended positions are determined in each collection position of the working area.

[0265] In some embodiments, the second acquisition module 1420 in the installation position recommendation device is configured to:

[0266] When the second positioning device is not the first positioning device to recommend the installation position, the step of acquiring the first installation position corresponding to the first positioning device is performed.

[0267] When the second positioning device is the first positioning device to recommend the installation position, a second installation position corresponding to the second positioning device is determined in each recommended position.

[0268] The installation position recommendation device provided by the embodiments of the present application can be used to execute the technical solutions of the installation position recommendation method in the above embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0269] FIG. 15 is a structural schematic diagram of a user terminal provided by an embodiment of the present application. As shown in FIG. 15, the user terminal includes:

[0270] The first display module 1510 is configured to display a plurality of to-be-displayed positions in a map of the working area of the autonomous mobile device, the signal strength parameter of the to-be-displayed position being greater than a preset threshold value.

[0271] The second display module 1520 is configured to display the to-be-displayed position corresponding to the selection operation as a second installation position of a second positioning device to be installed when detecting a selection operation for the to-be-displayed position; wherein the number of visible satellites of the second installation position is greater than a preset number; and the second positioning device is a base station or a charging pile.

[0272] In some embodiments, the first display module 1510 in the user terminal is configured to:

[0273] Acquire a first installation position of a first positioning device that has recommended the installation position in the map interface;

[0274] According to the first installation position and the satellite observation data of each point in the map interface, a plurality of to-be-displayed positions are displayed in the map interface.

[0275] In some embodiments, the first display module 1510 in the user terminal is configured to:

[0276] According to the signal strength parameter corresponding to the to-be-displayed position, determine the display identifier of the to-be-displayed position in the map of the working area of the autonomous mobile device;

[0277] Adjust the identifier of the to-be-displayed position in the map interface to the display identifier corresponding to the to-be-displayed position.

[0278] In some embodiments, the first display module 1510 in the user terminal is configured to:

[0279] determine a first position of the to-be-displayed position in the map interface, and determine a second position of the first position in a page where the map interface is located, and set a control on the second position;

[0280] associate the control with a signal strength parameter corresponding to the to-be-displayed position;

[0281] when detecting an operation on the control, display the signal strength parameter of the to-be-displayed position corresponding to the control.

[0282] In some embodiments, the first display module 1510 in the user terminal is configured to:

[0283] receive positions collected by the automatic moving device when moving in the working area;

[0284] construct and display a map interface according to the collected positions.

[0285] The user terminal provided by the embodiments of the present application can be used to execute the technical solutions of the installation position recommendation method in the above embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0286] It should be noted that the division of each module of the above apparatus is only a logical functional division, and all or part of the modules can be integrated into one physical entity, or physically separated. These modules can all be implemented in the form of software invoked by a processing element; all can be implemented in the form of hardware; or part of the modules can be implemented in the form of software invoked by a processing element, and part of the modules can be implemented in the form of hardware. For example, the first acquisition module 1410 can be a separately set processing element, or can be integrated in a chip of the above apparatus, and in addition, the first acquisition module 1410 can be stored in the form of program code in the memory of the above apparatus, and the functions of the first acquisition module 1410 can be invoked and executed by a processing element of the above apparatus. The implementation of other modules is similar. In addition, all or part of the modules can be integrated together, or can be independently implemented. The processing element here can be an integrated circuit with signal processing capability. In the implementation process, each step of the above method or each module can be completed by the integrated logic circuit of hardware or the instruction of software in the processing element.

[0287] FIG. 16 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 16, the electronic device can include a transceiver 161, a processor 162, and a memory 163.

[0288] The processor 162 executes computer-executed instructions stored in the memory to cause the processor 162 to perform the solutions in the above embodiments. The processor 162 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0289] The memory 163 is connected with the processor 162 through the system bus and completes mutual communication, and the memory 163 is used for storing computer program instructions.

[0290] The transceiver 161 can be used to obtain a to-be-run task and configuration information of the to-be-run task.

[0291] The system bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus. The transceiver is used to realize communication between the database access device and other computers (for example, a client, a read-write library and a read-only library). The memory can include a random access memory (RAM), and can also include a non-volatile memory.

[0292] The embodiment of the application further provides a chip for running instructions, which is used for executing the technical solutions of the installation position recommendation method in the above embodiments.

[0293] The embodiment of the application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer executes the technical solutions of the installation position recommendation method in the above embodiments.

[0294] The embodiment of the application further provides a computer program product, which includes a computer program stored in a computer readable storage medium, at least one processor can read the computer program from the computer readable storage medium, and when the at least one processor executes the computer program, the technical solutions of the installation position recommendation method in the above embodiments can be realized.

[0295] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other manners. For example, the embodiments of the device described above are merely schematic. For example, the division of the modules is merely logical function division. There can be another division manner for the actual implementation. For example, a plurality of modules or a component can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or modules, and can be electrical, mechanical or in other forms.

[0296] The modules illustrated as separated components can or can not be physically separated, and the components illustrated as modules can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Part or all of the modules can be selected according to actual needs to implement the embodiments of the present application.

[0297] In addition, each function module in each embodiment of the present application can be integrated in one processing unit, or each module can be physically present separately, or two or more modules can be integrated in one unit. The unit formed by the above modules can be realized in the form of hardware, or in the form of hardware plus software function unit.

[0298] The integrated module realized in the form of software function module can be stored in a computer readable storage medium. The software function module stored in the storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method of each embodiment of the present application.

[0299] It should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The steps of the method disclosed in the present application can be directly embodied as a hardware processor to execute, or be executed by a combination of hardware and software modules in the processor.

[0300] The memory can include a high-speed RAM memory, and can also include a non-volatile storage NVM, such as at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0301] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0302] The storage medium described above can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0303] An exemplary storage medium is coupled to the processor so that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be a part of the processor. The processor and the storage medium can be located in an application specific integrated circuits (ASIC). Of course, the processor and the storage medium can exist as discrete components in an electronic control unit or a host device.

[0304] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by relevant hardware instructed by programs. The foregoing programs can be stored in a computer readable storage medium. When the programs are executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

[0305] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "exemplary", or "some examples" or the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in an appropriate manner.

[0306] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for recommending an installation location, applied to an installation location recommendation device, comprising: Acquire satellite observation data collected by the autonomous mobile device while moving in the work area, and determine a plurality of recommended locations in the work area based on the satellite observation data; Obtaining a first installation location corresponding to a first positioning device; wherein the first positioning device is used to indicate a positioning device to be installed for which a location recommendation has been made, and the positioning device to be installed is a base station or a charging pile; Based on the obtained installation requirement parameters and the first installation position, a second installation position corresponding to a second positioning device is determined in each of the recommended positions; wherein the second positioning device is a positioning device to be installed other than the first positioning device, and the number of co-viewing satellites at the second installation position is greater than a preset number.

2. The installation location recommendation method according to claim 1, wherein: The step of determining, in each of the recommended positions according to the installation requirement parameters and the first installation position, a second installation position corresponding to the second positioning device includes: Determining a plurality of first recommended positions from the recommended positions according to the first installation position, wherein the number of common-view satellites corresponding to the first recommended positions is greater than the preset number; Based on the installation requirement parameters and the first installation position, the second installation position corresponding to the second positioning device is determined in each of the first recommended positions; wherein the installation requirement parameters include: a distance range parameter between positioning devices, a number of positioning devices to be installed, an area of ​​the working area, and at least one of a signal strength range parameter.

3. The installation location recommendation method according to claim 2, wherein: The determining a plurality of first recommended positions from among the recommended positions according to the first installation position includes: Combining the sequentially determined second recommended positions and the first installation positions with each third recommended position in sequence to obtain multiple sets corresponding to each second recommended position; wherein the second recommended position is determined sequentially from the multiple recommended positions; and the third recommended position is the recommended position other than the second recommended position; Determining the number of common-view satellites corresponding to the set based on satellite observation data corresponding to each position in the set; Determining the number of commonly-viewed satellites at the second recommended position according to the number of commonly-viewed satellites in each of the sets corresponding to the second recommended position; The first recommended position is determined in each of the second recommended positions according to the number of satellites in common view at the second recommended position; wherein the number of satellites in common view at the first recommended position is greater than the preset number.

4. The installation location recommendation method according to claim 3, wherein: The determining, based on the acquired installation requirement parameters and the first installation position, a second installation position corresponding to the second positioning device in each of the first recommended positions includes: determining a satellite observation value of the first recommended position according to the satellite observation data corresponding to the first recommended position; determining a signal strength parameter corresponding to the first recommended position based on the satellite observation value corresponding to the first recommended position and the number of common-view satellites; The second installation position of the second positioning device is determined in each of the first recommended positions according to the signal strength parameters of each of the first recommended positions and the installation requirement parameters.

5. The installation location recommendation method according to claim 4, wherein: The determining, based on the satellite observation data corresponding to the first recommended position, the satellite observation value of the first recommended position includes: Determining, based on the satellite observation data corresponding to the first recommended position, a plurality of observation values ​​to be processed at the first recommended position; wherein the plurality of observation values ​​to be processed include at least two of: signal strength, signal strength standard deviation, altitude angle, and loss of lock probability; The satellite observation value corresponding to the first recommended position is determined according to each of the observation values ​​to be processed and the corresponding weight.

6. The installation location recommendation method according to claim 5, wherein: The determining, based on the satellite observation data corresponding to the first recommended location, a plurality of to-be-processed observation values ​​of the first recommended location includes: Determine an area where the first recommended location is located, and determine a fourth recommended location located in the area; wherein the fourth recommended location is the recommended location other than the first recommended location; According to the satellite observation data of the first recommended position and the satellite observation data of the fourth recommended position, an average observation value corresponding to the first recommended position is determined as the observation value to be processed corresponding to the first recommended position.

7. The installation location recommendation method according to claim 1, wherein: The determining, based on the acquired installation requirement parameters and the first installation position, a second installation position corresponding to the second positioning device in each of the recommended positions includes: Determining a plurality of positions to be displayed in each of the recommended positions according to the installation requirement parameters and the first installation position; Displaying each of the locations to be displayed in a map interface corresponding to the work area; When a selection operation of the installation position of the second positioning device is detected, the to-be-displayed position corresponding to the selection operation is determined as the second installation position corresponding to the second positioning device.

8. The installation location recommendation method according to claim 7, wherein: Displaying each of the locations to be displayed in the map interface corresponding to the work area includes: Determining a display identifier of the to-be-displayed location in the map interface according to a signal strength parameter corresponding to the to-be-displayed location; The identifier of the location to be displayed in the map interface is adjusted to a display identifier corresponding to the location to be displayed.

9. The installation location recommendation method according to claim 8, wherein: After adjusting the identifier of the location to be displayed in the map to the display identifier corresponding to the location to be displayed, the method further includes: Determining a first position of the position to be displayed in the map interface, determining a second position of the first position on the page where the map interface is located, and setting a control for the second position; Associating the control with a signal strength parameter corresponding to the position to be displayed; When an operation acting on the control is detected, a signal strength parameter of a position to be displayed corresponding to the control is displayed.

10. The installation location recommendation method according to claim 1, wherein: Determining a plurality of recommended positions in the working area according to the satellite observation data includes: Determining a collection location corresponding to the satellite observation data collected by the autonomous mobile device; Determining target parameters of the collection location based on the satellite observation data of the collection location; wherein the target parameters include at least one of the number of visible satellites, signal strength, number of lost satellites, and distance between two adjacent third locations; According to the target parameter, a plurality of recommended positions are determined in each of the collection positions in the working area.

11. The installation location recommendation method according to any one of claims 1 to 10, wherein: After determining a plurality of recommended locations in the working area based on the satellite observation data, the method further includes any one of the following: When the second positioning device is not the first positioning device to be installed for which a position recommendation is performed, obtaining a first installation position corresponding to the first positioning device; When the second positioning device is the first positioning device to be installed for which a position is recommended, a second installation position corresponding to the second positioning device is determined in each of the recommended positions.

12. A method for recommending an installation location, applied to a user terminal, the method comprising: Displaying a plurality of locations to be displayed in a map interface of a working area of ​​the autonomous mobile device, wherein a signal strength parameter of the locations to be displayed is greater than a preset threshold; When a selection operation for the position to be displayed is detected, the position to be displayed corresponding to the selected operation is displayed as the second installation position of the second positioning device to be installed; wherein the number of co-viewing satellites at the second installation position is greater than a preset number; and the second positioning device is a base station or a charging pile.

13. The location recommendation method according to claim 12, wherein: The displaying of multiple locations to be displayed in a map of the working area of ​​the autonomous mobile device includes: Obtaining the first installation location of the first positioning device that has performed location recommendation in the map interface; According to the first installation location and the satellite observation data of each point in the map interface, a plurality of locations to be displayed are displayed in the map interface.

14. The location recommendation method according to claim 12, wherein: The displaying of multiple locations to be displayed in a map of the working area of ​​the autonomous mobile device includes: determining, based on a signal strength parameter corresponding to the position to be displayed, a display identifier of the position to be displayed in a map interface of a working area of ​​the autonomous mobile device; The identifier of the location to be displayed in the map interface is adjusted to a display identifier corresponding to the location to be displayed.

15. The installation location recommendation method according to claim 14, wherein: After adjusting the color of the to-be-displayed location in the map to the display color corresponding to the to-be-displayed location, the method further includes: Determining a first position of the position to be displayed in the map interface, determining a second position of the first position on the page where the map interface is located, and setting a control for the second position; Associating the control with a signal strength parameter corresponding to the position to be displayed; When an operation acting on the control is detected, a signal strength parameter of a position to be displayed corresponding to the control is displayed.

16. The installation location recommendation method according to any one of claims 12 to 15, wherein: Before displaying the plurality of locations to be displayed on the map of the working area of ​​the automatic mobile device, the method further includes: receiving a position collected by the automatic mobile device moving within the work area; The map interface is constructed and displayed according to each of the collected locations.

17. An installation location recommendation device, comprising: A first acquisition module is configured to acquire various satellite observation data collected by the autonomous mobile device when moving in the working area, and determine a plurality of recommended positions in the working area based on the various satellite observation data; A second acquisition module is configured to acquire a first installation position corresponding to a first positioning device; wherein the first positioning device is used to indicate a positioning device to be installed for which a location recommendation has been made, and the positioning device to be installed is a base station or a charging pile; A determination module is configured to determine, in each of the recommended positions, a second installation position corresponding to a second positioning device based on the acquired installation requirement parameters and the first installation position, where the second positioning device is a positioning device to be installed other than the first positioning device, and the number of co-viewing satellites at the second installation position is greater than a preset number.

18. A user terminal, comprising: A first display module is configured to display a plurality of locations to be displayed in a map interface of a working area of ​​the autonomous mobile device, wherein a signal strength parameter of the locations to be displayed is greater than a preset threshold; The second display module is configured to display the position to be displayed corresponding to the selected operation as the second installation position of the second positioning device to be installed when a selection operation for the position to be displayed is detected; wherein the number of co-viewing satellites at the second installation position is greater than a preset number; and the second positioning device is a base station or a charging pile.

19. A terminal device comprising: memory and processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the battery testing device performs the method according to any one of claims 1 to 16.

20. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 16.

21. A computer program product comprising a computer program, which, when executed by a processor, implements the method of any one of claims 1 to 16.

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