CN115552287A - Data processing method, device, equipment and storage medium - Google Patents

Data processing method, device, equipment and storage medium Download PDF

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Publication number
CN115552287A
CN115552287A CN202180034781.4A CN202180034781A CN115552287A CN 115552287 A CN115552287 A CN 115552287A CN 202180034781 A CN202180034781 A CN 202180034781A CN 115552287 A CN115552287 A CN 115552287A
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China
Prior art keywords
self
mobile device
server
moving device
differential correction
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CN202180034781.4A
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Chinese (zh)
Inventor
何明明
朱磊
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The present disclosure relates to the field of navigation and positioning technologies, and in particular, to a data processing method, apparatus, device, and storage medium. The method is used in a first self-moving device which is in communication connection with a server and comprises the following steps: receiving the differential correction number sent by the server through a cellular network; forwarding the differential correction number to a second self-moving device, wherein the second self-moving device is at least one self-moving device which establishes communication connection with the first self-moving device within a preset distance range; and performing navigation positioning according to the differential correction and a first satellite signal acquired from a satellite system. The embodiment of the disclosure can use the difference correction number received by the same self-moving equipment to perform navigation positioning through a plurality of self-moving equipment within the preset distance range, and reduces the number of the self-moving equipment connected with the server on the premise of ensuring the accurate positioning of each self-moving equipment, thereby greatly reducing the occupation of communication flow between the server and the self-moving equipment.

Description

Data processing method, device, equipment and storage medium
The present application claims priority from chinese patent application having application number 202010431442.7, filed on year 2020, 05, 20, which is hereby incorporated by reference in its entirety.
Technical Field
The present disclosure relates to the field of navigation and positioning technologies, and in particular, to a data processing method, apparatus, device, and storage medium.
Background
The self-moving equipment has the characteristic of no need of a user to watch, can automatically operate in a working area, and is more and more popular with users at present.
In the related art, a mobile device is positioned and navigated through a server. Generally, a self-mobile device is mounted on a server according to a user account purchased in advance; receiving a differential message sent by a server from a mobile device through a cellular network; and the self-mobile equipment carries out navigation positioning according to the differential telegraph text and the satellite signals acquired from the satellite system.
However, when a plurality of self-moving devices exist in the same user home, each self-moving device needs to perform the above steps to realize accurate navigation and positioning, the operation flow is complex, and the communication traffic between the server and the self-moving device occupies a relatively large amount.
Disclosure of Invention
In view of the above, the present disclosure provides a data processing method, apparatus, device and storage medium. The technical scheme comprises the following steps:
according to an aspect of the present disclosure, there is provided a data processing method for use in a first self-moving device having a communication connection established with a server, the method including:
receiving the differential correction number sent by the server through a cellular network;
forwarding the differential correction number to a second self-moving device, wherein the second self-moving device is at least one self-moving device which establishes communication connection with the first self-moving device within a preset distance range;
and performing navigation positioning according to the differential correction number and a first satellite signal acquired from a satellite system.
In another possible implementation, the first mobile device is a robotic lawnmower.
In another possible implementation manner, the forwarding the differential correction number to the second self-moving device includes:
forwarding the differential correction number to the second self-moving equipment in a short-distance transmission mode;
the short-distance transmission mode comprises at least one of a Wireless Fidelity (WIFI) mode, a home radio frequency (HomeRF) mode, an Ultra Wide Band (UWB) mode, a ZigBee mode and a Bluetooth mode.
In another possible implementation manner, before forwarding the differential correction number to the second self-moving device, the method further includes:
receiving a connection request sent by the second self-moving equipment, wherein the connection request is used for indicating the first self-moving equipment to establish communication connection with the second self-moving equipment;
after the communication connection is successfully established, receiving second verification information sent by the second self-mobile equipment;
after the second verification information is verified, the step of forwarding the differential correction number to the second self-mobile device is executed.
In another possible implementation manner, before receiving, through a cellular network, the differential correction sent by the server, the method further includes:
and sending first verification information to the server, wherein the first verification information comprises account information of the first self-mobile device and mounting point information of the server, and the first verification information is used for indicating the server to send the differential correction number to the first self-mobile device after the first verification information passes verification.
According to another aspect of the present disclosure, there is provided a data processing method for use in a second self-moving device having a communication connection established with a first self-moving device, the first self-moving device establishing a communication connection with a server through a cellular network, the method including:
receiving a differential correction forwarded by the first self-mobile device, wherein the differential correction is received by the first self-mobile device through a cellular network and sent by the server;
and performing navigation positioning according to the differential correction and a second satellite signal acquired from a satellite system.
In another possible implementation, the first mobile device is a robotic lawnmower.
In another possible implementation manner, the receiving the differential correction forwarded by the first mobile device includes:
receiving the differential correction number forwarded by the first self-mobile equipment in a short-distance transmission mode;
the short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode.
In another possible implementation manner, before the receiving the differential correction forwarded by the first mobile device, the method further includes:
sending a connection request to the first self-mobile device, wherein the connection request is used for indicating the first self-mobile device to establish communication connection with the second self-mobile device;
and after the communication connection is successfully established, sending second verification information to the first self-mobile equipment, wherein the second verification information is used for indicating that the first self-mobile equipment carries out the step of forwarding the differential correction number to the second self-mobile equipment after the second verification information passes verification.
In another possible implementation manner, when the communication connection between the second self-moving device and the first self-moving device is interrupted, the method further includes:
establishing a communication connection with the server;
sending third verification information to the server, wherein the third verification information comprises account information of the second self-moving device and mounting point information of the server, and the third verification information is used for indicating the server to send the differential correction number to the second self-moving device after the third verification information passes verification;
continuously sending a connection request to the first self-moving device.
In another possible implementation manner, after the second self-moving device reestablishes the communication connection with the first self-moving device, the method further includes: logging out an account on the server, and/or disconnecting a communication connection with the server.
According to another aspect of the present disclosure, there is provided a data processing apparatus for use in a first self-moving device having a communication connection established with a server, the apparatus including:
a receiving module, configured to receive the differential correction number sent by the server through a cellular network;
a forwarding module, configured to forward the differential correction number to a second self-moving device, where the second self-moving device is at least one self-moving device that establishes a communication connection with the first self-moving device within a preset distance range;
and the positioning module is used for carrying out navigation positioning according to the difference correction number and a first satellite signal acquired from a satellite system.
In another possible implementation, the first mobile device is a robotic lawnmower.
In another possible implementation manner, the forwarding module is further configured to forward the differential corrections to the second self-moving device through short-distance transmission;
the short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode.
In another possible implementation manner, the receiving module is further configured to receive a connection request sent by the second self-moving device, where the connection request is used to instruct the first self-moving device to establish a communication connection with the second self-moving device;
the receiving module is further configured to receive second verification information sent by the second self-mobile device after the communication connection is successfully established;
the forwarding module is further configured to perform a step of forwarding the differential correction number to the second self-moving device after the second verification information is verified.
In another possible implementation manner, the apparatus further includes: the sending module is used for sending first verification information to the server, the first verification information comprises account information of the first self-mobile device and mounting point information of the server, and the first verification information is used for indicating the server to send the difference correction number to the first self-mobile device after the first verification information passes verification.
According to another aspect of the present disclosure, there is provided a data processing apparatus for use in a second self-moving device having a communication connection established with a first self-moving device, the first self-moving device establishing a communication connection with a server through a cellular network, the apparatus including:
a receiving module, configured to receive a differential correction forwarded by the first self-mobile device, where the differential correction is a differential correction sent by the server and received by the first self-mobile device through a cellular network;
and the positioning module is used for performing navigation positioning according to the differential correction number and a second satellite signal acquired from a satellite system.
In another possible implementation, the first mobile device is a robotic lawnmower.
In another possible implementation manner, the receiving module is further configured to receive the differential correction forwarded by the first self-mobile device through short-distance transmission;
the short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode.
In another possible implementation manner, the apparatus further includes: a sending module; the sending module is configured to:
sending a connection request to the first self-moving device, wherein the connection request is used for indicating the first self-moving device to establish communication connection with the second self-moving device;
and after the communication connection is successfully established, sending second verification information to the first self-mobile equipment, wherein the second verification information is used for indicating that the first self-mobile equipment carries out the step of forwarding the differential correction number to the second self-mobile equipment after the second verification information passes verification.
According to another aspect of the present disclosure, there is provided a self-moving device, which is a first self-moving device that establishes a communication connection with a server through a cellular network, the first self-moving device including: a processor; a memory for storing processor-executable instructions;
wherein the processor is configured to:
receiving the differential correction number sent by the server through a cellular network;
forwarding the differential correction number to a second self-moving device, wherein the second self-moving device is at least one self-moving device which establishes communication connection with the first self-moving device within a preset distance range;
and performing navigation positioning according to the differential correction and a first satellite signal acquired from a satellite system.
According to another aspect of the present disclosure, there is provided an autonomous mobile device, the autonomous mobile device being a second autonomous mobile device that establishes a communication connection with a first autonomous mobile device, the first autonomous mobile device establishing a communication connection with a server through a cellular network, the second autonomous mobile device comprising: a processor; a memory for storing processor-executable instructions;
wherein the processor is configured to:
receiving a differential correction forwarded by the first self-mobile device, wherein the differential correction is received by the first self-mobile device through a cellular network and sent by the server;
and performing navigation positioning according to the differential correction number and a second satellite signal acquired from a satellite system.
According to another aspect of the present disclosure, there is provided a mobile work system including a first self-moving device and at least one second self-moving device having a communication connection established with the first self-moving device, the first self-moving device establishing a communication connection with a server through a cellular network;
the first self-moving device is used for executing the steps in the data processing method executed by the first self-moving device;
the second self-moving device is configured to execute the steps in the data processing method executed by the second self-moving device.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the data processing method described above.
The embodiment of the disclosure receives a differential correction number sent by a server through a cellular network by a first self-mobile device which establishes communication connection with the server; forwarding the differential correction number to second self-moving equipment, wherein the second self-moving equipment is at least one self-moving equipment which establishes communication connection with the first self-moving equipment within a preset distance range; performing navigation positioning according to the difference correction and a first satellite signal acquired from a satellite system; the self-moving equipment in the preset distance range can use the difference correction number received by the same self-moving equipment to perform navigation positioning, the condition that each self-moving equipment needs to be connected with the server and receive data when the same user house has multiple self-moving equipment in the related technology is avoided, the number of the self-moving equipment connected with the server is reduced on the premise of ensuring the accurate positioning of each self-moving equipment, the communication flow occupation between the server and the self-moving equipment is greatly reduced, and the cost of accurate navigation positioning can be greatly reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural diagram of a positioning navigation system provided in an exemplary embodiment of the present disclosure;
FIG. 2 illustrates a flow chart of a data processing method provided by an exemplary embodiment of the present disclosure;
FIG. 3 shows a flow chart of a data processing method provided by another exemplary embodiment of the present disclosure;
FIG. 4 shows a flow chart of a data processing method provided by another exemplary embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating an application scenario involved in a data processing method according to another exemplary embodiment of the present disclosure;
fig. 6 shows a schematic structural diagram of a data processing apparatus according to an exemplary embodiment of the present disclosure;
fig. 7 shows a schematic structural diagram of a data processing apparatus provided in another exemplary embodiment of the present disclosure;
fig. 8 is a block diagram illustrating an apparatus for performing a data processing method according to an example embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present disclosure.
In the related art, the positioning and navigation from the mobile device using the server generally includes the following steps: receiving a differential message sent by a server from a mobile device through a cellular network; and the self-mobile equipment carries out navigation and positioning according to the differential telegraph text and satellite signals (such as GPS signals, beidou positioning signals and the like) acquired from a satellite system.
Therefore, when the self-mobile device works, the differential correction numbers sent by the server need to be received through the cellular network for a long time to adjust the coordinate positioning of the self-mobile device in real time to execute the work task, and each piece of received data of the differential correction numbers needs to occupy communication traffic, so that high traffic cost is easily generated in the whole work time. In addition, when a plurality of self-moving devices exist in the same user home, each self-moving device needs to perform the above steps to realize accurate navigation and positioning, the operation flow is complex, and a reasonable and effective solution is not provided in the related art.
The embodiment of the disclosure provides a data processing method, a data processing device, data processing equipment and a storage medium. The embodiment of the disclosure can use the difference correction number received by the same self-moving device to perform navigation positioning through a plurality of self-moving devices within the preset distance range, thereby avoiding the condition that each self-moving device needs to be connected with the server and receive data when the same user house has a plurality of self-moving devices in the related art, reducing the number of the self-moving devices connected with the server on the premise of ensuring the accurate positioning of each self-moving device, and greatly reducing the occupation of communication flow between the server and the self-moving devices.
First, an application scenario related to the present disclosure is described.
Referring to fig. 1, a schematic structural diagram of a positioning navigation system according to an exemplary embodiment of the present disclosure is shown. The positioning and navigation system comprises a server 12 and a plurality of self-moving devices. The plurality of autonomous mobile devices includes a first autonomous mobile device 14 and a second autonomous mobile device 16.
Optionally, the server 12 is a Continuously Operating Reference Stations (CORS) server.
The self-mobile device is a mobile device with navigation positioning function. The self-moving device may be an unattended device such as an automatic mower, an automatic cleaning device, an automatic watering device, an automatic snow sweeper, or a small electric vehicle, an electric robot, an electronic wearable product, and the like, which is not limited in the embodiments of the present disclosure.
Optionally, the self-moving device includes a moving module, a task execution module, and a driving circuit connected to the moving module and the task execution module, where the driving circuit drives the moving module to drive the self-moving device to move and drives the task execution module to execute the work task.
Optionally, the self-moving device includes a housing and a mobile station connected to the housing, and the server and the self-moving device establish a communication connection through the mobile station. In one possible implementation, the mobile station is detachably connected to the self-moving device. The mobile station is located within or outside the housing of the self-moving device. The embodiments of the present disclosure do not limit this.
First autonomous mobile device 14 is a device having cellular network communication capabilities.
Illustratively, the first mobile device is a robotic lawnmower. For example, the first autonomous device is an autonomous lawnmower located at a fixed location within the target area. As another example, the first mobile device is a mobile robotic lawnmower. This embodiment is not limited thereto.
The cellular network is also referred to as a mobile communication network, and the cellular network includes any one of a 2g network, a 3g network, a 4g network, and a 5g network. The embodiments of the present disclosure do not limit this.
For example, a plurality of self-moving devices exist in the target area, one self-moving device is set as the first self-moving device 14 in the plurality of self-moving devices, and the first self-moving device 14 establishes a communication connection with the server 12. Other self-mobile devices within a preset distance range of the first self-mobile device 14, i.e., the second self-mobile device 16, establish communication connections with the first self-mobile device 14. First self-moving device 14 is the only self-moving device within the target area that has established a communication connection with server 12.
That is, the first self-moving device 14 is a self-moving device that establishes a communication connection with the server 12, and the second self-moving device 16 is at least one self-moving device that establishes a communication connection with the first self-moving device 14 within a preset distance range.
When the first self-mobile device 14 uses the server 12 to perform positioning, a corresponding account needs to be purchased first, and the account is used for mounting the first self-mobile device 14 on the server 12. The first self-moving device 14 is configured to mount to the server 12 and receive the differential corrections sent by the server 12 over the cellular network.
The first self-moving device 14 is also configured to forward the differential corrections to the second self-moving device 16 after receiving the differential corrections.
Optionally, the first self-moving device 14 is further configured to forward the differential corrections to the second self-moving device via short-range transmission. The short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode. The radio station mode is a long-distance connection mode, and effective transmission can be realized within a range of several kilometers or even more than ten kilometers, so that the mobile operation of the mobile equipment in a large-range working area is facilitated, and the mobile operation of the mobile equipment in a plurality of different working areas within a preset distance range is facilitated. It should be noted that, in order to ensure smooth communication of the radio station, the operating frequency and the opening position of the radio station should be correctly selected, the antenna should be reasonably selected, and the erection direction should be noticed, so as to improve the anti-interference capability of the communication. The embodiment of the present disclosure does not limit what kind of short-distance transmission mode is specifically selected.
The first and/or second mobile devices 14, 16 are also configured to perform navigation and positioning based on the received differential corrections and satellite signals received via their antennas.
In the following, several exemplary embodiments are adopted to describe the data processing method provided by the embodiments of the present disclosure.
Referring to fig. 2, a flowchart of a data processing method provided in an exemplary embodiment of the disclosure is shown, and this embodiment is illustrated by using the method in the positioning navigation system shown in fig. 1. The method comprises the following steps.
In step 201, the first self-mobile device receives the differential correction number sent by the server through the cellular network.
The first self-moving device is a device which establishes a communication connection with the server through a cellular network.
Optionally, the first mobile device is a robotic lawnmower.
The first self-moving device is the only self-moving device which is in the target area and is in communication connection with the server, and the target area comprises a plurality of self-moving devices.
The first self-mobile device receives the differential correction sent by the server through the cellular network and stores the differential correction.
The first mobile device receives a differential message sent by the server, wherein the differential message comprises a differential correction number.
Optionally, the first self-mobile device receives the differential correction number sent by the server in real time or at predetermined time intervals.
The predetermined time interval is preset or is custom set. This embodiment is not limited thereto.
The differential correction is data used for correcting the received satellite signals and then carrying out navigation and positioning. For example, the differential corrections are Real Time Kinematic (RTK) corrections.
In step 202, the first self-moving device forwards the differential correction number to the second self-moving device.
The second self-moving equipment is at least one self-moving equipment which establishes communication connection with the first self-moving equipment within a preset distance range.
Optionally, the second self-moving device is a plurality of self-moving devices within a preset distance range of the first self-moving device and in communication connection with the first self-moving device.
Within the preset distance range, because the atmosphere ionosphere and the troposphere do not change greatly, the first self-mobile equipment and the second self-mobile equipment can use the same differential correction number for navigation positioning. Schematically, the preset distance range is a circular area range taking the first mobile device as a circle center and taking the preset distance as a radius. For example, the predetermined distance is 100m, 300m, 500m, 1km, 2km, 3km, 5km, or 10km. This embodiment is not limited thereto.
It should be noted that step 202 and step 203 may be executed in parallel, or step 202 may be executed first, and then step 203 may be executed; step 203 may be performed first, and then step 202 may be performed. This embodiment is not limited thereto.
And step 203, the first self-mobile equipment carries out navigation positioning according to the differential correction number and a first satellite signal acquired from a satellite system.
And the first self-mobile equipment carries out navigation positioning according to the difference correction number and the first satellite signal received by the antenna of the first self-mobile equipment and sent by the satellite system. Illustratively, the first mobile device corrects the first satellite signal according to the differential correction number to obtain the positioning position of the first mobile device.
The embodiment of the present disclosure does not limit the way of performing navigation and positioning based on the differential corrections and the first satellite signal.
In step 204, the second self-mobile device receives the differential correction forwarded by the first self-mobile device.
Wherein the differential correction is a differential correction sent by the server that is received by the first self-moving device over the cellular network.
It should be noted that, step 204 and step 205 may be executed before step 203, may be executed in parallel with step 203, and may also be executed after step 203, which is not limited in the embodiment of the present disclosure.
And step 205, the second mobile device performs navigation positioning according to the differential correction number and a second satellite signal acquired from the satellite system.
And the second mobile equipment carries out navigation and positioning according to the difference correction number and the second satellite signal received by the antenna of the second mobile equipment and sent by the satellite system. Illustratively, the second mobile device corrects the second satellite signal according to the differential correction number to obtain the positioning location of the second mobile device.
It should be noted that, in the embodiment of the present disclosure, the manner of performing navigation and positioning based on the differential corrections and the second satellite signal is not limited.
In summary, the embodiment of the present disclosure receives, through the cellular network, the differential correction number sent by the server through the first self-moving device that establishes a communication connection with the server; forwarding the differential correction number to second self-moving equipment, wherein the second self-moving equipment is at least one self-moving equipment which establishes communication connection with the first self-moving equipment within a preset distance range; performing navigation positioning according to the difference correction and a first satellite signal acquired from a satellite system; the self-moving equipment is connected with the server and receives data, the number of the self-moving equipment connected with the server is reduced on the premise of ensuring the accurate positioning of the self-moving equipment, the communication flow occupation between the server and the self-moving equipment is greatly reduced, and the cost of accurate navigation positioning can be greatly reduced.
In addition, the connection method disclosed in the above embodiment can also effectively avoid the problem of inaccurate positioning caused by data transmission delay. Because the atmosphere ionosphere and troposphere do not change greatly in the delay time, the first self-mobile device and the second self-mobile device can still use the same differential correction to carry out navigation positioning. In addition, even if the second self-moving device is disconnected with the first self-moving device during moving and deviates from the original working path, when the second self-moving device is connected with the first self-moving device again, the second self-moving device can reposition the coordinates of the second self-moving device, and then the second self-moving device can quickly return to the original working path to continue working.
Referring to fig. 3, a flowchart of a data processing method provided by another exemplary embodiment of the present disclosure is shown, and this embodiment is illustrated by using this method in the positioning navigation system shown in fig. 1. The method comprises the following steps.
Step 301, the first self-mobile device sends first verification information to the server, where the first verification information includes account information of the first self-mobile device and mounting point information of the server, and the first verification information is used to instruct the server to send a differential correction number to the first self-mobile device after the first verification information passes verification.
Optionally, an Internet Protocol Address (IP) Address and port information of the server are stored in the first self-mobile device, and the first self-mobile device sends a connection request to the server according to the stored IP Address and port information of the server, where the connection request is used to instruct the server to establish communication connection with the first self-mobile device. After the first self-mobile device is successfully connected with the server, the first self-mobile device sends first verification information to the server.
The first verification information comprises account information of the first self-mobile device and mounting point information of the server, and the first verification information is used for indicating the server to send the difference correction number to the first self-mobile device after the first verification information passes verification.
Optionally, the account information of the first self-mobile device includes an account name and an account password that are applied for by the first self-mobile device in advance. The mounting point information of the server includes a mounting point name of the server. This embodiment does not limit this.
Optionally, the first mobile device is an automatic mower.
In step 302, the first self-mobile device receives the differential correction sent by the server through the cellular network.
And the server sends the differential correction number to the first self-mobile equipment after the first verification information is verified to be passed, and correspondingly, the first self-mobile equipment receives the differential correction number sent by the server through the cellular network.
Wherein the first self-mobile device receives the differential correction number sent by the server through the cellular network. The disclosed embodiments do not impose limitations on the type of cellular network.
And step 303, the first self-mobile equipment carries out navigation positioning according to the differential correction number and the first satellite signal acquired from the satellite system.
The first self-moving equipment acquires a first satellite signal from a satellite system through an antenna of the first self-moving equipment, and carries out navigation positioning according to the difference correction number and the first satellite signal. For details, reference may be made to the description of the first self-moving device performing navigation positioning according to the differential corrections and the first satellite signal in the foregoing embodiment, and details are not repeated here.
And step 304, the first self-mobile device forwards the differential correction number to the second self-mobile device through a short-distance transmission mode.
The second self-moving equipment is at least one self-moving equipment which establishes communication connection with the first self-moving equipment within a preset distance range.
The short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode. The embodiments of the present disclosure do not limit this.
Optionally, before the first self-moving device forwards the differential correction number to the second self-moving device, the method further includes: the method comprises the steps that a first self-mobile device receives a connection request sent by a second self-mobile device, wherein the connection request is used for indicating the first self-mobile device to establish communication connection with the second self-mobile device; after the communication connection is successfully established, receiving second verification information sent by the second self-mobile equipment; after the second verification information is verified, the step of forwarding the differential correction number to the second self-mobile device is performed.
And the second self-mobile equipment sends a connection request to the first self-mobile equipment, correspondingly, the first self-mobile equipment receives the connection request, and establishes communication connection with the second self-mobile equipment according to the connection request.
Optionally, the second self-moving device stores the IP address and the port information of the first self-moving device, and the second self-moving device sends the connection request to the first self-moving device according to the stored IP address and the port information of the first self-moving device.
After the communication connection between the first self-mobile device and the second self-mobile device is successfully established, the second self-mobile device sends second verification information to the first self-mobile device, correspondingly, the first self-mobile device receives the second verification information and verifies the second verification information, and after the second verification information is verified, the first self-mobile device executes a step of forwarding the differential correction number to the second self-mobile device.
Optionally, after the second verification information fails to verify, the first self-moving device disconnects the communication connection with the second self-moving device.
In one possible implementation, the first self-mobile device authenticating the second authentication message includes: the first self-mobile equipment judges whether the character string at the specified position in the second verification information is a specified character string or not, and if the character string at the specified position in the second verification information is the specified character string, the second verification information is verified to be passed; if not, the second verification information is not verified.
After the second verification information is verified, the first self-mobile device forwards the differential correction number to the second self-mobile device in a short-distance transmission mode.
And 305, the second self-mobile device receives the differential correction forwarded by the first self-mobile device through short-distance transmission.
And the second self-mobile equipment receives the differential correction number forwarded by the first self-mobile equipment in a short-distance transmission mode.
And step 306, the second mobile device carries out navigation positioning according to the differential correction number and a second satellite signal acquired from the satellite system.
And the second self-moving equipment acquires a second satellite signal from the satellite system through an antenna of the second self-moving equipment, and performs navigation and positioning according to the differential correction number and the second satellite signal. For details, reference may be made to the description of the navigation and positioning performed by the second self-moving device according to the differential corrections and the second satellite signal in the foregoing embodiment, and details are not repeated herein.
It should be noted that step 304, step 305, and step 306 may be executed before step 303, may be executed in parallel with step 303, and may also be executed after step 303, which is not limited in this disclosure.
In one possible implementation, as shown in fig. 4, 1, the first self-mobile device mounts to the server through the cellular network according to the account information and the mounting point information. 2. The first self-mobile device receives the RTK correction number sent by the server through the mobile website. 3. The first self-mobile device receives a first satellite signal through its antenna. 4. And the first self-moving equipment carries out navigation positioning according to the RTK correction and the first satellite signal. 5. The first mobile device is moving or stationary. 6. The first self-moving device forwards the RTK correction number to the second self-moving device through a short-distance transmission mode. 7. And the second self-mobile device receives the RTK correction number forwarded by the first self-mobile device. 8. The second self-moving device receives the second satellite signal through the self-antenna. 9. And the second self-moving equipment carries out navigation positioning according to the RTK correction and the second satellite signal. 10. The second mobile device is moving or stationary.
In another possible implementation manner, when the communication connection between the second self-moving device and the first self-moving device is interrupted, the method in this embodiment further includes: and sending third verification information to the server, wherein the third verification information comprises account information of the second self-moving device and mounting point information of the server, and the third verification information is used for indicating the server to send the difference correction number to the second self-moving device after the third verification information passes verification.
Optionally, an Internet Protocol Address (IP) Address and port information of the server are stored in the second self-mobile device, and the second self-mobile device sends a connection request to the server according to the stored IP Address and port information of the server, where the connection request is used to instruct the server to establish communication connection with the second self-mobile device. And after the second self-mobile equipment successfully establishes connection with the server, the second self-mobile equipment sends third verification information to the server. The third verification information comprises account information of the second self-moving device and mounting point information of the server, and the third verification information is used for indicating the server to send the differential correction number to the second self-moving device after the third verification information is verified to be passed. Optionally, the account information of the second self-moving device includes an account name and an account password that are applied by the second self-moving device in advance. The mounting point information of the server includes a mounting point name of the server. This embodiment is not limited thereto. Optionally, the second self-mobile device continuously sends the connection request to the first self-mobile device when the communication connection with the first self-mobile device is interrupted, so as to reestablish the communication connection with the first self-mobile device as soon as possible, thereby reducing the generation of traffic charges. Optionally, the second mobile device is an automatic mower.
Through the mode, even if one or more second self-moving devices are disconnected with the first self-moving device in the moving process, the second self-moving devices can timely establish communication connection with the server through the cellular network, so that differential corrections (namely RTK correction data) are continuously received, and the realization of self accurate navigation positioning is ensured.
In a possible implementation manner, when the second self-moving device reestablishes the connection with the first self-moving device, the second self-moving device may automatically disconnect the connection with the server or log out the account on the server, and continue to receive the differential correction number forwarded by the first self-moving device, so as to reduce the occupation of communication traffic when sending the differential correction number, and reduce the cost of accurate navigation and positioning. Of course, the second self-mobile device may also both log out of the account on the server and also disconnect from the server. Preferably, when only logging out the account on the server, the second self-moving device is favorable for directly logging in the account on the server when the connection with the first self-moving device is interrupted next time, so that the difference correction number can be received again more quickly, and the second self-moving device is ensured to work effectively.
In an illustrative example, taking the first self-moving device and the second self-moving device as an example of a self-moving mower, as shown in fig. 5, a user home includes four self-moving mowers, one of which is preset as a main mower 51, and the other three are preset as slave mowers 52. The main mower 51 is mounted on the server through the cellular network in advance according to the account information and the mounting point information. The main mower 51 receives the RTK correction number transmitted from the server through the mobile website, and receives the first satellite signal through its own antenna. The main mower 51 may perform a navigational positioning based on the received RTK corrections and the first satellite signal. The master mower 51 may also forward the RTK corrections to the three slave mowers 52, respectively, by short distance transmission. Correspondingly, the three slave mowers 52 respectively receive the RTK corrections forwarded by the master mower 51. Each slave lawnmower 52 performs a navigational positioning based on the RTK corrections and the second satellite signal received via its antenna.
To sum up, the embodiment of the present disclosure further sends, by the first self-moving device, first verification information to the server, where the first verification information includes account information of the first self-moving device and mounting point information of the server, and the first verification information is used to instruct the server to send the differential correction number to the first self-moving device after the first verification information is verified to be passed; the method and the device have the advantages that only the first self-mobile device is required to apply for the account and carry out mounting operation in the target area, the condition that each self-mobile device in the related technology needs to apply for the account and mount the account to the server through account information is avoided, and operation procedures and flow expenses of the second self-mobile device for applying for the account are further reduced.
The first self-mobile device receives second verification information sent by the second self-mobile device after the communication connection between the first self-mobile device and the second self-mobile device is established successfully; after the second verification information is verified, the first self-mobile device forwards the differential correction number to the second self-mobile device; therefore, the first self-moving equipment needs to verify the second self-moving equipment before forwarding the differential correction number, and the confidentiality and the reliability of data transmission between the self-moving equipment are guaranteed.
The following are embodiments of the apparatus of the embodiments of the present disclosure, and for portions of the embodiments of the apparatus not described in detail, reference may be made to technical details disclosed in the above-mentioned method embodiments.
Referring to fig. 6, a schematic structural diagram of a data processing apparatus according to an exemplary embodiment of the present disclosure is shown. The data processing apparatus may be implemented as all or a part of a first self-moving device through software, hardware, or a combination of both, the first self-moving device being a device that establishes a communication connection with a server through a cellular network. The device includes: a receiving module 610, a forwarding module 620, and a positioning module 630.
A receiving module 610, configured to receive the differential correction sent by the server through a cellular network;
a forwarding module 620, configured to forward the differential correction number to a second self-moving device, where the second self-moving device is at least one self-moving device that establishes a communication connection with the first self-moving device within a preset distance range;
and a positioning module 630, configured to perform navigation positioning according to the differential corrections and the first satellite signal obtained from the satellite system.
In another possible implementation, the first mobile device is a robotic lawnmower.
In another possible implementation manner, the forwarding module 620 is further configured to forward the differential correction number to the second self-moving device through short-distance transmission;
the short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode.
In another possible implementation manner, the receiving module 610 is further configured to receive a connection request sent by the second self-moving device, where the connection request is used to instruct the first self-moving device to establish a communication connection with the second self-moving device;
the receiving module 610 is further configured to receive second verification information sent by the second self-mobile device after the communication connection is successfully established;
the forwarding module 620 is further configured to perform the step of forwarding the differential correction number to the second self-moving device after the second verification information is verified.
In another possible implementation manner, the apparatus further includes: and the sending module is used for sending first verification information to the server, the first verification information comprises account information of the first self-mobile device and mounting point information of the server, and the first verification information is used for indicating the server to send the difference correction number to the first self-mobile device after the first verification information passes verification.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the above functional modules is illustrated, and in practical applications, the above functions may be distributed by different functional modules according to actual needs, that is, the content structure of the device is divided into different functional modules, so as to complete all or part of the functions described above.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Referring to fig. 7, a schematic structural diagram of a data processing apparatus according to another exemplary embodiment of the present disclosure is shown. The data processing device can be realized by software, hardware and a combination of the software and the hardware to be all or part of the self-moving equipment, the self-moving equipment is a second self-moving equipment which establishes communication connection with the first self-moving equipment, and the first self-moving equipment and the server establish communication connection through a cellular network. The device includes: a receiving module 710 and a positioning module 720.
A receiving module 710, configured to receive a differential correction forwarded by a first self-moving device, where the differential correction is a differential correction sent by a server and received by the first self-moving device through a cellular network;
and a positioning module 720, configured to perform navigation positioning according to the differential corrections and the second satellite signal obtained from the satellite system.
In another possible implementation, the first mobile device is a robotic lawnmower.
In another possible implementation manner, the receiving module 710 is further configured to receive the differential correction forwarded by the first mobile device through short-distance transmission;
the short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode.
In another possible implementation manner, the apparatus further includes: a sending module; a sending module configured to:
sending a connection request to the first self-moving equipment, wherein the connection request is used for indicating the first self-moving equipment to establish communication connection with the second self-moving equipment;
and after the communication connection is successfully established, sending second verification information to the first self-mobile equipment, wherein the second verification information is used for indicating the first self-mobile equipment to carry out the step of forwarding the differential correction number to the second self-mobile equipment after the second verification information passes verification.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of each functional module is illustrated, and in practical applications, the above function distribution may be completed by different functional modules according to actual needs, that is, the content structure of the device is divided into different functional modules, so as to complete all or part of the functions described above.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
An embodiment of the present disclosure further provides a self-moving device, where the self-moving device is a first self-moving device that establishes a communication connection with a server through a cellular network, and the first self-moving device includes: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps performed by the first self-moving device in the above-described method embodiments.
According to another aspect of the present disclosure, there is provided an autonomous mobile device, the autonomous mobile device being a second autonomous mobile device having a communication connection established with a first autonomous mobile device, the first autonomous mobile device establishing a communication connection with a server through a cellular network, the second autonomous mobile device comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps performed by the second self-moving device in the above-described method embodiments.
The embodiment of the disclosure also provides a mobile working system, which includes a first self-moving device and at least one second self-moving device which establishes communication connection with the first self-moving device, wherein the first self-moving device establishes communication connection with a server through a cellular network;
the first self-mobile device is used for realizing the steps executed by the first self-mobile device in the method embodiments;
and the second self-moving device is used for realizing the steps executed by the second self-moving device in the above method embodiments.
The disclosed embodiments also provide a non-transitory computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the methods in the various method embodiments described above.
Fig. 8 is a block diagram illustrating an apparatus for performing a data processing method according to an example embodiment. The apparatus 800 may be the first self-moving device described above, and may be the second self-moving device described above, for example, the apparatus 800 is an intelligent mobile robot.
Referring to fig. 8, the apparatus 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communications component 816.
The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
A power supply component 806 provides power to the various components of the device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 800.
The multimedia component 808 includes a screen that provides an output interface between the device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed status of the device 800, the relative positioning of components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in the temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as the memory 804 including computer program instructions executable by the processor 820 of the apparatus 800 to perform the above-described method.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the disclosure are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (16)

  1. A data processing method, used in a first mobile device that establishes a communication connection with a server, the method comprising:
    receiving the differential correction number sent by the server through a cellular network;
    forwarding the differential correction number to a second self-moving device, wherein the second self-moving device is at least one self-moving device which establishes communication connection with the first self-moving device within a preset distance range;
    and performing navigation positioning according to the differential correction and a first satellite signal acquired from a satellite system.
  2. The method of claim 1, wherein the first mobile robotic device is a robotic lawnmower.
  3. The method of claim 1, wherein forwarding the differential correction number to the second self-moving device comprises:
    forwarding the differential correction number to the second self-moving equipment by a short-distance transmission mode;
    the short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode.
  4. The method of claim 1, wherein before forwarding the differential correction number to the second self-moving device, further comprising:
    receiving a connection request sent by the second self-moving equipment, wherein the connection request is used for indicating the first self-moving equipment to establish communication connection with the second self-moving equipment;
    after the communication connection is successfully established, receiving second verification information sent by the second self-mobile equipment;
    after the second verification information is verified, the step of forwarding the differential correction number to the second self-mobile device is executed.
  5. The method of claim 1, wherein before receiving the differential correction sent by the server over the cellular network, the method further comprises:
    and sending first verification information to the server, wherein the first verification information comprises account information of the first self-mobile device and mounting point information of the server, and the first verification information is used for indicating the server to send the differential correction number to the first self-mobile device after the first verification information passes verification.
  6. A data processing method for use in a second self-moving device having a communication connection established with a first self-moving device, the first self-moving device having a communication connection established with a server via a cellular network, the method comprising:
    receiving a differential correction forwarded by the first self-mobile device, wherein the differential correction is received by the first self-mobile device through a cellular network and sent by the server;
    and performing navigation positioning according to the differential correction and a second satellite signal acquired from a satellite system.
  7. The method of claim 6, wherein receiving the first differential correction forwarded from the mobile device comprises:
    receiving the differential correction number forwarded by the first self-mobile device in a short-distance transmission mode;
    the short-distance transmission mode comprises at least one of a WIFI mode, a HomeRF mode, a UWB mode, a ZigBee mode, a Bluetooth mode and a radio station mode.
  8. The method of claim 6 or 7, wherein prior to receiving the first differential correction forwarded from the mobile device, further comprising:
    sending a connection request to the first self-mobile device, wherein the connection request is used for indicating the first self-mobile device to establish communication connection with the second self-mobile device;
    after the communication connection is successfully established, sending second verification information to the first self-mobile device, where the second verification information is used to instruct the first self-mobile device to perform a step of forwarding the differential correction number to the second self-mobile device after the second verification information passes verification.
  9. The method of claim 6 or 7, wherein when the communication connection between the second self-moving device and the first self-moving device is broken, the method further comprises:
    establishing a communication connection with the server;
    sending third verification information to the server, wherein the third verification information comprises account information of the second self-moving device and mounting point information of the server, and the third verification information is used for indicating the server to send the differential correction number to the second self-moving device after the third verification information passes verification;
    continuously sending a connection request to the first self-mobile device.
  10. The method of claim 9, wherein after the second self-moving device reestablishes the communication connection with the first self-moving device, the method further comprises: logging out an account on the server, and/or disconnecting a communication connection with the server.
  11. A data processing apparatus, for use in a first self-moving device that establishes a communication connection with a server, the apparatus comprising:
    the receiving module is used for receiving the differential correction number sent by the server through a cellular network;
    a forwarding module, configured to forward the differential correction number to a second self-moving device, where the second self-moving device is at least one self-moving device that establishes a communication connection with the first self-moving device within a preset distance range;
    and the positioning module is used for performing navigation positioning according to the differential correction number and a first satellite signal acquired from a satellite system.
  12. A data processing apparatus for use in a second self-moving device having a communication connection with a first self-moving device, the first self-moving device establishing a communication connection with a server via a cellular network, the apparatus comprising:
    a receiving module, configured to receive a differential correction forwarded by the first self-mobile device, where the differential correction is received by the first self-mobile device through a cellular network and sent by the server;
    and the positioning module is used for performing navigation positioning according to the differential correction number and a second satellite signal acquired from a satellite system.
  13. An autonomous mobile device, wherein the autonomous mobile device is a first autonomous mobile device that establishes a communication connection with a server via a cellular network, the first autonomous mobile device comprising: a processor; a memory for storing processor-executable instructions;
    wherein the processor is configured to:
    receiving the differential correction number sent by the server through a cellular network;
    forwarding the differential correction number to a second self-moving device, wherein the second self-moving device is at least one self-moving device which establishes communication connection with the first self-moving device within a preset distance range;
    and performing navigation positioning according to the differential correction number and a first satellite signal acquired from a satellite system.
  14. An autonomous mobile device, wherein the autonomous mobile device is a second autonomous mobile device having a communication connection with a first autonomous mobile device, wherein the first autonomous mobile device and a server have a communication connection through a cellular network, and wherein the second autonomous mobile device comprises: a processor; a memory for storing processor-executable instructions;
    wherein the processor is configured to:
    receiving a differential correction forwarded by the first self-mobile device, wherein the differential correction is received by the first self-mobile device through a cellular network and sent by the server;
    and performing navigation positioning according to the differential correction and a second satellite signal acquired from a satellite system.
  15. A mobile work system, characterized in that the mobile work system comprises a first self-moving device and at least one second self-moving device which establishes a communication connection with the first self-moving device, wherein the first self-moving device establishes a communication connection with a server through a cellular network;
    the first self-moving device for performing the steps in the data processing method of any one of claims 1 to 5;
    the second mobile device is configured to execute the steps in the data processing method according to any one of claims 6 to 10.
  16. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the data processing method of any one of claims 1 to 10.
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CN205720678U (en) * 2016-03-17 2016-11-23 武汉大学 A kind of GNSS network RTK correcting information distribution device
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