Positioning base station, and autonomous mobile device communication switching system

Abstract

Disclosed in the present application are a positioning base station, and an autonomous mobile device communication switching system. The positioning base station comprises a first positioning module, a first control module, a first antenna module and a first radio frequency module, wherein the first control module is electrically connected to both the first positioning module and the first radio frequency module, the first antenna module is electrically connected to the first radio frequency module, the first positioning module is used for determining first positioning information of an autonomous mobile device, the first control module is used for controlling the first radio frequency module to perform switching from an antenna in the first antenna module that communicates with the autonomous mobile device to another antenna in the first antenna module, and each antenna in the first antenna module is used for transmitting the first positioning information to the autonomous mobile device. In the present solution, a first control module can control, on the basis of signal strength, a first radio frequency module to perform switching to an antenna in a first antenna module that enables stable communication with an autonomous mobile device, thereby ensuring that the autonomous mobile device operates after receiving stable positioning information, and thus ultimately improving the communication effect of autonomous mobile devices.

Description

A communication handover system between a positioning base station and an automatic mobile device Technical Field

[0001] This application relates to the field of self-moving equipment technology, and in particular to a positioning base station and self-moving equipment communication switching system. Background Technology

[0002] Self-moving devices, as highly intelligent devices, can be applied to various backyard scenarios, such as lawn mowing and snow removal. In these outdoor applications, both the self-moving device and the positioning base station need to be equipped with antennas to ensure effective communication. However, the current challenge is that when using an omnidirectional antenna alone, there is a problem of a large signal coverage area but insufficient signal coverage distance; when using a directional antenna alone, there is a problem of sufficient signal coverage distance but a small signal coverage area, thus affecting the communication performance of the self-moving device.

[0003] Therefore, the inventors realized that there was an urgent need to find a new technical solution to solve the above problems. Technical issues

[0004] This application provides a communication switching system for a positioning base station and a self-moving device to solve the problems of large signal coverage area but insufficient signal coverage distance when the existing antenna is used alone as an omnidirectional antenna, and the problems of sufficient signal coverage distance but small signal coverage area when the antenna is used alone as a directional antenna. Technical solutions

[0005] To achieve the above objectives, a positioning base station is provided. The positioning base station includes a first positioning module, a first control module, a first antenna module, and a first radio frequency module. The first control module is electrically connected to both the first positioning module and the first radio frequency module. The first antenna module is electrically connected to the first radio frequency module. The first positioning module is used to determine first positioning information of a self-moving device. The first control module is used to control the first radio frequency module to switch one antenna in the first antenna module that communicates with the self-moving device to another antenna in the first antenna module. The antenna in the first antenna module is used to transmit the first positioning information to the self-moving device.

[0006] To achieve the above objectives, a self-moving device communication switching system is provided. The self-moving device communication switching system includes a positioning base station and a self-moving device. The self-moving device includes a wireless communication module, which is used to receive first positioning information transmitted by a first antenna module in the positioning base station.

[0007] To achieve the above objectives, a self-moving device communication handover system is provided. The self-moving device communication handover system includes a positioning base station and a self-moving device. The self-moving device includes a second control module, a second positioning module, a second antenna module, and a second radio frequency module. The second control module is electrically connected to the second positioning module and the second radio frequency module, respectively. The second antenna module is electrically connected to the second radio frequency module. The second positioning module is used to determine the second positioning information of the self-moving device. The second control module is used to control the second radio frequency module to switch one antenna in the second antenna module that communicates with the positioning base station to another antenna in the second antenna module. Beneficial effects

[0008] The aforementioned positioning base station and self-moving device communication switching system includes a positioning base station comprising a first positioning module, a first control module, a first antenna module, and a first radio frequency module. The first control module is electrically connected to both the first positioning module and the first radio frequency module. The first antenna module is electrically connected to the first radio frequency module. The first positioning module determines first positioning information of the self-moving device. The first control module controls the first radio frequency module to switch one antenna in the first antenna module that communicates with the self-moving device to another antenna in the first antenna module. The antenna in the first antenna module is used to transmit the first positioning information to the self-moving device. In this technical solution, the first control module can control the first radio frequency module to switch the antenna in the first antenna module to one that provides stable communication with the self-moving device based on signal strength. This ensures that antenna communication has the advantages of large signal coverage area and long-distance transmission. The antenna facilitates information exchange between the positioning base station and the self-moving device, ensuring that the self-moving device receives stable positioning information before commencing operation, ultimately improving the communication performance of the self-moving device. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 is a schematic diagram of a positioning base station according to an embodiment of this application;

[0011] Figure 2 is a schematic diagram of a communication switching system for a mobile device according to an embodiment of this application;

[0012] Figure 3 is another schematic diagram of a communication switching system for a mobile device according to an embodiment of this application;

[0013] Figure 4 is a schematic diagram of an obstacle recognition system applied to a self-moving device according to an embodiment of this application;

[0014] Figure 5 is another schematic diagram of an obstacle recognition system applied to a self-moving device according to an embodiment of this application;

[0015] Figure 6 is another schematic diagram of an obstacle recognition system applied to a self-moving device according to an embodiment of this application.

[0016] In the diagram: 1. Positioning base station; 101. First positioning module; 1011. Output signal line; 102. First control module; 103. First antenna module; 1031. Connector; 104. First radio frequency module; 1041. Input terminal; 1042. Antenna output port; 1043. Radio frequency switch; 105. Power supply; 106. Coaxial cable; 2. Self-moving device communication switching system; 3. Self-moving device; 301. Wireless communication module; 302. Second positioning module; 303. Second antenna module; 304. Second radio frequency module; 305. Second control module; 4. Antenna; 5. Application Obstacle recognition system for self-moving equipment; 6. Control unit; 601. Multifunction signal pin; 602. First general purpose input / output pin; 603. Second general purpose input / output pin; 604. VCC pin; 605. GND pin; 7. Recognition sensor; 701. Trigger control signal input pin; 702. Echo signal output pin; 8. Multiplexer RF switch; 801. Control pin; 8011. RF input pin; 8012. RF output pin; 802. RF input port; 803. RF output port; 9. Main controller; 901. Power output pin; 902. Ground pin.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The best embodiment of the present invention

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] It should be understood that this application can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0020] To fully understand this application, detailed structures and steps will be presented in the following description to illustrate the technical solutions proposed in this application. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0021] As shown in Figure 1, this embodiment provides a positioning base station 1, which includes a first positioning module 101, a first control module 102, a first antenna module 103, and a first radio frequency module 104. The first control module 102 is electrically connected to the first positioning module and the first radio frequency module 104, respectively. The first antenna module 103 is electrically connected to the first radio frequency module 104. The first positioning module is used to determine the first positioning information of the self-moving device 3. The first control module 102 is used to control the first radio frequency module 104 to switch one antenna 4 in the first antenna module 103 that communicates with the self-moving device 3 to another antenna 4 in the first antenna module 103. The antenna 4 in the first antenna module 103 is used to transmit the first positioning information to the self-moving device 3.

[0022] The first positioning module 101 can be an RTK positioning module (which acquires GPS data fed back by satellites through an RTK antenna on a positioning base station), or it can include other modules with the same positioning function, which will not be listed here. The first control module 102 can be a Microcontroller Unit, which can appropriately reduce the frequency and specifications of the CPU and integrate peripheral interfaces such as memory, timer, USB, A / D conversion, UART, PLC, and DMA to realize terminal control functions. The first antenna module 103 is the hardware in the electronic device used to receive and / or transmit wireless signals (such as GPS signals, Wi-Fi signals, Bluetooth signals, etc.), mainly including various types of antennas 4, each type of antenna 4 can communicate with the self-moving device 3. The first radio frequency module 104 amplifies, filters, and demodulates the electrical signal after passing through the radio frequency front-end circuit, and finally converts it into a digital signal for use by the self-moving device 3. The first radio frequency module 104 can select the signal that can communicate with the self-moving device 3 according to the strength of the signal, that is, select the corresponding antenna 4 to communicate with the self-moving device 3.

[0023] In this embodiment, the first control module 102 can control the first radio frequency module 104 to switch the antenna 4 in the first antenna module 103 to communicate stably with the self-moving device 3 according to the strength of the signal. This ensures that the antenna 4 has the advantages of large signal coverage area and long-distance transmission. The antenna 4 completes the information interaction between the positioning base station 1 and the self-moving device 3, ensuring that the self-moving device 3 can work after receiving stable positioning information, and ultimately improving the communication effect of the self-moving device 3.

[0024] As shown in Figure 1, in one embodiment, the first positioning module 101 includes an output signal line 1011, the first radio frequency module 104 includes an input terminal 1041, and the first control module 102 is electrically connected to the output signal line and the input terminal 1041 respectively.

[0025] The output signal line 1011 can be a differential signal line, and the input terminal 1041 can be a signal input terminal 1041. During the connection process, signal line matching and impedance control are required to ensure that the signal loss is minimized during transmission. In addition, the first control module 102 is located between the first positioning module and the first radio frequency module 104. One end of the first control module 102 can be electrically connected to the output signal line, and the other end of the first control module 102 can be electrically connected to the input terminal 1041.

[0026] As shown in Figure 1, in one embodiment, the positioning base station 1 further includes a power supply 105, which is connected to the first positioning module and the first radio frequency module 104 for power supply.

[0027] The positioning base station 1 is equipped with a power supply 105. The power supply line of the power supply 105 (not shown) can be electrically connected to the first positioning module and the first radio frequency module 104. At the same time, the first positioning module and the first radio frequency module 104 are equipped with a ground wire (not shown) connected to the ground. In addition, the power supply line (not shown) needs to keep a distance from the signal line during the connection process to avoid signal interference.

[0028] As shown in Figure 1, in one embodiment, the first radio frequency module 104 includes an antenna output port 1042, and the first antenna module 103 includes a connector 1031 and a radio frequency switch 1043. The antenna output port 1042 is connected in parallel with the connector 1031 through the radio frequency switch 1043.

[0029] The antenna output port 1042 can be the ANT terminal of the first RF module 104, and the connector 1031 can be an SMA or BNC connector. When the connector 1031 is connected to the antenna output port 1042, the center pin and the outer shell of the connector 1031 are respectively connected to the ANT terminal and the ground terminal of the first RF module 104 and the first antenna module 103. In addition, when the antenna 4 of the first antenna module 103 and the RF switch 1043 are in parallel, one RF switch 1043 can be electrically connected to one antenna 4 of the first antenna module 103. When one antenna 4 of the first antenna module 103 needs to be used, the corresponding RF switch 1043 is in the closed state, and the RF switches 1043 corresponding to other antennas 4 are in the open state.

[0030] In this embodiment, the antenna output port 1042 is connected in parallel with the connector 1031 through the radio frequency switch 1043. The wire 4 in the first antenna module 103, which is electrically connected to the first radio frequency module 104, can be switched out through the radio frequency switch 1043.

[0031] As shown in Figure 1, in one embodiment, the antenna output port 1042 and the connector 1031 are electrically connected via a coaxial cable 106.

[0032] One end of the coaxial cable 106 is connected to the connector 1031 of the first radio frequency module 104, and the other end is connected to the connector 1031 of the first antenna module 103. During the connection process, it is necessary to ensure that the center conductor and shielding layer of the coaxial cable 106 are connected to the center pin and the outer shell of the connector 1031 respectively.

[0033] As shown in Figure 1, in one embodiment, the first control module 102 controls the first radio frequency module 104 to switch one antenna 4 in the first antenna module 103 that communicates with the self-moving device to another antenna 4 in the first antenna module 103 according to the switching signal.

[0034] Among them, the signal frequency band of each type of antenna 4 is the same, but the signal strength between antennas 4 is not the same. The signal strength corresponding to the signal is the basis for switching antennas 4. The first radio frequency module 104 determines the antenna 4 of the self-moving device 3 with the strongest wireless connection signal of its corresponding antenna 4 (one of the multiple antennas 4 under the same type of antenna 4) in order to achieve stable information transmission.

[0035] In one embodiment, the antenna 4 in the first antenna module 103102 includes one of the following types: Lora antenna (not shown), Wifi antenna (not shown), Halow antenna (not shown), 4G antenna (not shown), and 5G antenna (not shown); the first antenna module 103 has multiple antennas of the same type, and each antenna 4 has a different signal coverage area.

[0036] Among them, a LoRa antenna (not shown) is a device used to receive and transmit LoRa signals, widely used in long-distance, low-power data transmission for Internet of Things (IoT) devices; a Wi-Fi antenna (not shown) is typically an omnidirectional antenna, capable of achieving wide coverage in the horizontal direction; a Halow antenna (not shown) usually refers to an antenna that supports Wi-Fi. The antenna uses HaLow technology; the 4G antenna (not shown) is used for signal reception and transmission in 4G networks, maintaining a broad application base, especially in areas with weak network coverage; the 5G antenna (not shown) is an important component of 5G networks, used for receiving and transmitting 5G signals, with higher data transmission speeds and lower latency; the number of antennas in the first antenna module 103 is not fixed (each type of antenna 4 can have multiple antennas, such as multiple LoRa antennas; once one type of antenna is selected, other types of antennas 4 do not need to be set), and the number of antennas can be determined according to the coverage area, such as setting four LoRa antennas in the up, down, left, and right directions, or setting four Wi-Fi antennas in the up, down, left, and right directions. Each antenna 4 has its corresponding antenna coverage area. It should be noted that each antenna 4 is a directional antenna, and four directional antennas can be used together to form an omnidirectional antenna.

[0037] As shown in Figure 3, this embodiment provides a self-moving device communication switching system 2, including a positioning base station 1 and a self-moving device 3; the self-moving device 3 includes a wireless communication module 301, which is used to receive first positioning information transmitted by the first antenna module 103 in the positioning base station 1.

[0038] The wireless communication module 301 can be configured to correspond with the antenna in the first antenna module 103. For example, the wireless communication module 301 may include multiple types such as LoRa module, Wifi module, Halow module, 4G module and 5G module. The self-moving device 3 receives the first positioning information transmitted by the positioning base station 1 through the antenna 4 of the wireless communication module 301 wirelessly connected to the first antenna module 103.

[0039] As shown in Figure 2, in one embodiment, the self-moving device 3 further includes a second positioning module 302, which is used to determine second positioning information of the self-moving device 3. The first positioning information and the second positioning information are used together to determine the final location information of the self-moving device 3.

[0040] The second positioning module 302 in the self-moving device 3 has the same function as the first positioning module 101. The positioning information collected by the two positioning modules can be differentially processed to obtain the final location information of the self-moving device 3.

[0041] As shown in Figure 3, this embodiment also provides a self-moving device communication switching system 2, including a positioning base station 1 and a self-moving device 3. The self-moving device includes a second control module 305, a second positioning module 302, a second antenna module 303, and a second radio frequency module 304. The second control module 305 is electrically connected to the second positioning module 302 and the second radio frequency module 304, respectively. The second antenna module 303 is electrically connected to the second radio frequency module 304. The second positioning module 302 is used to determine the second positioning information of the self-moving device 3. The second control module 305 is used to control the second radio frequency module 304 to switch one antenna 4 in the second antenna module 303 that communicates with the positioning base station 1 to another antenna 4 in the second antenna module 302.

[0042] The self-moving device 3 may also be equipped with a second positioning module 302, a second antenna module 303, and a second radio frequency module 304 corresponding to the positioning base station 1. The functions of the second positioning module 302, the second antenna module 303, and the second radio frequency module 304 are the same as those of the first positioning module 101, the first antenna module 103, and the first radio frequency module 104. The self-moving device 3 is also equipped with a second radio frequency module 304 that can switch antenna 4 for communication. The self-moving device 3 and the positioning base station 1 can jointly determine the antenna 4 with the most stable communication signal, thus ensuring the working efficiency of the self-moving device 3.

[0043] In existing technologies, self-moving devices, as highly intelligent devices, can be applied to various yard scenarios, such as lawn mowing and snow removal. Yard robots are equipped with ultrasonic sensors to identify outdoor obstacles. Current solutions connect ultrasonic sensors to moving parts to broaden the recognition angle, and drive motors to rotate these moving parts, thus enabling multi-angle recognition within a certain range. However, this method has two main problems: first, the introduction of moving parts and drive motors increases the overall cost; second, due to the limitation of the rotation angle, it is difficult to achieve comprehensive, wide-range recognition in some cases.

[0044] To address the two main problems mentioned above, as shown in Figures 4 to 6, this embodiment also provides an obstacle recognition system 5 for the self-moving device, which includes:

[0045] Control Unit 6;

[0046] Multiple identification sensors 7 are electrically connected to the control unit 6 via a multi-channel radio frequency switch 8, and the identification range of each identification sensor 7 relative to the self-moving device is different;

[0047] The main controller 9 is electrically connected to the control unit 6 and is used to control the start and stop status of the multiple identification sensors 7 by the control unit 6.

[0048] The control unit 6 can be a secondary controller (MCU) installed on the front of the vehicle (not shown). It is controlled by the main controller 9 and can accept the control of the main controller 9 (it should be noted that the second control module 305 may include the controller unit 6 and the main controller 9). It controls the components (not shown) and / or functions on the front of the vehicle (not shown), such as controlling the snow-rolling module on the front of the vehicle (not shown) to perform snow-rolling operations, controlling the lawn-mowing module on the front of the vehicle (not shown) to perform lawn-mowing operations, and controlling the identification sensor 7 on the front of the vehicle (not shown) to activate its sensing function. The identification sensor 7 can be one or more types of obstacle-identifying sensors, such as infrared sensors and ultrasonic sensors. It can be installed at a high point on the front of the self-moving vehicle or at other identifiable locations. In this embodiment, it can be installed on the front of the vehicle (not shown). Multiple identification sensors 7 are installed on the side ring. Each identification sensor 7 has a corresponding identification range at its installation position on the self-moving device. For example, the identification range of identification sensor A 7 is 0-30 degrees, and the identification range of identification sensor B 7 is 30-60 degrees. Thus, a corresponding number of identification sensors 7 can be set according to the identification range of the sensors, such as setting multiple identification sensors 7 within the range of 0-180 degrees. The multi-channel radio frequency switch 8 is a core component in the field of wireless communication, covering the frequency band from 3kHz to 300GHz. It has functions such as multiplexing, power management, and signal switching. The main controller 9 can be a main controller 9 installed on the vehicle body. It can control the functions installed on the front and body parts or / and the front of the vehicle body, such as controlling the walking parts at the bottom of the vehicle body to perform walking operations, and controlling the identification sensors 7 on the rear of the vehicle body to activate the sensing function, etc.

[0049] In this embodiment, multiple identification sensors 7 are set on the self-moving device, and the main controller 9 controls the multiple identification sensors 7 connected to the controller. The identification range of each identification sensor 7 is different. In this way, the moving parts and drive motors in the prior art can be eliminated, saving costs. At the same time, each identification sensor 7 is preset with a corresponding identification range, so they do not interfere with each other and are not limited by the rotation angle. The identification ranges of all identification sensors 7 form a large identification range.

[0050] As shown in Figure 5, in one embodiment, the multi-function signal pin 601 in the control unit 6 is electrically connected to the control pin 801 in the multiplex RF switch 8.

[0051] The multi-function signal pin 601 is used to switch the channels of the multiplex RF switch 8. It can be considered as the IO port in the control unit 6. The multi-function signal pin 601 in the control unit 6 is electrically connected to the control pin 801 in the multiplex RF switch 8 to achieve mutual matching of control signals and ensure normal transmission of control signals.

[0052] As shown in Figures 5 and 6, in one embodiment, the control pin 801 includes one radio frequency input pin 8011 and multiple radio frequency input pins 4012; the number of radio frequency input pins 4012 is determined by the number of channels of the multiplexer 8.

[0053] Among them, the RF input pin 8011 is used to receive RF signals. The number of multiple RF input pins 4012 depends on the number of channels of the RF switch. For example, a single-pole double-throw (SPDT) RF switch has two RF input pins 4012, while a single-pole quadruple-throw (SP4T) RF switch has four RF input pins 4012.

[0054] Additionally, the multiplex RF switch 8 may include a positive terminal (not shown) and a negative terminal (not shown) that are electrically connected to the operating power supply.

[0055] As shown in Figures 5 and 6, in one embodiment, the multi-function signal pin 601 in the control unit 6 transmits a control signal to the radio frequency input pin 8011 in the multiplex radio frequency switch 8. The control signal is used to switch to the radio frequency input pin 4012 of the corresponding channel.

[0056] The control signal can be a switching signal issued by the control unit 6. Through this signal, the multi-channel RF switch 8 can switch to the RF input pin 4012 of the corresponding channel at any time, or switch according to the corresponding signal receiving order, so as to complete the switching of all channels of the multi-channel RF switch 8.

[0057] As shown in Figure 5, in one embodiment, the multi-channel RF switch 8 includes an RF input port 802 and an RF output port 803. The RF input port 802 is electrically connected to an RF signal source (not shown), and the RF output port 803 is electrically connected to a corresponding RF load (not shown).

[0058] Specifically, the RF input port 802 of the multi-channel RF switch 8 is connected to an RF signal source (such as an antenna, signal generator, etc.), and the RF output port 803 of the multi-channel RF switch 8 is connected to a corresponding RF load (such as a receiver, measuring equipment, etc.).

[0059] As shown in Figure 5, in one embodiment, the first general-purpose input / output pin 602 of the control unit 6 is electrically connected to the trigger control signal input pin 701 of the identification sensor 7, and the second general-purpose input / output pin 603 of the control unit 6 is electrically connected to the echo signal output pin 702 of the identification sensor 7.

[0060] Among them, the first general purpose input / output pin 602 can be a GPIO (general purpose input / output) pin, the second general purpose input / output pin 603 can also be a GPIO (general purpose input / output) pin, the trigger control signal input pin 701 can be a TRIG pin, and the echo signal output pin 702 can be an ECHO pin. TRIG is the trigger control signal input pin 701. When a high-level signal lasting more than 10μs is provided to the TRIG pin, the identification sensor 7 will automatically emit ultrasonic pulses (usually 8 square waves of 40KHz). ECHO is the echo signal output pin 702. When the identification sensor 7 successfully emits ultrasonic waves, the ECHO pin will become high and remain high until the sensor receives the echo. The duration of the high level of the ECHO pin is the time from the emission to the return of the ultrasonic wave.

[0061] In this embodiment, after the control unit 6 is electrically connected to the multiplex RF switch 8, the first general-purpose input / output pin 602 in the control unit 6 is electrically connected to the trigger control signal input pin 701 in the identification sensor 7 and set to output mode. The second general-purpose input / output pin 603 in the control unit 6 is electrically connected to the echo signal output pin 702 in the identification sensor 7 and set to input mode.

[0062] The specific working principle is as follows: the control unit 6 sends a trigger signal to the identification sensor 7 through the TRIG pin; after receiving the trigger signal, the identification sensor 7 automatically emits a pulse; the pulse propagates in the air and is reflected back after encountering an obstacle; after the identification sensor 7 receives the echo, the ECHO pin becomes high level; the control unit 6 starts timing until the ECHO pin becomes low level; the control unit 6 calculates the distance based on the timing result and the speed of sound.

[0063] As shown in Figures 4 to 6, in one embodiment, the main controller 9 and the control unit 6 are electrically connected via a serial port, and the main controller 9 controls the control unit 6 to control multiple identification sensors 7 to perform identification in different identification ranges.

[0064] The main controller 9 and the control unit 6 can be electrically connected via a serial port, which can be UART (Universal Asynchronous Receiver / Transmitter), SPI (Serial Peripheral Interface), I2C (Two-Wire Serial Bus), etc. The control unit 6 needs to send control signals or receive status indications to the main controller 9. The corresponding control unit 6 pins can be connected to the general-purpose input / output pins of the main controller 9 to ensure that the level and logic of the control signals are compatible with the main controller.

[0065] This embodiment can control some of the multiple identification sensors 7 to perform identification after startup, or it can control multiple identification sensors 7 to perform identification sequentially in a preset order.

[0066] As shown in Figure 5, in one embodiment, the VCC pin 604 in the control unit 6 is electrically connected to the power output pin 901 in the main control chip, and the GND pin 605 in the control power supply is electrically connected to the ground pin 902 in the main control chip.

[0067] Among them, the VCC (or VDD) pin of the control unit 6 is connected to the power output pin 901 of the main control chip, and the GND pin 605 of the control unit 6 is connected to the ground pin 902 of the main control chip; the power supply voltage range of the control unit 6 is usually wide, such as 3.3V.

[0068] This embodiment ensures that the power supply voltage of the control unit 6 and the main control chip are compatible.

[0069] In addition, the VCC and GND of the identification sensor 7 are connected to the power supply and ground pins 902 of the control unit, respectively.

[0070] In one embodiment, the control unit 6 is disposed on the front of the self-moving device (not shown), and the main controller 9 is disposed on the body of the self-moving device (not shown).

[0071] The front of the vehicle (not shown) and the body (not shown) each have their own controllers. There is a primary and secondary relationship between the two controllers, and each controller can send out corresponding control signals to control the corresponding components.

[0072] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A positioning base station, wherein, The device includes a first positioning module, a first control module, a first antenna module, and a first radio frequency module. The first control module is electrically connected to both the first positioning module and the first radio frequency module. The first antenna module is electrically connected to the first radio frequency module. The first positioning module is used to determine first positioning information of the self-moving device. The first control module is used to control the first radio frequency module to switch one antenna in the first antenna module that communicates with the self-moving device to another antenna in the first antenna module. The antenna in the first antenna module is used to transmit the first positioning information to the self-moving device.

2. A positioning base station as described in claim 1, wherein, The first positioning module includes an output signal line, the first radio frequency module includes an input terminal, and the first control module is electrically connected to the output signal line and the input terminal respectively.

3. A positioning base station as described in claim 1, wherein, The positioning base station also includes a power supply, which is connected to the first positioning module and the first radio frequency module respectively.

4. A positioning base station as described in claim 1, wherein, The first radio frequency module includes an antenna output port and a radio frequency switch. The first antenna module includes a connector, and the antenna output port is connected in parallel with the connector through the radio frequency switch.

5. A positioning base station as described in claim 4, wherein, The antenna output port and the connector are electrically connected via a coaxial cable.

6. A positioning base station as described in claim 1, wherein, The first control module controls the first radio frequency module to switch one antenna in the first antenna module that communicates with the self-moving device to another antenna in the first antenna module according to the signal strength.

7. A positioning base station as described in any one of claims 1 to 6, wherein, The antenna type in the first antenna module includes one of Lora antenna, Wifi antenna, Halow antenna, 4G antenna and 5G antenna; the first antenna module has multiple antennas of the same type, and each antenna has a different signal coverage area.

8. A self-moving device communication handover system, wherein, The system includes the positioning base station described in claims 1 to 7 and the self-moving device; the self-moving device includes a wireless communication module, which is used to receive first positioning information transmitted by the first antenna module in the positioning base station.

9. A self-moving device communication handover system as described in claim 8, wherein, The self-moving device further includes a second positioning module, which is used to determine second positioning information of the self-moving device. The first positioning information and the second positioning information are used together to determine the final location information of the self-moving device.

10. A self-moving device communication handover system, wherein, The device includes the positioning base station and the self-moving device as described in claims 1 to 7. The self-moving device includes a second control module, a second positioning module, a second antenna module and a second radio frequency module. The second control module is electrically connected to the second positioning module and the second radio frequency module respectively. The second antenna module is electrically connected to the second radio frequency module. The second positioning module is used to determine the second positioning information of the self-moving device. The second control module is used to control the second radio frequency module to switch one antenna in the second antenna module that communicates with the positioning base station to another antenna in the second antenna module.

11. The self-moving device communication handover system as described in claim 10, wherein, The self-moving device includes an obstacle recognition system applied to the self-moving device, the obstacle recognition system applied to the self-moving device comprising: Control unit; Multiple identification sensors are electrically connected to the control unit via multiple radio frequency switches, and the identification range of each identification sensor relative to the self-moving device is different; The main controller, electrically connected to the control unit, is used to control the start and stop status of the multiple identification sensors initiated by the control unit.

12. An obstacle recognition system for self-moving devices as described in claim 11, wherein, The multi-function signal pin in the control unit is electrically connected to the control pin in the multi-channel RF switch.

13. An obstacle recognition system for self-moving devices as described in claim 12, wherein, The control pin includes one RF input pin and multiple RF output pins; the number of RF output pins is determined by the number of channels of the multiplex RF switch.

14. An obstacle recognition system for self-moving devices as described in claim 13, wherein, The multi-function signal pin in the control unit transmits control signals to the RF input pin in the multiplex RF switch, and the control signals are used to switch to the RF output pin of the corresponding channel.

15. An obstacle recognition system for self-moving devices as described in claim 11, wherein, The multi-channel RF switch includes an RF input port and an RF output port. The RF input port is electrically connected to an RF signal source, and the RF output port is electrically connected to a corresponding RF load.

16. An obstacle recognition system for self-moving devices as described in claim 14, wherein, The first general-purpose input / output pin of the control unit is electrically connected to the trigger control signal input pin of the identification sensor, and the second general-purpose input / output pin of the control unit is electrically connected to the echo signal output pin of the identification sensor.

17. An obstacle recognition system for self-moving devices as described in claim 11, wherein, The main controller and the control unit are electrically connected via a serial port. The main controller controls the control unit to control multiple identification sensors to perform identification within different identification ranges.

18. An obstacle recognition system for self-moving devices as described in claim 11, wherein, The VCC pin in the control unit is electrically connected to the power output pin in the main control chip, and the GND pin in the control power supply is electrically connected to the ground pin in the main control chip.

19. An obstacle recognition system for a self-moving device as described in any one of claims 11 to 18, wherein, The control unit is located on the front of the self-moving device, and the main controller is located on the body of the self-moving device.

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