WO2018108115A1

WO2018108115A1 - Autonomous moving device, automatic working system, network rtk positioning system, computing device, and operating method

Info

Publication number: WO2018108115A1
Application number: PCT/CN2017/116023
Authority: WO
Inventors: 何明明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2016-12-13
Filing date: 2017-12-13
Publication date: 2018-06-21
Also published as: CN109073758A

Abstract

Disclosed in the present application file is a network RTK positioning system for an autonomous moving device. The positioning system comprises a plurality of base stations. Each base station comprises a first satellite receiver for receiving a satellite signal, and also comprises a first base station communication module. The first base station communication module communicates with a data processing center, so as to enable the autonomous moving device to obtain a correction signal generated according to the position of the autonomous moving device in response to a request of the autonomous moving device. The at least one first base station communication module accesses the Internet by means of a switching device connected to a network of the at least one first base station communication module, so as to perform communication, or the at least one first base station communication module comprises at least one of public frequency band communication modules so as to perform communication. The present application file also relates to a positioning system operating method, an autonomous moving device, an automatic working system, and a computing device processing method.

Description

自移动设备、自动工作***、网络RTK定位***、计算设备及运行方法Self-mobile device, automatic working system, network RTK positioning system, computing device and operating method

技术领域Technical field

本申请文件涉及一种定位***，特别是一种定位自移动设备的网络RTK定位***。This application relates to a positioning system, and more particularly to a network RTK positioning system located from a mobile device.

本申请文件涉及一种定位***的运行方法，特别是一种定位自移动设备的网络RTK定位***的运行方法。The application file relates to a method for operating a positioning system, in particular to a method for operating a network RTK positioning system located from a mobile device.

本申请文件涉及一种自移动设备，特别是一种通过网络RTK定位***定位的自动移动设备。The present application relates to a self-mobile device, and more particularly to an automatic mobile device positioned by a network RTK positioning system.

本申请文件涉及一种自动工作***，特别是一种通过网络RTK定位***控制自移动设备在工作区域内工作的***。The present application relates to an automated working system, and more particularly to a system for controlling a mobile device to operate in a work area by a network RTK positioning system.

本申请文件涉及一种计算设备的处理方法，特别是一种应用于自移动设备的网络RTK定位***中的计算设备的处理方法。The present application relates to a processing method of a computing device, and more particularly to a processing method of a computing device applied to a network RTK positioning system from a mobile device.

背景技术Background technique

智能割草机作为自移动设备中的一种，已经被广泛使用。智能割草机通常在边界线内执行割草任务，智能割草机安装有卫星导航装置，通常卫星导航装置可以定位并引导智能割草机执行割草任务。但单独的卫星导航装置其接收的卫星信号产生的定位坐标因卫星本身的电离层的影响、传播途径产生的误差会出现较大偏差，在执行割草任务时会导致割草的路径发生偏移，从而降低割草效率。为此，通常在智能割草机的附近设置有基准站，基准站可根据接收的卫星导航信号提供相应地的修正信号，智能割草机依据修正信号和卫星信号形成的定位信号定位，可以提高定位的准确性。但是，单一基准站定位精度受到基准站与自移动设备距离的影响。理想情况下，基准站和自移动设备距离不应超过20Km；随着地形复杂度(如丘陵地区)增加，上述距离相应缩短。且关联基准站失效时，***工作能力受到直接影响。为此，多基准站的网络RTK定位***应运而生，定位***通过网络RTK算法，整合全基站网络的数据进行解算，能够在自移动设备附近模拟出虚拟基站VRS(<1m)并解算出更准确的电离层和对流层数据，实现覆盖区域较高定位精度，但是网络RTK定位***中的基准站到数据处理中心的传输方式通常采用有线或蜂窝网络传输，数据处理中心到智能割草机的传输方式通常采用蜂窝网络传输，使用有线网络传输，布线安装较为复杂，使用蜂窝网络传输，流量消耗大，需要花费昂贵的流量费。Intelligent lawn mowers have been widely used as one of self-mobile devices. Intelligent lawn mowers usually perform mowing tasks in the boundary line. The intelligent lawn mower is equipped with a satellite navigation device. Usually, the satellite navigation device can locate and guide the intelligent lawn mower to perform the mowing task. However, the positioning coordinates generated by the satellite signals received by the satellite navigation device alone may be greatly deviated due to the influence of the ionosphere of the satellite itself and the propagation path. When the mowing task is performed, the path of the mowing will be shifted. , thereby reducing the efficiency of mowing. For this reason, a reference station is usually disposed in the vicinity of the intelligent lawn mower, and the reference station can provide a corresponding correction signal according to the received satellite navigation signal, and the intelligent lawn mower can be positioned according to the positioning signal formed by the correction signal and the satellite signal, which can be improved. The accuracy of the positioning. However, the accuracy of a single base station is affected by the distance between the base and the mobile device. Ideally, the distance between the base station and the self-mobile device should not exceed 20Km; as the terrain complexity (such as the hilly area) increases, the above distance is correspondingly shortened. When the associated base station fails, the system's working capacity is directly affected. To this end, the network RTK positioning system of multi-base station emerges as the times require. The positioning system integrates the data of the whole base station network through the network RTK algorithm, and can simulate the virtual base station VRS (<1m) and calculate it from the vicinity of the mobile device. More accurate ionospheric and tropospheric data, achieving higher positioning accuracy in the coverage area, but the transmission method from the base station to the data processing center in the network RTK positioning system is usually transmitted by wired or cellular network, and the data processing center to the intelligent lawn mower. Transmission methods usually use cellular network transmission, use wired network transmission, wiring installation is more complicated, use cellular network transmission, traffic consumption is large, and expensive traffic charges are required.

因此，需要一种新的技术方案以解决上述技术问题。Therefore, a new technical solution is needed to solve the above technical problems.

发明内容Summary of the invention

本申请文件解决的技术问题为：提供一种自移动设备、自动工作***、网络RTK定位***及计算设备的运行方法，定位精确，使用方法简单，节省成本。The technical problem solved by the present application is to provide a self-mobile device, an automatic working system, a network RTK positioning system, and a computing device operation method, which are accurate in positioning, simple in use, and cost-effective.

为解决上述技术问题，本申请文件的技术方案是：一种自移动设备的网络RTK定位***，所述定位***包括：若干基准站，所述基准站包括第一卫星信号接收器，接收卫星信号，还包括第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述至少一个第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。In order to solve the above technical problem, the technical solution of the present application is: a network RTK positioning system from a mobile device, the positioning system comprising: a plurality of reference stations, the reference station comprising a first satellite signal receiver, receiving satellite signals And a first base station communication module, configured to communicate with the data processing center via the first base station communication module for obtaining a correction signal generated from the position of the mobile device from the mobile device, the at least one first base station communication The module communicates by accessing the Internet through a switching device connected to its own network.

本申请文件还提出了一种自移动设备的网络RTK定位***的定位方法，提供若干基准站，所述基准站包括用于接收卫星信号的卫星信号接收器和第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，包括以下步骤：The application document also proposes a positioning method of a network RTK positioning system from a mobile device, which provides a plurality of reference stations, the reference station comprising a satellite signal receiver for receiving satellite signals and a first base station communication module, A base station communication module is in communication with the data processing center for obtaining, from the mobile device, a correction signal generated based on the location of the mobile device, including the following steps:

所述至少一个第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The at least one first base station communication module communicates by accessing the Internet through a transit device that accesses the own network.

本申请文件还提出了一种自移动设备的网络RTK定位***，所述定位***包括：若干基准站，所述基准站包括第一卫星信号接收器，接收卫星信号，还包括第一基准站通信模块，第一基准站通信模块与数据处理中心通信，以供自移动设备获取响应于自移动设备的请求，依据自移动设备的位置而生成的修正信号，所述至少一个第一基准站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The application document also proposes a network RTK positioning system from a mobile device, the positioning system comprising: a plurality of reference stations, the reference station comprising a first satellite signal receiver, receiving satellite signals, and further comprising a first base station communication a module, the first base station communication module is in communication with the data processing center for obtaining, from the mobile device, a correction signal generated in response to the request from the mobile device based on the location of the mobile device, the at least one first base station communication module At least one of the public band communication modules includes communication to access the Internet.

本申请文件还提出了一种自移动设备的定位***的网络RTK定位方法，提供若干基准站，所述基准站包括用于接收卫星信号的第一卫星信号接收器和第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，包括以下步骤：The present application also proposes a network RTK positioning method for a positioning system from a mobile device, providing a plurality of reference stations, the reference station comprising a first satellite signal receiver and a first reference station communication module for receiving satellite signals, Communicating with the data processing center through the first base station communication module for obtaining a correction signal generated from the location of the mobile device from the mobile device, including the following steps:

所述至少一个第一基准站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The at least one first base station communication module includes at least one of a common band communication module for communicating by accessing the Internet.

本申请文件还提出了一种自移动设备的定位***，所述网络RTK定位***包括：The present application also proposes a positioning system from a mobile device, the network RTK positioning system comprising:

定位移动站，能够安装于所述自移动设备；Locating a mobile station that can be installed on the self-mobile device;

所述定位移动站包括卫星信号接收器，用于接收卫星信号和第一移动站通信模块；The positioning mobile station includes a satellite signal receiver for receiving a satellite signal and a first mobile station communication module;

第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述定位移动站基于所述卫星信号及所述修正信号形成定位信号，所述自移动设备基于定位信号移动，所述至少一个第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The first mobile station communication module is in communication with the data processing center for obtaining, from the mobile device, a correction signal generated according to the location of the mobile device, the positioning mobile station forming a positioning signal based on the satellite signal and the correction signal, The mobile device is moved based on the positioning signal, and the at least one first mobile station communication module communicates by accessing the Internet through the access device of the own network.

本申请文件还提出了一种自移动设备的网络RTK定位***的定位方法，提供定位移动站，能够安装于所述自移动设备；所述定位移动站包括用于接收卫星信号的卫星信号接收器和第一移动站通信模块；通过第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述定位移动站基于所述卫星信号及所述修正信号形成定位信号，所述自移动设备基于定位信号移动，包括以下步骤：The present application also proposes a positioning method of a network RTK positioning system from a mobile device, which provides a positioning mobile station that can be installed on the self-mobile device; the positioning mobile station includes a satellite signal receiver for receiving satellite signals. Communicating with the first mobile station; communicating with the data processing center via the first mobile station communication module for obtaining, from the mobile device, a correction signal generated based on the location of the mobile device, the positioning mobile station based on the satellite signal and The correction signal forms a positioning signal, and the self-mobile device moves based on the positioning signal, and includes the following steps:

所述至少一个第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The at least one first mobile station communication module communicates by accessing the Internet through a transit device connected to the own network.

本申请文件还提出了一种自移动设备的网络RTK定位***，所述定位***包括：The present application also proposes a network RTK positioning system from a mobile device, the positioning system comprising:

第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述定位移动站基于所述卫星信号及所述修正信号形成定位信号，所述自移动设备基于定位信号移动，所述至少一个第一移动站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The first mobile station communication module is in communication with the data processing center for obtaining, from the mobile device, a correction signal generated according to the location of the mobile device, the positioning mobile station forming a positioning signal based on the satellite signal and the correction signal, The mobile device is moved based on a positioning signal, and the at least one first mobile station communication module includes at least one of a common band communication module to communicate by accessing the Internet.

所述至少一个第一移动站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The at least one first mobile station communication module includes at least one of the public band communication modules to communicate by accessing the Internet.

本申请文件还提出了一种自移动设备，所述自移动设备包括工作模块、移动模块、驱动模块、控制模块，所述工作模块用于执行作业，所述移动模块带动自移动设备主体移动，所述驱动模块为所述工作模块和移动模块提供动力，所述控制模块能够控制所述工作模块、移动模块、驱动模块，其特征在于，所述自移动设备通过前述XX(***项所有权利要求)任一项所述的定位***定位。The present application also provides a self-mobile device, which includes a work module, a mobile module, a drive module, and a control module, where the work module is used to perform a job, and the mobile module drives the mobile device to move. The driving module provides power to the working module and the mobile module, and the control module is capable of controlling the working module, the moving module, and the driving module, wherein the self-mobile device passes the foregoing XX (all claims of the system item) Any of the positioning system positioning described.

本申请文件还提出了一种自动工作***，包括所述的自移动设备和所述的自移动设备的定位***。The present application also proposes an automatic working system comprising the self-mobile device and the positioning system of the self-mobile device.

本申请文件还提出了一种计算设备的处理方法，所述计算设备应用于自移动设备的网络RTK定位***，所述定位***包括若干基准站，所述基准站包括用于接收卫星信号的第一卫星信号接收器，还包括第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述方法包括以下步骤：判断基准站安装位置的网络环境是否支持公用频段通信网络中的至少一个进行通信，根据判断结果为基准站的第一基准站通信模块提供不同的通信模块以接入互联网The present application also proposes a processing method of a computing device, the computing device being applied to a network RTK positioning system from a mobile device, the positioning system comprising a plurality of reference stations, the reference station comprising a A satellite signal receiver further comprising a first base station communication module for communicating with the data processing center via the first base station communication module for obtaining a correction signal generated from the position of the mobile device from the mobile device, the method comprising The following steps: determining whether the network environment of the installation location of the base station supports at least one of the public frequency band communication networks for communication, and according to the determination result, providing a different communication module for the first base station communication module of the reference station to access the Internet

本申请文件还提出了一种计算设备的处理方法，所述计算设备用于处理自移动设备的网络RTK定位***，所述定位***包括若干基准站，所述基准站包括用于接收卫星信号的第一卫星信号接收器，还包括第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述方法包括以下步骤：确认基准站安装位置的网络环境是否能够支持通过接入自有网络的转接设备而接入互联网以进行通信的网络，以此为基准站的第一基准站通信模块提供不同网络模块以接入互联网。The present application also proposes a processing method for a computing device for processing a network RTK positioning system from a mobile device, the positioning system comprising a plurality of reference stations, the reference station comprising a satellite signal for receiving The first satellite signal receiver further includes a first base station communication module that communicates with the data processing center via the first base station communication module for obtaining a correction signal generated from the position of the mobile device from the mobile device, the method The method includes the following steps: confirming whether the network environment of the base station installation location can support the network that accesses the Internet for communication by accessing the transfer device of the own network, thereby providing different networks for the first base station communication module of the base station Module to access the Internet.

本申请文件的有益效果为：本申请文件提供的自移动设备的网络RTK定位***能够实现覆盖区域较高定位精度，各基准站相互间隔距离50-100公里；在基站网络覆盖范围内，定位精度相对恒定；单一基准站失效，基本不影响***工作能力；能够将各基准站的提供的数据存储在数据处理中心内，供基站网络覆盖范围内的多个定位移动站使用。The beneficial effects of the present application file are as follows: the network RTK positioning system of the mobile device provided by the present application file can achieve higher positioning accuracy of the coverage area, and each reference station is separated by a distance of 50-100 kilometers; within the coverage of the base station network, the positioning accuracy is Relatively constant; single base station failure, basically does not affect the system's working ability; can store the data provided by each base station in the data processing center for use by multiple positioning mobile stations within the coverage of the base station network.

本申请文件提供的网络RTK定位***中的基准站与数据处理中心的通信方式，以及定位移动站与数据处理中心的通信方式采用通过接入自有网络的转接设备接入互联网而进行通信的通信方式或者将基准站或定位移动站的通信模块设置为公用频段通信模块的至少一个以接入互联网而进行通信的通信方式，利用上述通信方式的自移动设备、自动工作***、网络RTK定位***及运行方法，定位准确，节省成本，安装方便，运行方法简单。The communication mode between the base station and the data processing center in the network RTK positioning system provided by the present application file, and the communication mode between the positioning mobile station and the data processing center are communicated by accessing the Internet through the access device connected to the own network. The communication mode or the communication module of the base station or the positioning mobile station is set as at least one communication mode in which the public frequency band communication module communicates by accessing the Internet, and the self-mobile device, the automatic working system, and the network RTK positioning system using the above communication method And operation method, accurate positioning, cost saving, convenient installation and simple operation method.

本申请文件提供的计算设备的处理方法，流程简单，使用方便，能够针对不同的网络环境提供不同的通信模块。The processing method of the computing device provided by the application file has the advantages of simple process and convenient use, and can provide different communication modules for different network environments.

为解决上述技术问题，本申请文件的技术方案是：一种CORS***，包括多个基准站、移动站、数据处理中心，所述多个基准站通过卫星数据传输模块将卫星数据传输给所述数据处理中心，所述数据处理中心接收所述多个基准站数据，结合网络RTK算法进行数据处理，形成差分修正数据，将差分修正数据传输给所述移动站的差分数据接收模块，其中，所述多个基准站的卫星数据传输模块至少包括WIFI模块和/或无线电模块。In order to solve the above technical problem, the technical solution of the present application is: a CORS system comprising a plurality of base stations, a mobile station, and a data processing center, wherein the plurality of base stations transmit satellite data to the satellite data transmission module a data processing center, the data processing center receives the plurality of base station data, performs data processing in combination with a network RTK algorithm, forms differential correction data, and transmits differential correction data to a differential data receiving module of the mobile station, where The satellite data transmission modules of the plurality of reference stations comprise at least a WIFI module and/or a radio module.

进一步地，所述基准站的卫星数据传输模块还包括有线模块和/或3G模块。Further, the satellite data transmission module of the base station further includes a wired module and/or a 3G module.

进一步地，所述基准站的卫星数据传输模块使用WIFI模块传输数据，不支持WIFI信号时，切换有线模块通信，不支持有线信号时，切换3G模块通信。Further, the satellite data transmission module of the reference station uses the WIFI module to transmit data, and when the WIFI signal is not supported, the wired module communication is switched, and when the wired signal is not supported, the 3G module communication is switched.

进一步地，所述基准站的卫星数据传输模块使用无线电模块传输数据，不支持无线电信号时，切换有线模块通信，不支持有线信号时，切换3G模块通信。Further, the satellite data transmission module of the reference station uses the radio module to transmit data, switches the wired module communication when the radio signal is not supported, and switches the 3G module communication when the wired signal is not supported.

进一步地，所述基准站的卫星数据传输模块使用WIFI模块传输数据，不支持WIFI信号时，切换无线电模块传输数据，不支持无线电信号时，切换有线模块传输数据，不支持有线模块时，切换3G模块传输数据。Further, the satellite data transmission module of the base station uses the WIFI module to transmit data, and when the WIFI signal is not supported, the radio module is switched to transmit data. When the radio signal is not supported, the wired module is switched to transmit data. When the wired module is not supported, the 3G is switched. The module transmits data.

进一步地，所述基准站的卫星数据传输模块使用无线电模块传输数据，不支持无线电信号时，切换WIFI模块传输数据，不支持WIFI信号时，切换有线模块传输数据，不支持有线信号时，切换3G模块传输数据。Further, the satellite data transmission module of the reference station uses the radio module to transmit data, and when the radio signal is not supported, the WIFI module is switched to transmit data. When the WIFI signal is not supported, the wired module is switched to transmit data, and when the wired signal is not supported, the 3G is switched. The module transmits data.

进一步地，所述移动站为移动的机械设备。Further, the mobile station is a mobile mechanical device.

进一步地，所述移动的机械设备为智能割草机。Further, the moving mechanical device is a smart lawn mower.

本申请文件还提出一种技术方案，一种CORS***中的基准站的运行方法，包括：基准站的卫星数据传输模块使用WIFI模块和/或无线电模块传输卫星数据至数据处理中心，当检测到WIFI信号和/或无线电信号不好时，***发送信号提示3G信号开通，并切换至3G通信模式。The application document also proposes a technical solution, a method for operating a reference station in a CORS system, comprising: a satellite data transmission module of a reference station transmits a satellite data to a data processing center using a WIFI module and/or a radio module, when detected When the WIFI signal and/or the radio signal are not good, the system sends a signal to prompt the 3G signal to be turned on, and switches to the 3G communication mode.

进一步地，当检测到WIFI信号和/或无线电信号不好时，检测有线信号，有线信号良好时，切换有线模块通信，有线信号不好时，***发送信号提示3G信号开通，并切换至3G通信模式。Further, when detecting that the WIFI signal and/or the radio signal is not good, detecting the wired signal, when the wired signal is good, switching the wired module communication, when the wired signal is not good, the system sends a signal to prompt the 3G signal to be turned on, and switches to the 3G communication. mode.

进一步地，当检测到WIFI信号不好时，检测无线电信号，无线电信号良好时，切换无线电模块通信模式。Further, when it is detected that the WIFI signal is not good, the radio signal is detected, and when the radio signal is good, the radio module communication mode is switched.

进一步地，当检测到无线电信号不好时，检测WIFI信号，WIFI信号良好时，切换WIFI模块通信模式。Further, when it is detected that the radio signal is not good, the WIFI signal is detected, and when the WIFI signal is good, the WIFI module communication mode is switched.

本申请文件还提出一种技术方案，一种配备有CORS***的移动站，所述移动站的差分数据接收模块至少包括WIFI模块和/或无线电模块。The present application also proposes a technical solution, a mobile station equipped with a CORS system, the differential data receiving module of the mobile station comprising at least a WIFI module and/or a radio module.

进一步地，所述移动站的差分数据接收模块还包括3G模块。Further, the differential data receiving module of the mobile station further includes a 3G module.

进一步地，所述移动站的卫星导航装置包括：Further, the satellite navigation device of the mobile station includes:

定位天线，用于接收卫星的导航信号；Locating an antenna for receiving a navigation signal of a satellite;

检测模块，用于检测差分数据接收模块的信号情况，检测使用WIFI模块、无线电模块或3G模块其中之一接收差分修正数据；a detecting module, configured to detect a signal condition of the differential data receiving module, and detect that one of the WIFI module, the radio module or the 3G module receives the differential correction data;

差分数据接收模块，用于接收数据处理中心发送的差分修正数据；a differential data receiving module, configured to receive differential correction data sent by a data processing center;

定位模块，用于根据卫星的导航信号和差分修正数据定位移动站的位置坐标；a positioning module, configured to locate a position coordinate of the mobile station according to the navigation signal of the satellite and the differential correction data;

控制模块，用于根据位置坐标控制移动站移动。A control module for controlling mobile station movement based on position coordinates.

进一步地，所述移动站的差分数据接收模块使用WIFI模块接收数据，不支持WIFI信号时，切换3G模块通信。Further, the differential data receiving module of the mobile station uses the WIFI module to receive data, and when the WIFI signal is not supported, switches the 3G module communication.

进一步地，所述移动站的差分数据接收模块使用无线电模块接收数据，不支持无线电信号时，切换3G模块通信。Further, the differential data receiving module of the mobile station receives data using the radio module, and switches the 3G module communication when the radio signal is not supported.

进一步地，所述移动站的差分数据接收模块使用WIFI模块接收数据，不支持WIFI信号时，切换无线电模块接收数据，不支持无线电信号时，切换3G模块通信。Further, the differential data receiving module of the mobile station uses the WIFI module to receive data. When the WIFI signal is not supported, the switching radio module receives data, and when the radio signal is not supported, the 3G module communication is switched.

进一步地，所述移动站的差分数据接收模块使用无线电模块接收数据，不支持无线电信号时，切换WIFI模块接收数据，不支持WIFI信号时，切换3G模块通信。Further, the differential data receiving module of the mobile station uses the radio module to receive data, and when the radio signal is not supported, the WIFI module is switched to receive data, and when the WIFI signal is not supported, the 3G module communication is switched.

进一步地，所述移动站的差分数据接收模块使用3G模块接收差分修正数据时，所述数据处理中心直接将差分修正数据传输给所述移动站。Further, when the differential data receiving module of the mobile station receives the differential correction data by using the 3G module, the data processing center directly transmits the differential correction data to the mobile station.

进一步地，所述移动站的差分数据接收模块使用WIFI模块和/或无线电模块接收差分修正数据时，所述数据处理中心将差分修正数据传输给用户***，所述用户***将差分修正数据传输给所述移动站的WIFI模块或无线电模块。Further, when the differential data receiving module of the mobile station receives the differential correction data by using the WIFI module and/or the radio module, the data processing center transmits the differential correction data to the user system, and the user system transmits the differential correction data to The WIFI module or radio module of the mobile station.

进一步地，所述用户***包括路由器，所述移动站通过路由器获得WIFI信号。Further, the user system includes a router, and the mobile station obtains a WIFI signal through a router.

进一步地，所述用户***包括路由器和网络无线电转换器，所述移动站通过网络无线电转换器和路由器获得无线电信号。Further, the user system includes a router and a network radio converter, the mobile station obtaining radio signals through a network radio converter and a router.

进一步地，所述数据处理中心将差分修正数据传输给通讯卫星，通讯卫星将差分修正数据传输给所述移动站的差分数据接收模块。Further, the data processing center transmits the differential correction data to the communication satellite, and the communication satellite transmits the differential correction data to the differential data receiving module of the mobile station.

本申请文件还提出一种技术方案，一种配备CORS***的移动站的运行方法，包括：所述移动站的差分数据接收模块使用WIFI模块和/或无线电模块接收差分修正数据，当检测到WIFI信号和/或无线电信号不好时，***发送信号提示3G信号开通，并切换至3G通信模式。The present application also proposes a technical solution, a method for operating a mobile station equipped with a CORS system, comprising: the differential data receiving module of the mobile station receives differential correction data using a WIFI module and/or a radio module, when detecting WIFI When the signal and/or radio signal is not good, the system sends a signal to prompt the 3G signal to turn on and switch to the 3G communication mode.

进一步地，所述移动站的差分数据接收模块使用WIFI模块接收差分修正数据，当检测到WIFI信号不好时，***切换无线电模块通信模式。Further, the differential data receiving module of the mobile station receives the differential correction data by using the WIFI module, and when detecting that the WIFI signal is not good, the system switches the radio module communication mode.

进一步地，所述移动站的差分数据接收模块使用无线电模块接收差分修正数据，当检测到无线电信号不好时，***切换WIFI模块通信模式。Further, the differential data receiving module of the mobile station receives the differential correction data using the radio module, and when detecting that the radio signal is not good, the system switches the WIFI module communication mode.

本申请文件还提出一种技术方案，一种配备有CORS***的基准站，所述基准站的卫星数据传输模块包括可更换的WIFI模块和/或无线电模块。The present application also proposes a technical solution, a reference station equipped with a CORS system, the satellite data transmission module of the base station comprising a replaceable WIFI module and/or a radio module.

进一步地，所述WIFI模块得不到支持时，可更换为无线电模块或有线模块或3G模块。Further, when the WIFI module is not supported, it can be replaced with a radio module or a wired module or a 3G module.

进一步地，所述无线电模块得不到支持时，可更换为WIFI模块或有线模块或3G模块。Further, when the radio module is not supported, it can be replaced with a WIFI module or a wired module or a 3G module.

本申请文件还提出一种技术方案，一种配备有CORS***的移动站，所述移动站的差分数据接收模块包括可更换的WIFI模块和/或无线电模块。The present application also proposes a technical solution, a mobile station equipped with a CORS system, the differential data receiving module of the mobile station comprising a replaceable WIFI module and/or a radio module.

进一步地，所述WIFI模块得不到支持时，可更换为无线电模块或3G模块。Further, when the WIFI module is not supported, it can be replaced with a radio module or a 3G module.

进一步地，所述无线电模块得不到支持时，可更换为WIFI模块或3G模块。Further, when the radio module is not supported, it can be replaced with a WIFI module or a 3G module.

本申请文件还提出一种技术方案，一种CORS***，至少其中一个基准站采用WIFI模块或无线电模块传输卫星数据至数据处理中心。The present application also proposes a technical solution, a CORS system in which at least one of the base stations transmits satellite data to a data processing center using a WIFI module or a radio module.

本申请文件的有益效果为：CORS***中的基准站使用WIFI模块和/或无线电模块传输数据至数据处理中心，CORS***中的移动站使用WIFI模块和/或无线电模块接收差分修正数据；利用上述数据传输方式和数据接收方式的基准站、移动站及其CORS***，定位准确，节省成本，安装方便；CORS***中的基准站、移动站的WIFI模块、无线电模块与其他模块之间的转换灵活快速；CORS***响应快速准确，运行方法简单，上述移动站的定位准确、工作效率提升。The beneficial effects of the present application are: the base station in the CORS system transmits data to the data processing center using the WIFI module and/or the radio module, and the mobile station in the CORS system receives the differential correction data using the WIFI module and/or the radio module; Data transmission mode and data receiving mode of the base station, mobile station and its CORS system, accurate positioning, cost saving, easy installation; flexible conversion between the base station in the CORS system, the WIFI module of the mobile station, the radio module and other modules Fast; CORS system response is fast and accurate, and the operation method is simple. The positioning of the above mobile station is accurate and the work efficiency is improved.

附图说明DRAWINGS

图1为本申请文件的网络RTK定位***示意图。FIG. 1 is a schematic diagram of a network RTK positioning system according to the present application.

图2为本申请文件的转接设备的模块图。Figure 2 is a block diagram of the switching device of the present application.

图3为本申请文件的自移动设备设置两个接口的示意图。FIG. 3 is a schematic diagram of setting two interfaces from a mobile device according to the present application.

图4为本申请文件的自移动设备设置一个接口的示意图。4 is a schematic diagram of setting an interface from a mobile device according to the present application.

图5为本申请文件的第一检测装置检测第一基准站通信模块的流程图。FIG. 5 is a flow chart of the first detecting device of the first detecting station detecting the first base station communication module.

图6为本申请文件的第二检测装置检测第一移动站通信模块的流程图。Figure 6 is a flow chart of the second detecting device of the present application detecting the communication module of the first mobile station.

图7为本申请文件的CORS***示意图。Figure 7 is a schematic diagram of the CORS system of the present application.

图8为本申请文件的基准站数据传输装置的模块图。Figure 8 is a block diagram of a base station data transmission apparatus of the present application.

图9为本申请文件的移动站的导航定位装置模块图。Figure 9 is a block diagram of a navigation and positioning device of a mobile station of the present application.

图10为本申请文件的用户***的网络连接示意图。FIG. 10 is a schematic diagram of a network connection of a user system according to the present application.

图11为本申请文件的移动站检测差分数据接收模块信号的程序流程图。11 is a flow chart showing a procedure for a mobile station to detect a differential data receiving module signal according to the present application.

图12为本申请文件的销售固定式差分数据接收模块的智能割草机类型的流程图。Figure 12 is a flow chart showing the type of intelligent mower that sells the fixed differential data receiving module of the present application.

具体实施方式detailed description

为了使本申请文件的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请文件进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请文件，并不用于限定本申请文件。In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

如图1中所示，本申请文件提出一种自移动设备的网络RTK定位***，包括若干基准站，基准站的覆盖范围内配备有自移动设备10，各基准站包括第一卫星信号接收器，接收卫星信号，还包括第一基准站通信模块，基准站通过第一基准站通信模块与数据处理中心30通信，以供自移动设备10获取依据自移动设备的位置而生成的修正信号。其中基准站的数量至少为一个，优选为多个，形成多基准站网络。本实施例中例举自移动设备10附近的基准站数量为3个，第一基准站20，第二基准站21，第三基准站22，各基准站之间间隔距离一般为50～100公里，工作过程如下：第一基准站20，第二基准站21，第三基准站22接收卫星40播发的卫星信号，并将其转换成符合通信协议的电文形式的卫星数据，第一基准站20，第二基准站21，第三基准站22分别通过第一基准站通信模块将电文形式的卫星数据传输给数据处理中心30，数据处理中心30接收并存储第一基准站20，第二基准站21，第三基准站22的数据，响应于自移动设备的请求，根据自移动设备的位置，结合网络RTK算法整合各基准站网络的数据进行解算，解算出更准确的电离层和对流层数据，形成修正信号，自移动设备基于卫星信号和修正信号结合形成的修正信号移动，实现覆盖区域较高定位精度。该更准确的电离层和对流层数据优选的来源于在自移动设备附近模拟出的虚拟基站VRS(<1m)数据。在另一个实施例中，根据自移动设备的位置，数据处理中心解算的结果为最精确的电离层和对流层数据为距离自移动设备的位置最接近的基准站数据。其中，各基准站可以是自建基站，也可以为公用基准站或者租用的基准站，基准站的形式不做限定。As shown in FIG. 1, the present application proposes a network RTK positioning system from a mobile device, including a plurality of base stations, the coverage of the base station is equipped with a self-mobile device 10, and each base station includes a first satellite signal receiver. Receiving a satellite signal, further comprising a first base station communication module, the base station communicating with the data processing center 30 via the first base station communication module for obtaining, from the mobile device 10, a correction signal generated in accordance with the position of the mobile device. The number of base stations is at least one, preferably multiple, forming a multi-base network. In the present embodiment, the number of reference stations in the vicinity of the mobile device 10 is three, the first base station 20, the second base station 21, and the third base station 22, and the distance between each base station is generally 50 to 100 kilometers. The working process is as follows: the first base station 20, the second base station 21, and the third base station 22 receive the satellite signals broadcasted by the satellite 40 and convert them into satellite data in the form of a message conforming to the communication protocol, the first base station 20 The second base station 21 and the third base station 22 respectively transmit the satellite data in the form of a telegram to the data processing center 30 through the first base station communication module, and the data processing center 30 receives and stores the first base station 20, and the second base station 21, the data of the third base station 22, in response to the request from the mobile device, according to the position of the mobile device, combined with the network RTK algorithm to integrate the data of each base station network to solve the solution, and calculate more accurate ionosphere and tropospheric data. A correction signal is formed, and the correction signal is formed by the mobile device based on the combination of the satellite signal and the correction signal to achieve higher positioning accuracy of the coverage area. The more accurate ionospheric and tropospheric data is preferably derived from virtual base station VRS (<1m) data that is simulated from near the mobile device. In another embodiment, the result of the data processing center solution is that the most accurate ionosphere and tropospheric data is the closest base station data from the location of the mobile device, based on the location of the mobile device. The base station may be a self-built base station, or may be a public base station or a rented base station, and the form of the base station is not limited.

实施例1Example 1

其中，上述网络RTK定位***中，至少一个第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。Wherein, in the network RTK positioning system, at least one first base station communication module communicates by accessing the Internet through the access device of the own network.

可理解的是，转接设备用于连接多个逻辑上分开的网络，如图2所示，转接设备包括第一转接网络模块和第二转接网络模块，第一转接网络模块与第一基准站通信模块相连，第二转接网络模块与自有网络相连，通过自有网络最终接入互联网，从而能够将基准站与数据处理中心建立通信。It can be understood that the switching device is configured to connect a plurality of logically separated networks. As shown in FIG. 2, the switching device includes a first transit network module and a second transit network module, and the first transit network module and The first base station communication module is connected, and the second transit network module is connected to the own network, and finally accesses the Internet through the own network, so that the base station can establish communication with the data processing center.

自有网络为现成的网络，基准站通过接入现成的网络而接入互联网，也就是说，基准站不需要另外开通新的付费网络，现成的网络包括公用网络、公司网络、家庭网络等，例如包括为基准站安装位置附近小区的公用网络，来自于用户个人的家有网络，基准站厂商提供的网络等，具体地例如为，包括基准站安装位置所属地区的WIFI热点，也包括基准站安装位置附近用户家庭的WIFI网络，或者也可以为基准站厂商提供的WIFI网络。The self-owned network is an off-the-shelf network, and the base station accesses the Internet by accessing the off-the-shelf network. That is to say, the base station does not need to open a new payment network, and the ready-made network includes a public network, a company network, a home network, and the like. For example, a public network including a cell near a location where the base station is installed, a home network from the user's home, a network provided by the base station manufacturer, and the like, specifically, for example, a WIFI hotspot including the area where the base station installation location belongs, and a base station The WIFI network of the user's home near the installation location, or the WIFI network provided by the base station manufacturer.

在一种优选的实施例中，第一基准站通信模块包括公用频段通信模块，其中，公用频段为ISM频段中自移动设备定位***通信协议的公用频段，ISM频段中各国的规定不统一，例如，2.4GHZ为各国通用的ISM频段，可以理解的是，各国ISM频段中符合自移动设备定位***通信协议中的公用频段均在本申请文件保护范围内，本实施例中的公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI模块中的至少一个，其中，可以理解的是，2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。In a preferred embodiment, the first base station communication module includes a public frequency band communication module, wherein the common frequency band is a common frequency band in the ISM frequency band from the mobile device positioning system communication protocol, and the regulations of the countries in the ISM frequency band are not uniform, for example, 2.4GHZ is a common ISM frequency band in various countries. It can be understood that the common frequency band in the communication protocol of the mobile device positioning system in the ISM frequency band of each country is within the protection scope of the present application. The public frequency band communication module in this embodiment includes At least one of the 433 MHz, 868 MHz, 2.4 GHz, and 5 GHz WIFI modules, wherein it is understood that the 2.4 GHZ module includes at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.

在一种优选的实施例中，基准站还包括第二基准站通信模块，通过第二基准站通信模块与数据处理中心通信。如图3所示，以第一基准站20为例，基准站20上设置两个接口，包括第一接口201、第二接口202，分别接入第一基准站通信模块和第二基准站通信模块，第二基准站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。基准站还包括：第一检测模块，检测第一基准站通信模块的网络信号，当检测到第一基准站通信模块的信号质量不满足预设条件时，开通第二基准站通信模块进行通信。可理解的是，基准站上接口的数量不做限定，也可以设置其他接口，接入其他能够实现通信的通信模块。In a preferred embodiment, the base station further includes a second base station communication module in communication with the data processing center via the second base station communication module. As shown in FIG. 3, taking the first base station 20 as an example, two interfaces are disposed on the base station 20, including a first interface 201 and a second interface 202, respectively accessing the first base station communication module and the second base station communication. The module, the second base station communication module includes at least one of a wired network module and a cellular network module. The base station further includes: a first detecting module that detects a network signal of the first base station communication module, and when detecting that the signal quality of the first base station communication module does not satisfy the preset condition, turns on the second base station communication module to perform communication. It can be understood that the number of interfaces on the base station is not limited, and other interfaces may be set to access other communication modules capable of communication.

在一种优选的实施例中，基准站上的第一基准站通信模块能够更换为第二基准站通信模块，如图4所示，基准站上设置一个接口203，第一基准站通信模块和第二基准站通信模块能够可互换地安装在接口203上。其中，第二基准站通信模块也包括有线网络模块、蜂窝网络模块中的至少一个。可理解的是，基准站上的接口203也能够接入其他能够实现通信的网络模块。In a preferred embodiment, the first base station communication module on the base station can be replaced with the second base station communication module. As shown in FIG. 4, an interface 203 is provided on the base station, the first base station communication module and The second base station communication module can be installed interchangeably on the interface 203. The second base station communication module also includes at least one of a wired network module and a cellular network module. It can be understood that the interface 203 on the base station can also access other network modules capable of communication.

同样的，在设置一个接口时，也可以利用第一检测模块检测第一基准站通信模块的信号质量，当信号质量不满足预设条件时，将第一基准站通信模块拆卸，接入第二基准站通信模块。Similarly, when setting an interface, the first detection module may also be used to detect the signal quality of the first base station communication module, and when the signal quality does not satisfy the preset condition, the first base station communication module is disassembled and connected to the second. Base station communication module.

本申请文件还提供了一种自移动设备的定位***的定位方法，提供若干基准站，基准站包括用于接收卫星信号的卫星信号接收器和第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，包括以下步骤：至少一个第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The application document also provides a positioning method of a positioning system from a mobile device, providing a plurality of reference stations, the reference station comprising a satellite signal receiver for receiving satellite signals and a first base station communication module, communicating through the first base station The module is in communication with the data processing center for obtaining a correction signal generated from the location of the mobile device from the mobile device, comprising the steps of: at least one first base station communication module accessing the Internet by accessing a transfer device of the own network And communicate.

如图5所示，在一种优选的实施例中，基准站还包括与数据处理中心通信的第二基准站通信模块和用于检测第一基准站通信模块网络信号的第一检测模块，包括以下步骤：As shown in FIG. 5, in a preferred embodiment, the base station further includes a second base station communication module in communication with the data processing center and a first detection module for detecting the first base station communication module network signal, including The following steps:

S101：通过第一基准站通信模块通信；S101: communicating by using a first base station communication module;

S102：检测第一基准站通信模块的信号质量；S102: Detecting a signal quality of the first base station communication module;

S103：判断第一基准站通信模块的信号质量是否满足预设条件；当第一基准站通信模块的信号质量满足预设条件时，返回步骤S101；S103: determining whether the signal quality of the first base station communication module meets the preset condition; when the signal quality of the first base station communication module meets the preset condition, returning to step S101;

当第一基准站通信模块的信号质量不满足预设条件时，进入步骤S104：开通第二基准站通信模块通信。When the signal quality of the first base station communication module does not satisfy the preset condition, the process proceeds to step S104: the second base station communication module communication is turned on.

其中，第二基准站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。The second base station communication module includes at least one of a wired network module and a cellular network module.

在一种优选的实施例中，基准站上的第一基准站通信模块能够更换为第二基准站通信模块，基准站上设置接口，第一基准站通信模块和第二基准站通信模块能够可互换地安装在接口上。其中，第二基准站通信模块也包括有线网络模块、蜂窝网络模块中的至少一个。In a preferred embodiment, the first base station communication module on the base station can be replaced with a second base station communication module, the interface is set on the base station, and the first base station communication module and the second base station communication module can be Installed interchangeably on the interface. The second base station communication module also includes at least one of a wired network module and a cellular network module.

实施例2Example 2

其中，上述网络RTK定位***中，至少一个第一基准站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。Wherein, in the network RTK positioning system, at least one first base station communication module includes at least one of the public frequency band communication modules to communicate by accessing the Internet.

可以理解的是，公用频段为ISM频段中自移动设备定位***通信协议的公用频段，ISM频段中各国的规定不统一，例如，2.4GHZ为各国通用的ISM频段，可以理解的是，各国ISM频段中符合自移动设备定位***通信协议中的公用频段均在本申请文件保护范围内，本实施例中的公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI模块中的至少一个，其中，可以理解的是，2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。It can be understood that the common frequency band is the common frequency band of the communication protocol of the mobile device positioning system in the ISM band, and the regulations of the countries in the ISM band are not uniform. For example, 2.4 GHz is the ISM band commonly used in various countries. It can be understood that the ISM band of each country The common frequency band in the communication protocol of the self-mobile device positioning system is within the protection scope of the present application. The public frequency band communication module in this embodiment includes at least one of 433MHZ, 868MHZ, 2.4GHZ, and 5GHZ WIFI modules, wherein It is understood that the 2.4GHZ module includes at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.

在一种优选的实施例中，公用频段通信模块通过接入自有网络的转接设备接入互联网而进行通信。自有网络的介绍不再赘述。In a preferred embodiment, the public band communication module communicates by accessing the Internet via a transit device that accesses its own network. The introduction of the own network will not be repeated.

在一种优选的实施例中，基准站还包括第二基准站通信模块，通过第二基准站通信模块与数据处理中心通信。第二基准站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。基准站还包括：第一检测模块，检测第一基准站通信模块的网络信号，当检测到第一基准站通信模块的信号质量不满足预设条件时，开通第二基准站通信模块进行通信。In a preferred embodiment, the base station further includes a second base station communication module in communication with the data processing center via the second base station communication module. The second base station communication module includes at least one of a wired network module and a cellular network module. The base station further includes: a first detecting module that detects a network signal of the first base station communication module, and when detecting that the signal quality of the first base station communication module does not satisfy the preset condition, turns on the second base station communication module to perform communication.

本申请文件还提供了一种自移动设备的定位***的定位方法，提供若干基准站，基准站包括用于接收卫星信号的第一卫星信号接收器和第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备依据自移动设备的位置而生成的修正信号，包括以下步骤：至少一个第一基准站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The application document also provides a positioning method of a positioning system from a mobile device, providing a plurality of reference stations, the reference station comprising a first satellite signal receiver for receiving satellite signals and a first reference station communication module, through the first reference The station communication module is in communication with the data processing center for the correction signal generated by the mobile device based on the location of the mobile device, comprising the steps of: at least one first base station communication module comprising at least one of a common frequency band communication module for accessing the Internet And communicate.

可以理解的是，公用频段为ISM频段中自移动设备定位***通信协议的公用频段，ISM频段中各国的规定不统一，例如，2.4GHZ为各国通用的ISM频段，可以理解的是，各国ISM 频段中符合自移动设备定位***通信协议中的公用频段均在本申请文件保护范围内，本实施例中的公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI模块中的至少一个，其中，可以理解的是，2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。It can be understood that the common frequency band is a common frequency band in the ISM frequency band from the mobile device positioning system communication protocol, and the regulations in the ISM frequency band are not uniform. For example, 2.4 GHZ is a common ISM frequency band in various countries. It can be understood that the national ISM frequency band is understandable. The common frequency band in the communication protocol of the self-mobile device positioning system is within the protection scope of the present application. The public frequency band communication module in this embodiment includes at least one of 433MHZ, 868MHZ, 2.4GHZ, and 5GHZ WIFI modules, wherein It is understood that the 2.4GHZ module includes at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.

在一种优选的实施例中，基准站还包括与数据处理中心通信的第二基准站通信模块和用于检测第一基准站通信模块网络信号的第一检测模块，如图5所示，包括以下步骤：In a preferred embodiment, the base station further includes a second base station communication module in communication with the data processing center and a first detection module for detecting the first base station communication module network signal, as shown in FIG. The following steps:

实施例3Example 3

本申请文件还提出一种自移动设备的网络RTK定位***，包括：定位移动站，能够安装于自移动设备；定位移动站包括卫星信号接收器，用于接收卫星信号和第一移动站通信模块；第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，定位移动站基于卫星信号及修正信号形成定位信号，自移动设备基于定位信号移动，其中，上述网络RTK定位***中，至少一个第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。自有网络的介绍不再赘述。The application document also proposes a network RTK positioning system from a mobile device, comprising: a positioning mobile station, which can be installed on a self-mobile device; the positioning mobile station comprises a satellite signal receiver for receiving satellite signals and a first mobile station communication module. The first mobile station communication module communicates with the data processing center for obtaining, from the mobile device, a correction signal generated according to the position of the mobile device, and the positioning mobile station forms a positioning signal based on the satellite signal and the correction signal, and the positioning signal is based on the positioning signal from the mobile device. Mobile, wherein, in the above network RTK positioning system, at least one first mobile station communication module communicates by accessing the Internet through an access device of the own network. The introduction of the own network will not be repeated.

在一个优选的实施例中，第一移动站通信模块包括公用频段通信模块中的至少一个。In a preferred embodiment, the first mobile station communication module includes at least one of a common band communication module.

其中，公用频段为ISM频段中自移动设备定位***通信协议的公用频段，ISM频段中各国的规定不统一，例如，2.4GHZ为各国通用的ISM频段，可以理解的是，各国ISM频段中符合自移动设备定位***通信协议中的公用频段均在本申请文件保护范围内，本实施例中的公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI模块中的至少一个，其中，可以理解的是，2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The common frequency band is the public frequency band of the communication protocol of the mobile device positioning system in the ISM frequency band. The regulations of the countries in the ISM frequency band are not uniform. For example, 2.4 GHz is the ISM frequency band common to all countries. It can be understood that the national ISM frequency bands are consistent with The common frequency band in the mobile device positioning system communication protocol is within the scope of the present application. The public frequency band communication module in this embodiment includes at least one of 433MHZ, 868MHZ, 2.4GHZ, and 5GHZ WIFI modules, wherein it can be understood that The 2.4GHZ module includes at least one of a 2.4GHZ WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.

在一种优选的实施例中，定位移动站还包括第二移动站通信模块，通过第二移动站通信模块与数据处理中心通信。第二移动站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。In a preferred embodiment, the positioning mobile station further includes a second mobile station communication module in communication with the data processing center via the second mobile station communication module. The second mobile station communication module includes at least one of a wired network module and a cellular network module.

在一种优选的实施例中，定位移动站还包括第二移动站通信模块，通过第二移动站通信模块与数据处理中心通信。定位移动站上设置两个接口，分别接入第一移动站通信模块和第二移动站通信模块，第二移动站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。定位移动站还包括：第一检测模块，检测第一移动站通信模块的网络信号，当检测到第一移动站通信模块的信号质量不满足预设条件时，开通第二移动站通信模块进行通信。可理解的是，定位移动站上接口的数量不做限定，也可以设置其他接口，接入其他能够实现通信的通信模块。In a preferred embodiment, the positioning mobile station further includes a second mobile station communication module in communication with the data processing center via the second mobile station communication module. Two interfaces are disposed on the positioning mobile station, and respectively access the first mobile station communication module and the second mobile station communication module, and the second mobile station communication module includes at least one of a wired network module and a cellular network module. The positioning mobile station further includes: a first detecting module, detecting a network signal of the communication module of the first mobile station, and when detecting that the signal quality of the communication module of the first mobile station does not satisfy the preset condition, opening the communication module of the second mobile station to perform communication . It can be understood that the number of interfaces on the mobile station is not limited, and other interfaces may be set to access other communication modules capable of communication.

在一种优选的实施例中，定位移动站上的第一移动站通信模块能够更换为第二移动站通信模块，定位移动站上设置一个接口，第一移动站通信模块和第二移动站通信模块能够可互换地安装在接口上。其中，第二移动站通信模块也包括有线网络模块、蜂窝网络模块中的至少一个。可理解的是，定位移动站上的接口也能够接入其他能够实现通信的网络模块。In a preferred embodiment, the first mobile station communication module on the positioning mobile station can be replaced with a second mobile station communication module, an interface is set on the positioning mobile station, and the first mobile station communication module communicates with the second mobile station. The modules can be mounted interchangeably on the interface. The second mobile station communication module also includes at least one of a wired network module and a cellular network module. It can be understood that the interface on the positioning mobile station can also access other network modules capable of communication.

同样的，在定位移动站设置一个接口时，也可以利用第一检测模块检测第一移动站通信模块的信号质量，当信号质量不满足预设条件时，将第一移动站通信模块拆卸，接入第二移动站通信模块。Similarly, when the positioning mobile station sets an interface, the first detecting module may also detect the signal quality of the first mobile station communication module, and when the signal quality does not meet the preset condition, the first mobile station communication module is disassembled and connected. Enter the second mobile station communication module.

本申请文件还提出一种自移动设备的网络RTK定位***的定位方法，提供定位移动站，能够安装于自移动设备；定位移动站包括用于接收卫星信号的卫星信号接收器和第一移动站通信模块；通过第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，定位移动站基于卫星信号及修正信号形成定位信号，自移动设备基于定位信号移动，包括以下步骤：至少一个第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。自有网络的介绍不再赘述。The application document also proposes a positioning method of a network RTK positioning system from a mobile device, which provides a positioning mobile station, which can be installed on a self-mobile device; the positioning mobile station includes a satellite signal receiver and a first mobile station for receiving satellite signals. a communication module; communicating with the data processing center by the first mobile station communication module, so that the mobile device acquires a correction signal generated according to the location of the mobile device, and the positioning mobile station forms a positioning signal based on the satellite signal and the correction signal, and the self-mobile device Based on the positioning signal movement, the method includes the following steps: at least one first mobile station communication module communicates by accessing the Internet through a switching device connected to the own network. The introduction of the own network will not be repeated.

在一个优选的实施例中，第一移动站通信模块包括公用频段通信模块中的至少一个与转接设备相连而接入互联网。In a preferred embodiment, the first mobile station communication module includes at least one of the public band communication modules connected to the transfer device for access to the Internet.

在一种优选的实施例中，定位移动站还包括与数据处理中心通信的第二移动站通信模块和用于检测第一移动站通信模块网络信号的第一检测模块，如图6所示，包括以下步骤：In a preferred embodiment, the positioning mobile station further includes a second mobile station communication module in communication with the data processing center and a first detection module for detecting the first mobile station communication module network signal, as shown in FIG. Includes the following steps:

S201：通过第一移动站通信模块通信；S201: communicating by using the first mobile station communication module;

S202：检测第一移动站通信模块的信号质量；S202: Detecting a signal quality of the communication module of the first mobile station;

S203：判断第一移动站通信模块的信号质量是否满足预设条件；当第一移动通信模块的信号质量满足预设条件时，返回步骤S201；S203: determining whether the signal quality of the first mobile station communication module meets the preset condition; when the signal quality of the first mobile communication module meets the preset condition, returning to step S201;

当第一移动通信模块的信号质量不满足预设条件时，进入步骤S204：开通第二移动通信模块通信。When the signal quality of the first mobile communication module does not satisfy the preset condition, the process proceeds to step S204: the second mobile communication module communication is turned on.

在一种优选的实施例中，定位移动站上的第一移动站通信模块能够更换为第二移动站通信模块，定位移动站上设置接口，第一移动站通信模块和第二移动站通信模块能够可互换地安装在接口上。其中，第二移动站通信模块也包括有线网络模块、蜂窝网络模块中的至少一个。In a preferred embodiment, the first mobile station communication module on the positioning mobile station can be replaced with a second mobile station communication module, the positioning interface on the mobile station is set, the first mobile station communication module and the second mobile station communication module. Can be installed interchangeably on the interface. The second mobile station communication module also includes at least one of a wired network module and a cellular network module.

实施例4Example 4

本申请文件还提出一种自移动设备的网络RTK定位***，包括：定位移动站，能够安装于自移动设备；定位移动站包括卫星信号接收器，用于接收卫星信号和第一移动站通信模块；第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，定位移动站基于卫星信号及修正信号形成定位信号，自移动设备基于定位信号移动，其中，上述网络RTK定位***中，至少一个第一移动站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The application document also proposes a network RTK positioning system from a mobile device, comprising: a positioning mobile station, which can be installed on a self-mobile device; the positioning mobile station comprises a satellite signal receiver for receiving satellite signals and a first mobile station communication module. The first mobile station communication module communicates with the data processing center for obtaining, from the mobile device, a correction signal generated according to the position of the mobile device, and the positioning mobile station forms a positioning signal based on the satellite signal and the correction signal, and the positioning signal is based on the positioning signal from the mobile device. Mobile, wherein, in the network RTK positioning system, at least one first mobile station communication module comprises at least one of a common frequency band communication module for communicating by accessing the Internet.

在一种优选的实施例中，定位移动站还包括：第一检测模块，检测第一基准站通信模块的网络信号，当检测到第一基准站通信模块的信号质量不满足预设条件时，开通第二基准站通信模块进行通信。In a preferred embodiment, the positioning mobile station further includes: a first detecting module, detecting a network signal of the first base station communication module, when detecting that the signal quality of the first base station communication module does not satisfy the preset condition, The second base station communication module is turned on for communication.

本申请文件还提出一种自移动设备的网络RTK定位***的定位方法，提供定位移动站，能够安装于自移动设备；定位移动站包括用于接收卫星信号的卫星信号接收器和第一移动站通信模块；通过第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，定位移动站基于卫星信号及修正信号形成定位信号，自移动设备基于定位信号移动，包括以下步骤：至少一个第一移动站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。自有网络的介绍不再赘述。The application document also proposes a positioning method of a network RTK positioning system from a mobile device, which provides a positioning mobile station, which can be installed on a self-mobile device; the positioning mobile station includes a satellite signal receiver and a first mobile station for receiving satellite signals. a communication module; communicating with the data processing center by the first mobile station communication module, so that the mobile device acquires a correction signal generated according to the location of the mobile device, and the positioning mobile station forms a positioning signal based on the satellite signal and the correction signal, and the self-mobile device Based on the positioning signal movement, the method includes the step of at least one first mobile station communication module including at least one of the public band communication modules to communicate by accessing the Internet. The introduction of the own network will not be repeated.

其中，公用频段为ISM频段中自移动设备定位***通信协议的公用频段，ISM频段中各国的规定不统一，例如，2.4GHZ为各国通用的ISM频段，可以理解的是，各国ISM频段中符合自移动设备定位***通信协议中的公用频段均在本申请文件保护范围内，本实施例中的公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI模块中的至少一个，其中，可以理解的是，2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The common frequency band is the public frequency band of the communication protocol of the mobile device positioning system in the ISM frequency band. The regulations of the countries in the ISM frequency band are not uniform. For example, 2.4 GHz is the ISM frequency band common to all countries. It can be understood that the national ISM frequency bands are consistent with The public frequency band in the mobile device positioning system communication protocol is within the protection scope of the present application. The public frequency band communication module in this embodiment includes at least one of 433MHZ, 868MHZ, 2.4GHZ, and 5GHZ WIFI modules, wherein it can be understood that The 2.4GHZ module includes at least one of a 2.4GHZ WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.

实施例5Example 5

本申请文件还提出了一种自移动设备，自移动设备包括工作模块、移动模块、驱动模块、控制模块，工作模块用于执行作业，移动模块带动自移动设备主体移动，驱动模块为工作模块和移动模块提供动力，控制模块能够控制工作模块、移动模块、驱动模块，自移动设备通过本申请文件上述提供的网络RTK定位***定位。可理解的是，自动移动设备可以为智能割草机或清洁机器人等自动、半自动机器。The application file also proposes a self-mobile device, the self-mobile device comprises a working module, a mobile module, a driving module and a control module, the working module is used for performing a job, the mobile module is driven to move from the mobile device body, and the driving module is a working module and The mobile module provides power, and the control module can control the working module, the mobile module, and the driving module, and the mobile device is positioned by the network RTK positioning system provided by the above document. It can be understood that the automatic mobile device can be an automatic or semi-automatic machine such as a smart lawn mower or a cleaning robot.

实施例6Example 6

本申请文件还提出一种自动工作***，包括上述提供的自移动设备和上述提供的自移动设备的网络RTK定位***。The present application also proposes an automatic working system comprising the self-mobile device provided above and the network RTK positioning system of the self-mobile device provided above.

实施例7Example 7

本申请文件还提出一种计算设备的处理方法，该计算设备应用于自移动设备的网络RTK定位***中，定位***包括若干基准站，基准站包括用于接收卫星信号的第一卫星信号接收器，还包括第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，该处理方法包括以下步骤：判断基准站安装位置的网络环境是否支持通过公用频段通信网络的至少一个进行通信，根据判断结果为基准站的第一基准站通信模块提供不同的通信模块以接入互联网。The application document also proposes a processing method of a computing device, which is applied to a network RTK positioning system of a mobile device, the positioning system comprises a plurality of reference stations, and the reference station comprises a first satellite signal receiver for receiving satellite signals And a first base station communication module, configured to communicate with the data processing center through the first base station communication module, to obtain, from the mobile device, a correction signal generated according to the position of the mobile device, the processing method comprising the following steps: determining a reference Whether the network environment of the station installation location supports communication through at least one of the public band communication networks, and according to the judgment result, the first base station communication module of the base station provides different communication modules to access the Internet.

在一个优选的实施例中，基准站还包括第二基准站通信模块。In a preferred embodiment, the base station further includes a second base station communication module.

在一个优选的实施例中，基准站上的第一基准站通信模块能够更换为第二基准站通信模块，基准站上设置接口，第一基准站通信模块和第二基准站通信模块能够可互换地安装在接口上。In a preferred embodiment, the first base station communication module on the base station can be replaced with a second base station communication module, the interface is set on the base station, and the first base station communication module and the second base station communication module can be mutually Replace the ground and install it on the interface.

其中，第二基准站通信模块包括蜂窝网络模块、有线网络模块中的至少一个。The second base station communication module includes at least one of a cellular network module and a wired network module.

在一个优选的实施例中，判断基准站安装位置的网络环境是否支持通过公用频段通信网络的至少一个进行通信的步骤包括一个判断基准站安装位置的网络环境是否满足预设提供条件的步骤，根据判断结果，提供第一基准站通信模块、第二基准站通信模块中的至少一个。In a preferred embodiment, the step of determining whether the network environment of the base station installation location supports communication through at least one of the public band communication network includes a step of determining whether the network environment of the base station installation location satisfies a preset provision condition, according to As a result of the determination, at least one of the first base station communication module and the second base station communication module is provided.

在一个优选的实施例中，判断的具体手段包括：判断基准站安装位置的网络环境的判断方法包括通过提供一个供用户录入信息的订单，所述信息包括基准站安装位置的网络环境，根据录入的订单信息得到一个判断结果。In a preferred embodiment, the specific means for determining includes: determining a network environment of the base station installation location by providing an order for the user to enter information, the information including the network environment of the base station installation location, according to the entry The order information is given a judgment result.

在一个优选的实施例中，判断的具体手段包括：判断基准站安装位置的网络环境的判断方法包括提供一个检查装置，检查基准站安装位置的网络环境，根据检查结果得到一个判断结果。In a preferred embodiment, the specific means for determining includes: determining a network environment of the installation location of the reference station comprises: providing an inspection device, checking a network environment of the installation location of the base station, and obtaining a determination result according to the inspection result.

根据判断结果，提供第一基准站通信模块的至少一个和第二基准站通信模块的至少一个或，提供第二基准站通信模块中的至少一个或，提供第一基准站通信模块中的至少一个。Providing at least one of the at least one of the first base station communication module and the second base station communication module, or at least one of the second base station communication modules, or at least one of the first base station communication modules, according to the determination result .

情况一：Case 1:

判断基准站安装位置的网络环境是否满足预设提供条件，其中预设提供条件包括基准站的安装位置存在公用频段通信网络。当满足该预设提供条件时，提供第一基准站通信模块的至少一个；当不满足预设提供条件时，提供并开通第二基准站通信模块。Determining whether the network environment of the installation location of the base station satisfies a preset provision condition, wherein the preset provision condition includes that the installation location of the base station has a public frequency band communication network. When the preset providing condition is satisfied, at least one of the first base station communication modules is provided; when the preset providing condition is not met, the second base station communication module is provided and turned on.

情况二：Case 2:

预设提供条件包括公用频段通信网络信号能够全面覆盖工作区域。当满足预设提供条件时，提供公用频段通信模块中的至少一个；当不满足预设提供条件时，提供第一基准站通信模块中的至少一个和提供并开通第二基准站通信模块。The preset provision conditions include that the public band communication network signal can fully cover the work area. Providing at least one of the common band communication modules when the preset providing condition is satisfied; providing at least one of the first base station communication modules and providing and opening the second base station communication module when the preset providing condition is not satisfied.

情况三：Case 3:

预设提供条件包括公用频段通信网络的信号质量是否满足预设条件。当满足预设提供条件时，提供公用频段通信模块中的至少一个；当不满足预设提供条件时，提供第一基准站通信模块中的至少一个并提供第二基准站通信模块。当不满足预设提供条件但有工作需求时，提供并开通第二基准站通信模块。The preset provision condition includes whether the signal quality of the public band communication network satisfies a preset condition. At least one of the common band communication modules is provided when the preset providing condition is satisfied; at least one of the first base station communication modules is provided and the second base station communication module is provided when the preset providing condition is not satisfied. The second base station communication module is provided and activated when the preset provision condition is not met but there is work demand.

情况四：Situation 4:

预设提供条件包括判断存在能够将公用频段通信模块的至少一个转接入互联网的转接设备。当满足预设提供条件时，提供第一基准站通信模块的至少一个；当不满足预设提供条件时，提供并开通第二基准站通信模块。The preset provision condition includes determining that there is a transit device capable of transferring at least one of the public band communication modules to the Internet. Providing at least one of the first base station communication modules when the preset supply condition is satisfied; providing and opening the second base station communication module when the preset supply condition is not satisfied.

上述四种情况，当第二通信模块为蜂窝网络模块时，开通蜂窝网络模块式，生成一个计价方案。计价方案包括按流量计价或收取固定费用。In the above four cases, when the second communication module is a cellular network module, the cellular network module is activated to generate a pricing plan. The pricing plan includes a flow rate or a flat fee.

实施例8Example 8

本申请文件提出的计算设备应用于APP应用***或智能终端中，智能终端带有微处理机,且有输入和输出、存储信息、处理信息等功能的终端，例如包括计算机设备、平板电脑、手机等所有本领域可理解的智能终端设备，APP应用***为设置于智能终端上的应用软件。通俗的将，该计算设备能够应用于智能终端的网页程序或APP应用***等所有能够处理信息的计算机设备中。The computing device proposed in the application file is applied to an APP application system or an intelligent terminal, and the smart terminal has a microprocessor, and has terminals for inputting and outputting, storing information, processing information, and the like, for example, including a computer device, a tablet computer, and a mobile phone. And all the smart terminal devices that can be understood in the art, the APP application system is an application software set on the smart terminal. In general, the computing device can be applied to all computer devices capable of processing information, such as a web page program of an intelligent terminal or an APP application system.

本申请文件还提出一种计算设备的处理方法，该计算设备应用于自移动设备的网络RTK定位***中，定位***包括若干基准站，基准站包括用于接收卫星信号的第一卫星信号接收器，还包括第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，该处理方法包括以下步骤：判断基准站安装位置的网络环境是否存在能够支持通过接入自有网络的转接设备而接入互联网以进行通信的网络，根据判断结果为基准站的第一基准站通信模块提供不同网络模块以接入互联网。The application document also proposes a processing method of a computing device, which is applied to a network RTK positioning system of a mobile device, the positioning system comprises a plurality of reference stations, and the reference station comprises a first satellite signal receiver for receiving satellite signals And a first base station communication module, configured to communicate with the data processing center through the first base station communication module, to obtain, from the mobile device, a correction signal generated according to the position of the mobile device, the processing method comprising the following steps: determining a reference Whether the network environment of the station installation location has a network capable of supporting access to the Internet for communication by accessing the switching device of the own network, and according to the judgment result, the first base station communication module of the base station is provided with different network modules to access the Internet.

在一个优选的实施例中，通过接入自有网络的转接设备而接入互联网以进行通信的网络包括通过接入公用频段通信网络。In a preferred embodiment, the network that accesses the Internet for communication by accessing the transit device of the own network includes accessing the public band communication network.

情况一：Case 1:

情况二：Case 2:

情况三：Case 3:

情况四：Situation 4:

如图7中所示，一种CORS***，包括移动站10、在移动站的区域内建立多个基准站，例如多个基准站的数量一般3个或3个以上，第一基准站20，第二基准站21，第三基准站22，数据处理中心30，各基准站相互距离一般为50～100公里，移动站10接收卫星40的定位导航，卫星40播发卫星数据到第一基准站20，第二基准站21，第三基准站22，第一基准站20，第二基准站21，第三基准站22通过卫星数据传输模块将卫星数据传输给数据处理中心30，数据处理中心30接收第一基准站20，第二基准站21，第三基准站22的数据，结合网络RTK算法整合全基准站网络的数据进行解算，可以在移动站10附近模拟出虚拟基站VRS(<1m)并解算出更准确的电离层和对流层数据，解算出差分修正数据，实现覆盖区域较高定位精度，数据处理中心30将差分修正数据传输给移动站10的差分数据接收模块，其中，各基准站的卫星数据传输模块至少包括WIFI模块和/或无线电模块。As shown in FIG. 7, a CORS system includes a mobile station 10, and a plurality of base stations are established in an area of the mobile station. For example, the number of the plurality of base stations is generally three or more, and the first base station 20 is The second base station 21, the third base station 22, the data processing center 30, and the base stations are generally 50 to 100 kilometers apart from each other. The mobile station 10 receives the positioning and navigation of the satellite 40, and the satellite 40 broadcasts the satellite data to the first base station 20. The second base station 21, the third base station 22, the first base station 20, the second base station 21, and the third base station 22 transmit satellite data to the data processing center 30 via the satellite data transmission module, and the data processing center 30 receives The data of the first base station 20, the second base station 21, and the third base station 22 are combined with the network RTK algorithm to integrate the data of the entire base station network, and the virtual base station VRS (<1m) can be simulated near the mobile station 10. The solution further calculates the more accurate ionospheric and tropospheric data, solves the differential correction data, and achieves higher positioning accuracy of the coverage area, and the data processing center 30 transmits the differential correction data to the differential data receiving module of the mobile station 10, wherein The satellite data transmission module of each base station includes at least a WIFI module and/or a radio module.

根据需要，各基准站的卫星数据传输模块还包括有线模块和/或3G模块。The satellite data transmission module of each base station also includes a wired module and/or a 3G module as needed.

该CORS***中的各基准站的运行方法包括：基准站的卫星导航模块使用WIFI模块和/或无线电模块接收差分修正数据，当***检测到WIFI信号和/或无线电信号不好时，***发送信号提示3G信号开通，并切换至3G通信模式。The operation method of each base station in the CORS system includes: the satellite navigation module of the reference station receives the differential correction data by using the WIFI module and/or the radio module, and when the system detects that the WIFI signal and/or the radio signal is not good, the system sends a signal. The 3G signal is turned on and switched to the 3G communication mode.

其中，当***检测到WIFI信号和/或无线电信号不好时，***检测有线模块信号，有线信号不好时，***发送信号提示3G信号开通，并切换至3G通信模式。When the system detects that the WIFI signal and/or the radio signal is not good, the system detects the wired module signal. When the wired signal is not good, the system sends a signal to prompt the 3G signal to be turned on, and switches to the 3G communication mode.

请结合图8所示，以下介绍实施例1-4。Referring to Figure 8, the following describes Examples 1-4.

<实施例9><Example 9>

基准站的卫星传输模块包括WIFI模块，通过WIFI模块将卫星数据传输给数据处理中心，当不支持WIFI信号时，例如当基准站的距离较偏远，基准站的位置距离可连接的网络站超过WIFI信号的传输距离时，一般WIFI信号可支持最大为50m的传输距离，例如基准站到可连接的网络站距离超过50m时，基准值则连接有线模块，当不支持连接有线模块时，例如距离较远或连接有线布局较繁琐时，则连接3G模块，通过3G模块将卫星数据传输给数据处理中心。The satellite transmission module of the base station includes a WIFI module, and the satellite data is transmitted to the data processing center through the WIFI module. When the WIFI signal is not supported, for example, when the distance of the reference station is relatively remote, the location of the base station is longer than the connectable network station. When the signal transmission distance, the general WIFI signal can support a transmission distance of up to 50m. For example, when the distance from the base station to the connectable network station exceeds 50m, the reference value is connected to the wired module. When the connection of the wired module is not supported, for example, the distance is relatively high. When the remote or connected wired layout is cumbersome, the 3G module is connected, and the satellite data is transmitted to the data processing center through the 3G module.

<实施例10><Example 10>

基准站的卫星传输模块包括无线电模块，通过无线电模块将卫星数据传输给数据处理中心，当不支持无线电信号时，例如当基准站的距离较偏远，基准站的位置距离可连接的网络站超过无线电信号的传输距离时，一般无线电信号可支持最大为100m的传输距离，例如基站站到可连接的网络站距离超过100m时，则连接有线模块，当不支持连接有线模块时，例如基准站的位置距离到可连接的网络站距离较远或连接有线布局较繁琐时，则连接3G模块，通过3G模块将卫星数据传输给数据处理中心。The satellite transmission module of the base station includes a radio module that transmits satellite data to the data processing center through the radio module. When the radio signal is not supported, for example, when the distance of the base station is relatively remote, the location of the base station is more than the distance from the connectable network station. When the signal is transmitted, the general radio signal can support a transmission distance of up to 100m. For example, when the distance from the base station to the connectable network station exceeds 100m, the wired module is connected. When the wired module is not supported, for example, the location of the base station. When the distance to the connectable network station is far away or the wired layout is cumbersome, the 3G module is connected, and the satellite data is transmitted to the data processing center through the 3G module.

<实施例11><Example 11>

基准站的卫星传输模块包括WIFI模块，通过WIFI模块将卫星数据传输给数据处理中心，当不支持WIFI信号时，例如基准站的距离较偏远，基准站的位置距离可连接的网络站超过WIFI信号的传输距离时，则连接无线电模块，通过无线电模块将卫星数据传输给数据处理中心，当不支持无线电模块，例如当基准站的距离较偏远，基准站的位置距离可连接的网络站超过无线电信号的传输距离时，则连接有线模块，但当不支持有线模块时，例如距离较远或连接有线布局较繁琐时，则连接3G模块，通过3G模块将卫星数据传输给数据处理中心。The satellite transmission module of the base station includes a WIFI module, and the satellite data is transmitted to the data processing center through the WIFI module. When the WIFI signal is not supported, for example, the distance of the reference station is relatively remote, and the location of the base station is longer than the WIFI signal of the connectable network station. When the transmission distance is connected, the radio module is connected, and the satellite data is transmitted to the data processing center through the radio module. When the radio module is not supported, for example, when the distance of the reference station is relatively remote, the position of the reference station is longer than the radio signal of the connectable network station. When the transmission distance is long, the wired module is connected, but when the wired module is not supported, for example, if the distance is long or the wired layout is cumbersome, the 3G module is connected, and the satellite data is transmitted to the data processing center through the 3G module.

<实施例12><Example 12>

基准站的卫星传输模块包括无线电模块，通过无线电模块将卫星数据传输给数据处理中心，当不支持无线电信号时，例如基准站的距离较偏远，基准站的位置距离可连接的网络站超过无线电信号的传输距离时，则连接WIFI模块，通过WIFI模块将卫星数据传输给数据处理中心，当不支持WIFI模块时，例如当基准站的距离较偏远，基准站的位置距离可连接的网络站超过WIFI信号的传输距离时，则连接有线模块，但当不支持有线模块时，例如距离较远或连接有线布局较繁琐时，则连接3G模块，通过3G模块将卫星数据传输给数据处理中心。The satellite transmission module of the base station includes a radio module, and the satellite data is transmitted to the data processing center through the radio module. When the radio signal is not supported, for example, the distance of the reference station is relatively remote, and the location of the base station is longer than the radio signal of the connectable network station. When the transmission distance is connected, the WIFI module is connected, and the satellite data is transmitted to the data processing center through the WIFI module. When the WIFI module is not supported, for example, when the distance of the reference station is relatively remote, the location of the reference station is longer than the connectable network station. When the signal transmission distance is connected, the wired module is connected. However, when the wired module is not supported, for example, if the distance is long or the wired layout is cumbersome, the 3G module is connected, and the satellite data is transmitted to the data processing center through the 3G module.

一种移动站10，移动站10的差分数据接收模块至少包括WIFI模块和/或无线电模块。根据需要，移动站的差分数据接收模块还包括3G模块。A mobile station 10, the differential data receiving module of the mobile station 10 comprising at least a WIFI module and/or a radio module. The differential data receiving module of the mobile station also includes a 3G module as needed.

本申请文件中移动站10为移动的机械设备，例如可以智能割草机或清洁机器人等自动、半自动机器。在以下的所有实施例中，移动站以智能割草机为例。In the present application, the mobile station 10 is a mobile mechanical device, such as an automatic or semi-automatic machine such as a smart lawn mower or a cleaning robot. In all of the following embodiments, the mobile station takes a smart lawn mower as an example.

该具有CORS***的移动站的运行方法包括：移动站的差分数据接收模块使用WIFI模块和/或无线电模块接收差分修正数据，当检测到WIFI信号和/或无线电信号不好时，***发送信号提示3G信号开通，并切换至3G通信模式。The operating method of the mobile station with the CORS system includes: the differential data receiving module of the mobile station receives the differential correction data by using the WIFI module and/or the radio module, and when detecting that the WIFI signal and/or the radio signal is not good, the system sends a signal prompt The 3G signal is turned on and switched to the 3G communication mode.

结合图9所示，以下介绍实施例5-8。Referring to Figure 9, the embodiment 5-8 is described below.

<实施例13><Example 13>

智能割草机的差分数据接收模块使用WIFI模块接收数据，不支持WIFI信号时，切换3G模块通信。The differential data receiving module of the intelligent mower receives data using the WIFI module, and switches the communication of the 3G module when the WIFI signal is not supported.

<实施例14><Example 14>

智能割草机的差分数据接收模块使用无线电模块接收数据，不支持无线电信号时，切换3G模块通信。The differential data receiving module of the intelligent mower receives data using the radio module, and switches the 3G module communication when the radio signal is not supported.

<实施例15><Example 15>

智能割草机的差分数据接收模块使用WIFI模块接收数据，不支持WIFI信号时，使用无线电模块接收数据，不支持无线电信号时，切换3G模块通信。The differential data receiving module of the intelligent mower uses the WIFI module to receive data. When the WIFI signal is not supported, the radio module is used to receive data. When the radio signal is not supported, the 3G module communication is switched.

<实施例16><Example 16>

智能割草机的差分数据接收模块使用无线电模块接收数据，不支持无线电信号时，使用 WIFI模块接收数据，不支持WIFI信号时，切换3G模块通信。The differential data receiving module of the intelligent mower uses the radio module to receive data. When the radio signal is not supported, the WIFI module is used to receive data. When the WIFI signal is not supported, the 3G module communication is switched.

在一个具体的实施例中，当星基增强的情况时，智能割草机的差分数据接收模块使用卫星模块接收数据，数据处理中心将差分修正数据传输给通讯卫星，通讯卫星将差分修正数据传输给智能割草机的差分数据接收模块。In a specific embodiment, when the satellite base is enhanced, the differential data receiving module of the intelligent lawn mower receives the data using the satellite module, the data processing center transmits the differential correction data to the communication satellite, and the communication satellite transmits the differential correction data. A differential data receiving module for a smart mower.

当智能割草机的差分数据接收模块使用3G模块接收差分修正数据时，数据处理中心直接将差分修正数据传输给移动站。When the differential data receiving module of the intelligent mower receives the differential correction data using the 3G module, the data processing center directly transmits the differential correction data to the mobile station.

如图7所示，该CORS***中，还包括用户***50，智能割草机的差分数据接收模块使用WIFI模块和/或无线电模块接收差分修正数据时，数据处理中心40将差分修正数据通过网络传输给用户***50，用户***50将差分修正数据传输给移动站10的WIFI模块或无线电模块。As shown in FIG. 7, the CORS system further includes a user system 50. When the differential data receiving module of the intelligent lawn mower receives the differential correction data using the WIFI module and/or the radio module, the data processing center 40 passes the differential correction data through the network. The user system 50 transmits the differential correction data to the WIFI module or radio module of the mobile station 10.

请结合图10所示，用户***50包括路由器51和网络无线电转换器52，当智能割草机的差分数据接收模块使用WIFI模块接收差分修正数据时，智能割草机通过路由器51获得WIFI信号。As shown in FIG. 10, the user system 50 includes a router 51 and a network radio switch 52. When the differential data receiving module of the smart mower receives the differential correction data using the WIFI module, the smart mower obtains the WIFI signal through the router 51.

当智能割草机的差分数据接收模块使用无线电模块接收差分修正数据时，智能割草机通过网络无线电转换器52和路由器51获得无线电信号。网络无线电转换器52包括无线电模块521，天线522，网络模块523和控制模块524，网络无线电转换器52中网络模块523通过有线/无线方式访问路由器51获取网络连接，通过控制模块524将网络数据转换成无线电数据，通过无线电模块521经过天线522将无线电数据传输给智能割草机的无线电接收模块，从而数据处理中心40能够将差分修正数据通过用户***50传输给智能割草机。When the differential data receiving module of the smart mower receives the differential correction data using the radio module, the smart mower obtains the radio signal through the network radio converter 52 and the router 51. The network radio converter 52 includes a radio module 521, an antenna 522, a network module 523 and a control module 524. The network module 523 in the network radio switch 52 accesses the router 51 via a wired/wireless mode to acquire a network connection, and converts the network data through the control module 524. The radio data is transmitted to the radio receiving module of the intelligent mower via the radio module 521 via the antenna 522, so that the data processing center 40 can transmit the differential correction data to the intelligent mower through the user system 50.

本申请文件还提出了一种配备有CORS***的基准站，基准站的卫星数据传输模块包括可更换的WIFI模块和/或无线电模块。当WIFI模块和/或无线电模块不可用时，则直接可以将WIFI模块和/或无线电模块替换为其他可支持的模块，例如更换为有线模块和/或3G模块。也就是说，根据实际情况，基准站的卫星数据传输模块WIFI模块、无线电模块、有线模块、3G模块相互之间可更换。The present application also proposes a base station equipped with a CORS system, the satellite data transmission module of the base station comprising a replaceable WIFI module and/or a radio module. When the WIFI module and/or the radio module are not available, the WIFI module and/or the radio module can be directly replaced with other supportable modules, for example, replaced with a wired module and/or a 3G module. That is to say, according to the actual situation, the satellite data transmission module WIFI module, radio module, wired module and 3G module of the base station can be replaced with each other.

<实施例17><Example 17>

基准站的卫星传输模块包括WIFI模块，通过WIFI模块将卫星数据传输给数据处理中心，当不支持WIFI信号时，例如当基准站的距离较偏远，基准站的位置距离可连接的网络站超过WIFI信号的传输距离时，则将WIFI模块更换为无线电模块或有线模块或3G模块。The satellite transmission module of the base station includes a WIFI module, and the satellite data is transmitted to the data processing center through the WIFI module. When the WIFI signal is not supported, for example, when the distance of the reference station is relatively remote, the location of the base station is longer than the connectable network station. When the signal transmission distance is changed, the WIFI module is replaced with a radio module or a wired module or a 3G module.

<实施例18><Example 18>

基准站的卫星传输模块包括无线电模块，通过无线电模块将卫星数据传输给数据处理中心，当不支持无线电信号时，例如当基准站的距离较偏远，基准站的位置距离可连接的网络站超过无线电信号的传输距离时，则将无线电模块更换为WIFI模块或有线模块或3G模块。The satellite transmission module of the base station includes a radio module that transmits satellite data to the data processing center through the radio module. When the radio signal is not supported, for example, when the distance of the base station is relatively remote, the location of the base station is more than the distance from the connectable network station. When the signal is transmitted, replace the radio module with a WIFI module or a wired module or a 3G module.

<实施例19><Example 19>

基准站的卫星传输模块包括WIFI模块和无线电模块，通过WIFI模块和无线电模块将卫星数据传输给数据处理中心，当不支持WIFI信号和无线电信号时，例如当基准站的距离较偏远，基准站的位置距离可连接的网络站超过WIFI信号和无线电信号的传输距离时，则更换为有线模块或3G模块。The satellite transmission module of the base station includes a WIFI module and a radio module, and the satellite data is transmitted to the data processing center through the WIFI module and the radio module. When the WIFI signal and the radio signal are not supported, for example, when the distance of the reference station is relatively remote, the base station When the distance from the connectable network station exceeds the transmission distance of the WIFI signal and the radio signal, it is replaced with a wired module or a 3G module.

本申请文件还提出了一种配备有CORS***的移动站，移动站的差分数据接收模块包括可更换的WIFI模块和/或无线电模块。可以理解的是，当WIFI模块和/或无线电模块不可用时，则直接可以将WIFI模块和/或无线电模块替换为其他可支持的模块，例如更换为3G模块。也就是说，根据实际情况，WIFI模块、无线电模块、3G模块相互之间可更换。The present application also proposes a mobile station equipped with a CORS system, the differential data receiving module of the mobile station comprising a replaceable WIFI module and/or a radio module. It can be understood that when the WIFI module and/or the radio module are not available, the WIFI module and/or the radio module can be directly replaced with other supportable modules, for example, replaced with a 3G module. That is to say, according to the actual situation, the WIFI module, the radio module, and the 3G module can be replaced with each other.

<实施例20><Example 20>

智能割草机的差分数据接收模块使用WIFI模块接收数据，不支持WIFI信号时，WIFI模块可更换为无线电模块或3G模块。The differential data receiving module of the intelligent mower uses the WIFI module to receive data. When the WIFI signal is not supported, the WIFI module can be replaced with a radio module or a 3G module.

<实施例21><Example 21>

智能割草机的差分数据接收模块使用无线电模块接收数据，不支持无线电信号时，无线电模块可更换为WIFI模块或3G模块。The differential data receiving module of the intelligent mower uses the radio module to receive data. When the radio signal is not supported, the radio module can be replaced with a WIFI module or a 3G module.

<实施例22><Example 22>

智能割草机的差分数据接收模块使用WIFI模块和无线电模块接收数据，不支持WIFI信号和无线电信号时，WIFI模块和无线电模块更换为3G模块。The differential data receiving module of the intelligent mower receives data using the WIFI module and the radio module. When the WIFI signal and the radio signal are not supported, the WIFI module and the radio module are replaced with the 3G module.

如图7所示，一种CORS***，在区域内建立多个基准站，一般为3个或3个以上，对该区域内构成网络覆盖，其中至少部分基准站能够支持WIFI信号和/或无线电信号，例如其中一个基准站通过WIFI信号或无线电信号将卫星数据传输给数据处理中心。使用WIFI信号或无线电信号传输数据，相对于有线或3G传输的其他方式，节约了网络传输费用，且安装方便。As shown in FIG. 7, a CORS system establishes a plurality of base stations in a region, generally three or more, and constitutes network coverage in the area, wherein at least part of the base stations can support WIFI signals and/or radios. A signal, such as one of the base stations, transmits the satellite data to the data processing center via a WIFI signal or a radio signal. Using WIFI signals or radio signals to transmit data, compared to wired or 3G transmission, saves network transmission costs and is easy to install.

智能割草机的卫星导航装置在接收到差分修正数后，需要根据修正数准确定位自身的坐标位置，使智能割草机准确移动，提高割草效率。After receiving the differential correction number, the satellite navigation device of the intelligent mower needs to accurately locate its own coordinate position according to the correction number, so that the intelligent mower can accurately move and improve the mowing efficiency.

如图9所示，智能割草机的导航定位装置包括：As shown in FIG. 9, the navigation and positioning device of the intelligent lawn mower includes:

定位模块：用于根据卫星的导航信号和差分修正数据定位智能割草机的位置坐标；Positioning module: configured to position the position coordinates of the intelligent lawn mower according to the navigation signal of the satellite and the differential correction data;

控制模块，用于根据位置坐标控制智能割草机移动。A control module for controlling the movement of the intelligent mower according to the position coordinates.

该智能割草机的卫星导航装置的运行方法，包括如下：The operation method of the satellite navigation device of the intelligent lawn mower includes the following:

S1，定位天线接收卫星的导航信号，定位模块定位移动站的位置坐标，控制模块控制移动站移动；S1, the positioning antenna receives the navigation signal of the satellite, the positioning module locates the position coordinate of the mobile station, and the control module controls the movement of the mobile station;

S2，检测模块检测差分数据接收模块的信号情况，使用WIFI模块、无线电模块或3G模块其中之一接收差分修正数据；S2. The detecting module detects a signal condition of the differential data receiving module, and receives the differential correction data by using one of a WIFI module, a radio module or a 3G module;

S3，差分数据接收模块接收数据处理中心发送的差分修正数据；S3. The differential data receiving module receives the differential correction data sent by the data processing center.

S4，定位模块根据卫星的导航信号和差分修正数据定位移动站的位置坐标；S4. The positioning module locates the position coordinates of the mobile station according to the navigation signal of the satellite and the differential correction data.

S5，根据修正的位置坐标控制移动站移动。S5, controlling the movement of the mobile station according to the corrected position coordinates.

本申请文件中，卫星信号可以为GPS信号、北斗导航信号、欧洲的Galileo信号、俄罗斯的Glonass信号等导航定位信号。In the present application, the satellite signal can be a navigation signal such as a GPS signal, a Beidou navigation signal, a European Galileo signal, a Russian Glonass signal, and the like.

其中，如图11所示，智能割草机的检测模块检测差分数据接收模块信号的程序流程如下：(1)、检测器检测WIFI信号情况，WIFI信号良好时，使用WIFI模块接收差分修正数据，无WIFI信号或WIFI信号不好时，进入步骤(2)；As shown in FIG. 11 , the program flow of the detection module of the intelligent lawn mower detecting the signal of the differential data receiving module is as follows: (1) The detector detects the WIFI signal condition, and when the WIFI signal is good, the WIFI module is used to receive the differential correction data. If there is no WIFI signal or the WIFI signal is not good, proceed to step (2);

(2)、检测无线电信号情况，无线电信号良好时，使用无线电模块接收差分修正数据，间隔一段时间T，重新进入步骤(1)，无无线电信号或无线电信号不好时，进入步骤(3)；其中，T例如为10分钟。(2) detecting the radio signal condition, when the radio signal is good, using the radio module to receive the differential correction data, and waiting for a period of time T, re-entering step (1), if there is no radio signal or the radio signal is not good, proceed to step (3); Wherein T is, for example, 10 minutes.

(3)、启动3G信号接收差分修正数据，间隔一段时间T1，重新进入步骤(1)，或者间隔一段时间T2进入步骤(2)。其中，T1例如为10分钟，T2例如为1分钟。T、T1、T2的具体设定时间可根据***的不同情况而设定为不同数值。(3) Start the 3G signal receiving differential correction data, and wait for a period of time T1, re-enter step (1), or enter step (2) at intervals of time T2. Wherein T1 is, for example, 10 minutes, and T2 is, for example, 1 minute. The specific setting time of T, T1, and T2 can be set to different values according to different conditions of the system.

可选择的是：当检测器检测到智能割草机的差分接收模块未安装WIFI模块时，***可提示关闭检测器检测WIFI信号的步骤(1)或者用户通过控制按钮可关闭检测器检测WIFI的步骤(1)。当检测器检测到智能割草机的差分接收模块未安装无线电模块时，***可提示关闭检测器检测无线电信号的步骤(2)或者用户通过控制按钮可关闭检测器检测无线电的步骤(2)。或者检测器检测到智能割草机检测到***未安装3G模块时，***可提示关闭检测3G信号的步骤(3)或者用户通过控制按钮可关闭检测器检测3G信号的步骤(3)。Alternatively, when the detector detects that the differential receiving module of the intelligent mower does not have the WIFI module installed, the system may prompt to close the detector to detect the WIFI signal (1) or the user can turn off the detector to detect the WIFI through the control button. step 1). When the detector detects that the differential receiving module of the smart mower is not equipped with the radio module, the system may prompt the step of closing the detector to detect the radio signal (2) or the step of the user to turn off the detector to detect the radio by the control button (2). Or when the detector detects that the intelligent lawn mower detects that the system does not have the 3G module installed, the system may prompt to close the step of detecting the 3G signal (3) or the user may turn off the detector to detect the 3G signal through the control button (3).

可以理解的是，在其他的实施例中，也存在检测器先检测无线电信号，再检测WIFI信号，最后检测3G信号的情况，方法与上述相同，这里不再赘述。It can be understood that, in other embodiments, there is also a case where the detector first detects the radio signal, then detects the WIFI signal, and finally detects the 3G signal, and the method is the same as the above, and details are not described herein again.

基于以上CORS***，在销售智能割草机时，销售人员需要询问用户地址、草坪大小、WIFI设备及无线电设备确认，以确定用户家是否支持WIFI信号和/或无线电信号。当支持WIFI设备和/或无线电设备时，则费用较低，当用户家不支持WIFI设备和无线电设备时，则开通3G模块，费用较高，包括收取一次性收取高价费用或高价年费。例如：询问用户家的WIFI设备情况，当用户家不支持WIFI设备时，如当用户家草坪大，超过WIFI信号的覆盖范围时，或者，如用户家无WIFI设备，用户家WIFI信号经常不好，用户主观不想购买使用WIFI模块的智能割草机时；则询问用户家的无线电设备情况，当用户家不支持无线电设备时，如当用户家的草坪较大，超过无线电信号的覆盖范围时，或者，如用户家无无线电设备，用户家无线电信号经常不好，用户主观不想使用无线电设备的智能割草机时，则销售带3G模块的智能割草机，并收取高价费用。Based on the above CORS system, when selling a smart mower, the salesperson needs to ask the user address, lawn size, WIFI device and radio device confirmation to determine if the user's home supports WIFI signals and/or radio signals. When the WIFI device and/or the radio device are supported, the cost is low. When the user's home does not support the WIFI device and the radio device, the 3G module is activated, and the cost is high, including charging a one-time high price or a high annual fee. For example: ask the WIFI device of the user's home. When the user's home does not support the WIFI device, such as when the user's home lawn is large and exceeds the coverage of the WIFI signal, or if the user's home does not have a WIFI device, the user's home WIFI signal is often not good. When the user does not want to purchase a smart mower using the WIFI module; then ask the user's home radio device, when the user's home does not support the radio device, such as when the user's home lawn is large and exceeds the coverage of the radio signal, Or, if the user's home has no radio equipment, the user's home radio signal is often not good. When the user does not want to use the intelligent lawn mower of the radio equipment, the intelligent lawn mower with the 3G module is sold and charged a high price.

可以理解的是，当用户家支持WIFI设备及无线电设备时，根据用户的需要，也可以附带开通3G模块。It can be understood that when the user supports the WIFI device and the radio device, the 3G module can also be opened according to the needs of the user.

具体在销售时，根据不同情况销售不同的智能割草机。如图12所示，在具体的实施例中：Specifically, when selling, different smart lawn mowers are sold according to different situations. As shown in Figure 12, in a specific embodiment:

销售时，询问用户家是否需要WIFI模块，包括用户家的草坪大小是否支持、用户家有无WIFI设备、用户家WIFI信号是否经常不好、用户主观是否想购买使用WIFI模块的智能割草机；询问是否家里能否需要无线电模块，包括用户家的草坪大小是否支持、用户家有无无线电设备、用户家无线电信号是否经常不好、用户主观是否想购买使用无线电模块的智能割草机；询问用户是否需要3G模块，包括3G模块的流量费等。根据用户的需求，销售不同类型的割草机。When selling, ask the user whether the user needs the WIFI module, including whether the size of the lawn of the user's home is supported, whether the user's home has WIFI equipment, whether the user's home WIFI signal is often bad, and whether the user subjectively wants to purchase a smart lawn mower using the WIFI module; Ask if the home can need a radio module, including whether the lawn size of the user's home is supported, whether the user's home has radio equipment, whether the user's home radio signal is often bad, whether the user subjectively wants to buy a smart lawn mower using the radio module; ask the user Whether 3G modules are required, including the traffic charges of 3G modules. Different types of lawn mowers are sold according to the needs of users.

对于割草机的类型分为固定式差分数据接收模块割草机和更换式差分数据接收模块割草机。The types of lawn mowers are divided into fixed differential data receiving module lawn mowers and replacement differential data receiving module lawn mowers.

[类型一][Type 1]

固定式差分数据接收模块的割草机为差分数据接收模块固定连接在割草机上，用户不能自行拆卸，此种类型的割草机安装可靠，不易松动。类型大致分以下几种：The mower of the fixed differential data receiving module is fixedly connected to the lawn mower for the differential data receiving module, and the user cannot disassemble it by itself. This type of mower is reliable in installation and is not easy to loose. The types are roughly divided into the following types:

本实施例中所涉及的智能割草机包括以下几种：割草机A：有WIFI模块、有无线电模块、有3G模块；割草机E：有WIFI模块、有无线电模块、无3G模块；割草机D：有WIFI模块、无无线电模块、有3G模块；割草机H：有WIFI模块、无无线电模块、无3G模块；割草机B：无WIFI模块、有无线电模块、有3G模块；割草机F：无WIFI模块、有无线电模块、无3G模块；割草机C：无WIFI模块、无无线电模块、有3G模块。The intelligent lawn mower involved in this embodiment includes the following types: lawn mower A: has a WIFI module, has a radio module, and has a 3G module; the lawn mower E: has a WIFI module, has a radio module, and has no 3G module; Mower D: WIFI module, no radio module, 3G module; mower H: WIFI module, no radio module, no 3G module; lawn mower B: no WIFI module, radio module, 3G module Mower F: no WIFI module, radio module, no 3G module; mower C: no WIFI module, no radio module, 3G module.

如果用户家需要WIFI模块，需要无线电模块，需要3G模块，则销售割草机A。If the user needs a WIFI module, a radio module is required, and a 3G module is required, the lawn mower A is sold.

如果用户家需要WIFI模块，需要无线电模块，不需要3G模块，则销售割草机E。If the user needs a WIFI module, a radio module is required, and a 3G module is not required, the lawn mower E is sold.

如果用户家需要WIFI模块，不需要无线电模块，需要3G模块，则销售割草机D。If the user needs a WIFI module, does not need a radio module, and needs a 3G module, the lawn mower D is sold.

如果用户家需要WIFI模块，不需要无线电模块，不需要3G模块，则销售割草机H。If the user needs a WIFI module, does not need a radio module, and does not need a 3G module, the lawn mower H is sold.

如果用户家不需要WIFI模块，需要无线电模块，需要3G模块，则销售割草机B。If the user does not need a WIFI module, a radio module is required, and a 3G module is required, the lawn mower B is sold.

如果用户家不需要WIFI模块，需要无线电模块，不需要3G模块，则销售割草机F。If the user does not need a WIFI module, a radio module is required, and a 3G module is not required, the lawn mower F is sold.

如果用户家不需要WIFI模块，不需要无线电模块，需要3G模块，则销售割草机C。If the user does not need a WIFI module, does not need a radio module, and needs a 3G module, the lawn mower C is sold.

[类型二][Type 2]

更换式差分数据接收模块的割草机为差分数据接收模块活动性连接在智能割草机上，方式大致分以下几种：The mower of the replacement differential data receiving module is a differential data receiving module that is actively connected to the intelligent lawn mower in the following manner:

<方式一><Mode 1>

割草机只有一个接口，该接口可分别支持接入WIFI模块、无线电模块和3G模块，根据用户的需要，卖给用户至少其中一个模块。The mower has only one interface, which can respectively support access to the WIFI module, the radio module and the 3G module, and sells at least one of the modules to the user according to the needs of the user.

在一个具体的实施例中，用户需要购买具有WIFI模块和3G模块的智能割草机时，则卖给用户WIFI模块、3G模块，首先，接口接入WIFI模块，使用WIFI模块接收差分修正数据，当WIFI信号不好时，拔掉WIFI模块，接入3G模块，使用3G模块接收差分修正数据。如果用户后续需要安装无线电模块，则只需要更外购买无线电模块，将无线电模块接入割草机接口即可使用。In a specific embodiment, when the user needs to purchase a smart lawn mower with a WIFI module and a 3G module, the user sells the WIFI module and the 3G module. First, the interface is connected to the WIFI module, and the WIFI module is used to receive the differential correction data. When the WIFI signal is not good, the WIFI module is unplugged, the 3G module is accessed, and the differential correction data is received using the 3G module. If the user needs to install the radio module later, then only need to purchase the radio module more, and connect the radio module to the mower interface.

<方式二><Method 2>

割草机具有多个接口，选择WIFI模块、无线电模块和3G模块的其中至少一个模块接入，当接入的模块不支持使用时，则在另一接口接入另外的模块，与方式一不同的是，无须拔掉不支持的模块，直接接入另外的模块即可。The lawn mower has multiple interfaces, and at least one of the modules of the WIFI module, the radio module, and the 3G module is selected to be accessed. When the accessed module does not support the use, the other module is connected to another module, which is different from the mode one. It is not necessary to unplug the unsupported modules and directly access the other modules.

在一个具体的实施例中，割草机只有两个接口时，用户需要购买具有WIFI模块和3G模块的智能割草机时，则卖给用户WIFI模块、3G模块，首先，第一接口接入WIFI模块，使用WIFI模块接收差分修正数据，当WIFI信号不好时，在第二接口接入3G模块，使用3G模块接收差分修正数据。In a specific embodiment, when the lawn mower has only two interfaces, when the user needs to purchase the intelligent lawn mower with the WIFI module and the 3G module, the user sells the WIFI module and the 3G module. First, the first interface is accessed. The WIFI module uses the WIFI module to receive differential correction data. When the WIFI signal is not good, the 3G module is connected to the second interface, and the 3G module is used to receive the differential correction data.

在一个具体的实施例中，割草机具有三个接口时，用户需要购买具有WIFI模块和3G模块的智能割草机时，则卖给用户WIFI模块、3G模块，首先，第一接口接入WIFI模块，使用WIFI模块接收差分修正数据，当WIFI信号不好时，在第二接口接入3G模块，使用3G模块接收差分修正数据。如果用户后续需要安装无线电模块，则只需要更外购买无线电模块，将无线电模块接入割草机的第三个接口即可使用。In a specific embodiment, when the lawn mower has three interfaces, when the user needs to purchase the intelligent lawn mower with the WIFI module and the 3G module, the user sells the WIFI module and the 3G module. First, the first interface is accessed. The WIFI module uses the WIFI module to receive differential correction data. When the WIFI signal is not good, the 3G module is connected to the second interface, and the 3G module is used to receive the differential correction data. If the user subsequently needs to install the radio module, then only the extra radio module needs to be purchased, and the radio module can be connected to the third interface of the mower.

在一个具体的实施例中，割草机具有三个接口时，用户需要购买具有WIFI模块、无线电模块和3G模块的智能割草机时，则卖给用户WIFI模块、无线电模块、3G模块，首先，第一接口接入WIFI模块，使用WIFI模块接收差分修正数据，当WIFI信号不好时，在第二接口无线电模块、当无线电信号不好时，在第三接口接入3G模块，使用3G模块接收差分修正数据。In a specific embodiment, when the lawn mower has three interfaces, when the user needs to purchase a smart lawn mower with a WIFI module, a radio module, and a 3G module, the user sells the WIFI module, the radio module, and the 3G module. The first interface is connected to the WIFI module, and the WIFI module is used to receive the differential correction data. When the WIFI signal is not good, the second interface radio module, when the radio signal is not good, accesses the 3G module on the third interface, and uses the 3G module. Receive differential correction data.

<方式三><Method 3>

割草机具有多个接口，分别接入WIFI模块、无线电模块和3G模块的两种或三种。当使用安装一个模块接收数据时，其他模块并不开通，如果用户不支持安装的模块信号时，则***提示开通其他模块。当三种模块的其中一种或几种坏掉需要更换时，用户可自行购买接口匹配的模块自行接入。The mower has multiple interfaces, which are respectively connected to two or three of the WIFI module, the radio module, and the 3G module. When using one module to receive data, other modules are not enabled. If the user does not support the installed module signal, the system prompts to open other modules. When one or several of the three modules are broken and need to be replaced, the user can purchase the matching module to access the module.

在一个具体的实施例中，割草机具有两个接口，割草机内部同时设有WIFI模块，3G模块，3G模块开始的时候并不开通。如果安装后，用户没有WIFI，或者WIFI信号经常不好，则***发送信号提示开通3G，并切换至3G通信模式。In a specific embodiment, the lawn mower has two interfaces, and the inside of the lawn mower is provided with a WIFI module, a 3G module, and the 3G module is not opened at the beginning. If the user does not have WIFI after installation, or the WIFI signal is often not good, the system sends a signal to prompt to open 3G and switch to 3G communication mode.

在一个具体的实施例中，割草机具有两个接口，割草机内部同时设有无线电模块，3G模块，3G模块开始的时候并不开通。如果安装后，用户没有无线电，或者无线电信号经常不好，则***发送信号提示开通3G，并切换至3G通信模式。In a specific embodiment, the lawn mower has two interfaces, and the mower has a radio module at the same time, and the 3G module does not open when the 3G module starts. If the user does not have a radio after installation, or the radio signal is often not good, the system sends a signal prompting to turn on 3G and switch to 3G communication mode.

在一个具体的实施例中，割草机具有三个接口，割草机内部同时设有WIFI模块、无线电模块，3G模块，无线电模块和3G模块开始的时候并不开通。如果安装后，用户没有WIFI，或者WIFI信号经常不好，则***发送信号提示开通无线电模块，用户没有无线电，或者无线电信号经常不好，则***发送信号提示开通3G，并切换至3G通信模式。In a specific embodiment, the lawn mower has three interfaces, and the mower has a WIFI module, a radio module, a 3G module, a radio module, and a 3G module that are not turned on at the beginning. If the user does not have WIFI after installation, or the WIFI signal is often not good, the system sends a signal to prompt the radio module to be turned on. If the user does not have a radio, or the radio signal is often not good, the system sends a signal to prompt to turn on 3G and switch to the 3G communication mode.

在一个具体的实施例中，割草机具有三个接口，割草机内部同时设有WIFI模块、无线电模块，3G模块，WIFI模块和3G模块开始的时候并不开通。如果安装后，用户没有无线电，或者无线电信号经常不好，则***发送信号提示开通WIFI模块，用户没有WIFI，或者WIFI信号经常不好，则***发送信号提示开通3G，并切换至3G通信模式。In a specific embodiment, the lawn mower has three interfaces, and the WIFI module, the radio module, the 3G module, the WIFI module and the 3G module are not opened at the beginning of the lawn mower. If the user does not have a radio after installation, or the radio signal is often not good, the system sends a signal to prompt the WIFI module to be turned on. If the user does not have WIFI, or the WIFI signal is often not good, the system sends a signal to prompt to open 3G and switch to the 3G communication mode.

综上，结合用户的需求，销售不同类型的智能割草机给用户。In summary, in combination with the needs of users, different types of intelligent lawn mowers are sold to users.

以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

以上所述实施例仅表达了本申请文件的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请文件构思的前提下，还可以做出若干变形和改进，这些都属于本申请文件的保护范围。因此，本申请文件专利的保护范围应以所附权利要求为准。The above-mentioned embodiments are merely illustrative of several embodiments of the present application, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit of the present application. Therefore, the scope of protection of this patent application is subject to the appended claims.

Claims

一种自移动设备的网络RTK定位***，所述定位***包括：A network RTK positioning system for a mobile device, the positioning system comprising:

若干基准站，所述基准站包括第一卫星信号接收器，接收卫星信号，还包括第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，其特征在于，所述至少一个第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。a plurality of base stations, the base station including a first satellite signal receiver, receiving satellite signals, and a first base station communication module, communicating with the data processing center through the first base station communication module for obtaining from the mobile device The correction signal generated by the location of the mobile device is characterized in that the at least one first base station communication module communicates by accessing the Internet through a transit device connected to the own network.
根据权利要求1所述的自移动设备的网络RTK定位***，其特征在于，所述第一基准站通信模块包括公用频段通信模块中的至少一个与转接设备相连而接入互联网。The network RTK positioning system of a mobile device according to claim 1, wherein the first base station communication module comprises at least one of a common band communication module connected to the switching device and connected to the Internet.
根据权利要求1所述的自移动设备的网络RTK定位***，其特征在于，所述公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI模块中的至少一个与转接设备相连而接入互联网。The network RTK positioning system of a mobile device according to claim 1, wherein the public frequency band communication module comprises at least one of a 433 MHz, 868 MHz, 2.4 GHz, and 5 GHz WIFI module connected to the switching device and connected to the Internet. .
根据权利要求3所述的自移动设备的网络RTK定位***，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The network RTK positioning system of a mobile device according to claim 3, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求1所述的自移动设备的网络RTK定位***，其特征在于，所述基准站还包括第二基准站通信模块，与数据处理中心通信。A network RTK positioning system for a self-mobile device according to claim 1 wherein said base station further comprises a second base station communication module in communication with the data processing center.
根据权利要求5所述的自移动设备的网络RTK定位***，其特征在于，所述第二基准站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。The network RTK positioning system of a mobile device according to claim 5, wherein the second base station communication module comprises at least one of a wired network module and a cellular network module.
根据权利要求5所述的自移动设备的网络RTK定位***，其特征在于，所述基准站还包括：The network RTK positioning system of the mobile device according to claim 5, wherein the base station further comprises:

第一检测模块，检测所述第一基准站通信模块的信号质量，当检测到所述第一基准站通信模块的信号质量不满足预设条件时，开通所述第二基准站通信模块进行通信。a first detecting module, detecting a signal quality of the first base station communication module, and when detecting that a signal quality of the first base station communication module does not satisfy a preset condition, opening the second base station communication module to perform communication .
根据权利要求1所述的自移动设备的网络RTK定位***，其特征在于，所述基准站上的第一基准站通信模块能够更换为第二基准站通信模块，所述基准站上设置接口，所述第一基准站通信模块和所述第二基准站通信模块能够可互换地安装在所述接口上。The network RTK positioning system of a mobile device according to claim 1, wherein the first base station communication module on the base station is replaceable with a second base station communication module, and an interface is set on the base station. The first base station communication module and the second base station communication module can be interchangeably mounted on the interface.
一种自移动设备的网络RTK定位***的定位方法，提供若干基准站，所述基准站包括用于接收卫星信号的卫星信号接收器和第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，其特征在于，包括以下步骤：A positioning method of a network RTK positioning system from a mobile device, providing a plurality of reference stations, the reference station comprising a satellite signal receiver for receiving satellite signals and a first base station communication module, through the first base station communication module and The data processing center communicates for obtaining a correction signal generated from the location of the mobile device from the mobile device, and is characterized by the following steps:

所述至少一个第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The at least one first base station communication module communicates by accessing the Internet via a transit device connected to the own network.
根据权利要求9所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述第一基准站通信模块包括公用频段通信模块的至少一个与转接设备相连而接入互联网。The method for locating a network RTK positioning system of a mobile device according to claim 9, wherein the first base station communication module comprises at least one of a common frequency band communication module connected to the switching device and connected to the Internet.
根据权利要求9所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI模块中的至少一个与转接设备相连而接入互联网。The method for locating a network RTK positioning system of a mobile device according to claim 9, wherein the public frequency band communication module comprises at least one of a 433 MHz, 868 MHz, 2.4 GHz, and 5 GHz WIFI module connected to the switching device. Access to the Internet.
根据权利要求11所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The method for locating a network RTK positioning system of a mobile device according to claim 11, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求9所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述基准站还包括与数据处理中心通信的第二基准站通信模块和用于检测所述第一基准站通信模块信号质量的第一检测模块，包括以下步骤：通过第一基准站通信模块通信，当检测到第一基准站通信模块的信号质量不满足预设条件时，开通所述第二基准站通信模块进行通信。The method for locating a network RTK positioning system of a mobile device according to claim 9, wherein said base station further comprises a second base station communication module in communication with the data processing center and for detecting said first reference The first detecting module of the signal quality of the station communication module includes the following steps: communicating by the first base station communication module, and opening the second base station when detecting that the signal quality of the first base station communication module does not satisfy the preset condition The communication module communicates.
根据权利要求13所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述第二基准站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。The method for locating a network RTK positioning system of a mobile device according to claim 13, wherein the second base station communication module comprises at least one of a wired network module and a cellular network module.
根据权利要求9所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述基准站上的第一基准站通信模块能够更换为第二基准站通信模块，所述基准站上设置接口，所述第一基准站通信模块和所述第二基准站通信模块能够可互换地安装在所述接口上。The method for locating a network RTK positioning system of a mobile device according to claim 9, wherein the first base station communication module on the base station is replaceable with a second base station communication module, the reference station An interface is provided, the first base station communication module and the second base station communication module being interchangeably mountable on the interface.
一种自移动设备的网络RTK定位***，所述定位***包括：A network RTK positioning system for a mobile device, the positioning system comprising:

若干基准站，所述基准站包括第一卫星信号接收器，接收卫星信号，还包括第一基准站通信模块，第一基准站通信模块与数据处理中心通信，以供自移动设备获取响应于自移动设备的请求，依据自移动设备的位置而生成的修正信号，其特征在于，所述至少一个第一基准站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。a plurality of base stations, the base station including a first satellite signal receiver, receiving satellite signals, and a first base station communication module, the first base station communication module being in communication with the data processing center for obtaining response from the mobile device The request for the mobile device, based on the correction signal generated from the location of the mobile device, wherein the at least one first base station communication module includes at least one of the public band communication modules for communicating over the Internet.
根据权利要求16所述的自移动设备的网络RTK定位***，其特征在于，所述公用频段通信模块包括433MHZ模块、868MHZ模块、2.4GHZ模块、5GHZ WIFI的至少一个以接入互联网而进行通信。The network RTK positioning system of a mobile device according to claim 16, wherein the public frequency band communication module comprises at least one of a 433 MHz module, a 868 MHz module, a 2.4 GHz module, and a 5 GHz WIFI for communicating with the Internet.
根据权利要求17所述的自移动设备的网络RTK定位***，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The network RTK positioning system of a mobile device according to claim 17, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求16所述的自移动设备的网络RTK定位***，其特征在于，所述第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The network RTK positioning system of a mobile device according to claim 16, wherein the first base station communication module communicates by accessing an Internet by using an adapter device connected to the own network.
一种自移动设备的定位***的网络RTK定位方法，提供若干基准站，所述基准站包括用于接收卫星信号的第一卫星信号接收器和第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，其特征在于，包括以下步骤：A network RTK positioning method for a positioning system of a mobile device, providing a plurality of reference stations, the reference station comprising a first satellite signal receiver for receiving satellite signals and a first reference station communication module, communicating through the first reference station The module is in communication with the data processing center for obtaining a correction signal generated from the location of the mobile device from the mobile device, and is characterized by the following steps:

所述至少一个第一基准站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The at least one first base station communication module includes at least one of a common band communication module for communicating by accessing the Internet.
根据权利要求20所述的自移动设备的网络RTK定位***，其特征在于，所述公用频段通信模块包括433MHZ模块、868MHZ模块、2.4GHZ模块、5GHZ WIFI的至少一个以接入互联网而进行通信。The network RTK positioning system of the mobile device according to claim 20, wherein the public frequency band communication module comprises at least one of a 433 MHz module, a 868 MHz module, a 2.4 GHz module, and a 5 GHz WIFI for communicating with the Internet.
根据权利要求21所述的自移动设备的网络RTK定位***，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The network RTK positioning system of a mobile device according to claim 21, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求20所述的自移动设备的网络RTK定位***，其特征在于，所述第一基准站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The network RTK positioning system of a mobile device according to claim 20, wherein the first base station communication module communicates by accessing an Internet by a switching device connected to the own network.
一种自移动设备的定位***，所述网络RTK定位***包括：A positioning system for a mobile device, the network RTK positioning system comprising:

定位移动站，能够安装于所述自移动设备；Locating a mobile station that can be installed on the self-mobile device;

所述定位移动站包括卫星信号接收器，用于接收卫星信号和第一移动站通信模块；The positioning mobile station includes a satellite signal receiver for receiving a satellite signal and a first mobile station communication module;

第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述定位移动站基于所述卫星信号及所述修正信号形成定位信号，所述自移动设备基于定位信号移动，其特征在于，所述至少一个第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The first mobile station communication module is in communication with the data processing center for obtaining, from the mobile device, a correction signal generated according to the location of the mobile device, the positioning mobile station forming a positioning signal based on the satellite signal and the correction signal, The mobile device is based on positioning signal movement, wherein the at least one first mobile station communication module communicates by accessing an Internet by using a transit device connected to the own network.
根据权利要求24所述的自移动设备的网络RTK定位***，其特征在于，所述第一移动站通信模块包括公用频段通信模块中的至少一个与转接设备相连而接入互联网。The network RTK positioning system of a mobile device according to claim 24, wherein the first mobile station communication module comprises at least one of a common band communication module connected to the switching device and connected to the Internet.
根据权利要求25所述的自移动设备的网络RTK定位***，其特征在于，所述公用频段通信模块包括433MHZ、868MHZ、2.4GHZ模块、5GHZ WIFI模块中的至少一个与转接设备相连而接入互联网。The network RTK positioning system of the mobile device according to claim 25, wherein the public frequency band communication module comprises at least one of a 433 MHz, 868 MHz, 2.4 GHZ module, and 5 GHz WIFI module connected to the switching device. the Internet.
根据权利要求26所述的自移动设备的网络RTK定位***，其特征在于，所述2.4GHZ 模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The network RTK positioning system of a mobile device according to claim 26, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求24所述的自移动设备的网络RTK定位***，其特征在于，所述定位移动站还包括第二移动站通信模块，与数据处理中心通信。The network RTK positioning system of a self-mobile device according to claim 24, wherein said positioning mobile station further comprises a second mobile station communication module in communication with the data processing center.
根据权利要求28所述的自移动设备的网络RTK定位***，其特征在于，所述第二移动站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。The network RTK positioning system of a mobile device according to claim 28, wherein the second mobile station communication module comprises at least one of a wired network module and a cellular network module.
根据权利要求28所述的自移动设备的网络RTK定位***，其特征在于，所述定位移动站还包括：The network RTK positioning system of the mobile device according to claim 28, wherein the positioning mobile station further comprises:

第二检测模块，检测所述第一移动站通信模块的信号质量，当检测到所述第一基准站通信模块的信号质量不满足预设条件时，开通所述第二移动站通信模块进行通信。a second detecting module, detecting a signal quality of the communication module of the first mobile station, and when detecting that a signal quality of the communication module of the first base station does not meet a preset condition, opening the communication module of the second mobile station to perform communication .
根据权利要求24所述的自移动设备的网络RTK定位***，其特征在于，所述定位移动站上的第一移动站通信模块能够更换为第二移动站通信模块，所述定位移动站上设置接口，所述第一移动站通信模块和所述第二移动站通信模块能够可互换地安装在所述接口上。The network RTK positioning system of a mobile device according to claim 24, wherein the first mobile station communication module on the positioning mobile station is replaceable with a second mobile station communication module, and the positioning mobile station is set The interface, the first mobile station communication module and the second mobile station communication module are interchangeably mountable on the interface.
一种自移动设备的网络RTK定位***的定位方法，提供定位移动站，能够安装于所述自移动设备；所述定位移动站包括用于接收卫星信号的卫星信号接收器和第一移动站通信模块；通过第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述定位移动站基于所述卫星信号及所述修正信号形成定位信号，所述自移动设备基于定位信号移动，其特征在于，包括以下步骤：A positioning method of a network RTK positioning system from a mobile device, providing a positioning mobile station capable of being installed on the self-mobile device; the positioning mobile station comprising a satellite signal receiver for receiving satellite signals and communicating with the first mobile station a module; communicating with the data processing center by the first mobile station communication module for obtaining a correction signal generated from the location of the mobile device from the mobile device, the positioning mobile station forming a positioning based on the satellite signal and the correction signal a signal, the self-mobile device moving based on the positioning signal, characterized by comprising the steps of:

所述至少一个第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The at least one first mobile station communication module communicates by accessing the Internet through a transit device connected to the own network.
根据权利要求32所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述第一移动站通信模块包括公用频段通信模块中的至少一个与转接设备相连而接入互联网。The method for locating a network RTK positioning system of a mobile device according to claim 32, wherein the first mobile station communication module comprises at least one of a common frequency band communication module connected to the switching device and connected to the Internet.
根据权利要求33所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述第一移动站通信模块包括433MHZ、868MHZ、2.4GHZ模块、5GHZ WIFI模块中的至少一个与转接设备相连而接入互联网。The positioning method of the network RTK positioning system of the mobile device according to claim 33, wherein the first mobile station communication module comprises at least one of a 433MHZ, 868MHZ, 2.4GHZ module, and 5GHZ WIFI module and the transfer The devices are connected to the Internet.
根据权利要求34所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The method for locating a network RTK positioning system of a mobile device according to claim 34, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求32所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述定位移动站还包括与数据处理中心通信的第二移动站通信模块和用于检测所述第一移动站通信模块网络信号的第二检测模块，包括以下步骤：通过第一移动站通信模块通信，当检测到所述第一移动站通信模块的信号质量不满足预设条件时，开通所述第二移动站通信模块进行通信。The method for locating a network RTK positioning system of a mobile device according to claim 32, wherein said positioning mobile station further comprises a second mobile station communication module in communication with the data processing center and for detecting said first The second detecting module of the network signal of the mobile station communication module includes the following steps: communicating by the first mobile station communication module, and when detecting that the signal quality of the communication module of the first mobile station does not meet the preset condition, opening the The two mobile station communication modules communicate.
根据权利要求36所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述第二移动站通信模块包括有线网络模块、蜂窝网络模块中的至少一个。The method for locating a network RTK positioning system of a mobile device according to claim 36, wherein the second mobile station communication module comprises at least one of a wired network module and a cellular network module.
根据权利要求36所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述定位移动站上的第一移动站通信模块能够更换为第二移动站通信模块，所述定位移动站上设置接口，所述第一移动站通信模块和所述第二移动站通信模块能够可互换地安装在所述接口上。The method for locating a network RTK positioning system of a mobile device according to claim 36, wherein the first mobile station communication module on the positioning mobile station is replaceable with a second mobile station communication module, the positioning movement An interface is provided on the station, and the first mobile station communication module and the second mobile station communication module can be interchangeably mounted on the interface.
一种自移动设备的网络RTK定位***，所述定位***包括：A network RTK positioning system for a mobile device, the positioning system comprising:

定位移动站，能够安装于所述自移动设备；Locating a mobile station that can be installed on the self-mobile device;

所述定位移动站包括卫星信号接收器，用于接收卫星信号和第一移动站通信模块；The positioning mobile station includes a satellite signal receiver for receiving a satellite signal and a first mobile station communication module;

第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述定位移动站基于所述卫星信号及所述修正信号形成定位信号，所述自移动设备基于定位信号移动，其特征在于，所述至少一个第一移动站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The first mobile station communication module is in communication with the data processing center for obtaining, from the mobile device, a correction signal generated according to the location of the mobile device, the positioning mobile station forming a positioning signal based on the satellite signal and the correction signal, The mobile device is based on positioning signal movement, wherein the at least one first mobile station communication module comprises at least one of a common frequency band communication module for communicating by accessing the Internet.
根据权利要求39所述的自移动设备的网络RTK定位***，其特征在于，所述公用频段通信模块包括433MHZ模块、868MHZ模块、2.4GHZ模块、5GHZ WIFI模块的至少一个。The network RTK positioning system of a mobile device according to claim 39, wherein the common frequency band communication module comprises at least one of a 433 MHz module, a 868 MHz module, a 2.4 GHz module, and a 5 GHz WIFI module.
根据权利要求40所述的自移动设备的网络RTK定位***，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The network RTK positioning system of a mobile device according to claim 40, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求39所述的自移动设备的网络RTK定位***，其特征在于，所述第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The network RTK positioning system of a mobile device according to claim 39, wherein the first mobile station communication module communicates by accessing an Internet by a switching device connected to the own network.
一种自移动设备的网络RTK定位***的定位方法，提供定位移动站，能够安装于所述自移动设备；所述定位移动站包括用于接收卫星信号的卫星信号接收器和第一移动站通信模块；通过第一移动站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述定位移动站基于所述卫星信号及所述修正信号形成定位信号，所述自移动设备基于定位信号移动，其特征在于，包括以下步骤：A positioning method of a network RTK positioning system from a mobile device, providing a positioning mobile station capable of being installed on the self-mobile device; the positioning mobile station comprising a satellite signal receiver for receiving satellite signals and communicating with the first mobile station a module; communicating with the data processing center by the first mobile station communication module for obtaining a correction signal generated from the location of the mobile device from the mobile device, the positioning mobile station forming a positioning based on the satellite signal and the correction signal a signal, the self-mobile device moving based on the positioning signal, characterized by comprising the steps of:

所述至少一个第一移动站通信模块包括公用频段通信模块的至少一个以接入互联网而进行通信。The at least one first mobile station communication module includes at least one of the public band communication modules to communicate by accessing the Internet.
根据权利要求43所述的自移动设备的网络RTK定位***，其特征在于，所述公用频段通信模块包括433MHZ模块、868MHZ模块、2.4GHZ模块、5GHZ WIFI模块的至少一个。The network RTK positioning system of the mobile device according to claim 43, wherein the public frequency band communication module comprises at least one of a 433 MHz module, a 868 MHz module, a 2.4 GHz module, and a 5 GHz WIFI module.
根据权利要求44所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The method for locating a network RTK positioning system of a mobile device according to claim 44, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求43所述的自移动设备的定位***的定位方法，其特征在于，所述第一移动站通信模块通过接入自有网络的转接设备接入互联网而进行通信。The positioning method of the positioning system of the mobile device according to claim 43, wherein the first mobile station communication module communicates by accessing the Internet by using a switching device connected to the own network.
一种自移动设备，所述自移动设备包括工作模块、移动模块、驱动模块、控制模块，所述工作模块用于执行作业，所述移动模块带动自移动设备主体移动，所述驱动模块为所述工作模块和移动模块提供动力，所述控制模块能够控制所述工作模块、移动模块、驱动模块，其特征在于，所述自移动设备通过前述1-8，16-19，24-31，39-42任一项所述的定位***定位。A self-moving device includes a working module, a moving module, a driving module, and a control module, wherein the working module is configured to perform a job, and the mobile module drives the mobile device body to move, and the driving module is The working module and the mobile module provide power, and the control module is capable of controlling the working module, the moving module, and the driving module, wherein the self-mobile device passes the aforementioned 1-8, 16-19, 24-31, 39 Positioning system positioning as described in any of item 42.
一种自动工作***，其特征在于，包括如权利要求47所述的自移动设备和权利要求1-8，16-19，24-31，39-42任一项所述的定位***。An automatic working system, comprising the self-moving device of claim 47 and the positioning system of any one of claims 1-8, 16-19, 24-31, 39-42.
一种计算设备的处理方法，其特征在于，所述计算设备用于处理自移动设备的网络RTK定位***，所述定位***包括若干基准站，所述基准站包括用于接收卫星信号的第一卫星信号接收器，还包括第一基准站通信模块，通过第一基准站通信模块与数据处理中心通信，以供自移动设备获取依据自移动设备的位置而生成的修正信号，所述方法包括以下步骤：确认基准站安装位置的网络环境是否能够支持通过接入自有网络的转接设备而接入互联网以进行通信的网络，以此为基准站的第一基准站通信模块提供不同网络模块以接入互联网。A processing method of a computing device, characterized in that the computing device is configured to process a network RTK positioning system from a mobile device, the positioning system comprising a plurality of reference stations, the reference station comprising a first for receiving satellite signals The satellite signal receiver further includes a first base station communication module that communicates with the data processing center via the first base station communication module for obtaining a correction signal generated from the position of the mobile device from the mobile device, the method comprising the following Step: Confirm whether the network environment of the base station installation location can support the network that accesses the Internet to communicate by accessing the transfer device of the own network, thereby providing different network modules for the first base station communication module of the base station. Access to the Internet.
根据权利要求49所述的自移动设备的网络RTK定位***的定位方法，其特征在于，所述通过接入自有网络的转接设备而接入互联网以进行通信的网络包括通过接入公用频段通信模块的至少一个与转接设备相连而接入互联网。The method for locating a network RTK positioning system of a mobile device according to claim 49, wherein the network accessing the Internet for accessing by using a transit device of the own network comprises accessing a public frequency band At least one of the communication modules is connected to the switching device to access the Internet.
根据权利要求50所述的计算设备的处理方法，其特征在于，其特征在于，所述公用频段通信模块包括433MHZ、868MHZ、2.4GHZ、5GHZ WIFI通信模块中的至少一个。The processing method of a computing device according to claim 50, wherein the common frequency band communication module comprises at least one of a 433 MHz, 868 MHz, 2.4 GHZ, 5 GHz WIFI communication module.
根据权利要求51所述的计算设备的处理方法，其特征在于，所述2.4GHZ模块包括2.4GHZ WIFI模块、Zigbee模块、蓝牙模块、私有协议模块中的至少一个。The processing method of a computing device according to claim 51, wherein the 2.4 GHZ module comprises at least one of a 2.4 GHz WIFI module, a Zigbee module, a Bluetooth module, and a proprietary protocol module.
根据权利要求49所述的计算设备的处理方法，其特征在于，所述基准站还包括第二基准站通信模块。The processing method of a computing device according to claim 49, wherein said base station further comprises a second base station communication module.
根据权利要求49所述的计算设备的处理方法，其特征在于，所述基准站上的第一基准站通信模块能够更换为第二基准站通信模块，所述基准站上设置接口，所述第一基准站通信模块和所述第二基准站通信模块能够可互换地安装在所述接口上。The processing method of a computing device according to claim 49, wherein the first base station communication module on the base station is replaceable with a second base station communication module, and an interface is set on the base station, A base station communication module and the second base station communication module can be interchangeably mounted on the interface.
根据权利要求53或54所述的计算设备的处理方法，其特征在于，所述第二基准站通信模块包括蜂窝网络模块、有线模块中的至少一个。The processing method of a computing device according to claim 53 or 54, wherein the second base station communication module comprises at least one of a cellular network module and a wired module.
根据权利要求55所述的计算设备的处理方法，其特征在于，判断基准站安装位置的网络环境是否满足预设提供条件，根据判断结果，提供第一基准站通信模块、第二基准站通信模块中的至少一个。The processing method of the computing device according to claim 55, wherein determining whether the network environment of the installation location of the base station satisfies a preset provision condition, and providing the first base station communication module and the second base station communication module according to the determination result At least one of them.
根据权利要求49所述的计算设备的处理方法，其特征在于，所述判断基准站安装位置的网络环境的判断方法包括通过提供一个供用户录入信息的订单，所述信息包括基准站安装位置的网络环境，根据录入的订单信息得到一个判断结果。The processing method of a computing device according to claim 49, wherein said judging method of determining a network environment of a base station installation location comprises providing an order for a user to enter information, said information including a base station installation location The network environment obtains a judgment result based on the entered order information.
根据权利要求49所述的计算设备的处理方法，其特征在于，所述判断基准站安装位置的网络环境的判断方法包括提供一个检查装置，检查基准站安装位置的网络环境，根据检查信息得到一个判断结果。The processing method of the computing device according to claim 49, wherein the determining method of the network environment for determining the installation location of the base station comprises: providing an inspection device, checking the network environment of the installation location of the base station, and obtaining a network according to the inspection information critical result.
根据权利要求56所述的计算设备的处理方法，其特征在于，根据判断结果，提供第一基准站通信模块的至少一个和第二基准站通信模块的至少一个。The processing method of a computing device according to claim 56, characterized in that at least one of the at least one of the first base station communication module and the second base station communication module is provided based on the result of the determination.
根据权利要求56所述的计算设备的处理方法，其特征在于，根据判断结果，提供第二基准站通信模块中的至少一个。A processing method of a computing device according to claim 56, wherein at least one of the second base station communication modules is provided based on the result of the determination.
根据权利要求56所述的计算设备的处理方法，其特征在于，根据判断结果，提供第一基准站通信模块中的至少一个。A processing method of a computing device according to claim 56, wherein at least one of the first base station communication modules is provided based on the result of the determination.
根据权利要求56所述的计算设备的处理方法，其特征在于，所述预设提供条件包括基准站的安装位置存在通过接入自有网络的转接设备而接入互联网以进行通信的网络。The processing method of a computing device according to claim 56, wherein the preset providing condition comprises a network where the installation location of the base station has access to the Internet for communication by accessing the switching device of the own network.
根据权利要求56所述的计算设备的处理方法，其特征在于，所述预设提供条件包括通过接入自有网络的转接设备而接入互联网以进行通信的网络信号能够全面覆盖工作区域。The processing method of the computing device according to claim 56, wherein the preset providing condition comprises: accessing the Internet by accessing the switching device of the own network to communicate with the network signal to comprehensively cover the working area.
根据权利要求56所述的计算设备的处理方法，其特征在于，所述预设提供条件包括通过接入自有网络的转接设备而接入互联网以进行通信的网络的信号质量满足预设条件。The processing method of the computing device according to claim 56, wherein the preset providing condition comprises: a signal quality of a network that accesses the Internet by using a switching device of the own network to communicate to meet a preset condition .
根据权利要求56所述的计算设备的处理方法，其特征在于，所述预设提供条件包括判断存在能够将自有网络的转接入互联网以进行通信的网络的转接设备。The processing method of a computing device according to claim 56, wherein the preset providing condition comprises determining that there is a switching device of a network capable of connecting a private network to the Internet for communication.
根据权利要求62所述的计算设备的处理方法，其特征在于，当满足预设提供条件时，提供第一基准站通信模块的至少一个；当不满足预设提供条件时，提供并开通第二基准站通信模块。The processing method of the computing device according to claim 62, wherein at least one of the first reference station communication modules is provided when the preset provision condition is met; and when the preset provision condition is not met, the second is provided and opened Base station communication module.
根据权利要求63所述的计算设备的处理方法，其特征在于，当满足预设提供条件时，提供公用频段通信模块中的至少一个；当不满足预设提供条件时，提供第一基准站通信模块中的至少一个并提供第二基准站通信模块。The processing method of the computing device according to claim 63, wherein at least one of the common frequency band communication modules is provided when the preset provision condition is satisfied; and the first base station communication is provided when the preset provision condition is not met At least one of the modules provides a second base station communication module.
根据权利要求64所述的计算设备的处理方法，其特征在于，当满足预设提供条件时，提供提供公用频段通信模块中的至少一个；当不满足预设提供条件时，提供第一基准站通信模块中的至少一个并提供第二基准站通信模块。The processing method of the computing device according to claim 64, wherein at least one of the public frequency band communication modules is provided when the preset provision condition is met; and the first reference station is provided when the preset provision condition is not met At least one of the communication modules provides a second base station communication module.
根据权利要求68所述的计算设备的处理方法，其特征在于，当不满足预设提供条件但有工作需求时，提供并开通第二基准站通信模块。The processing method of a computing device according to claim 68, wherein the second base station communication module is provided and activated when the preset provision condition is not met but there is a work requirement.
根据权利要求62所述的计算设备的处理方法，其特征在于，当满足预设提供条件时，提供第一基准站通信模块的至少一个；当不满足预设提供条件时，提供并开通第二基准站通信模块。The processing method of the computing device according to claim 62, wherein at least one of the first reference station communication modules is provided when the preset provision condition is met; and when the preset provision condition is not met, the second is provided and opened Base station communication module.
根据权利要求66或67或69或70所述的计算设备的处理方法，其特征在于，所述第二通信模块为蜂窝网络模块，生成一个计价方案。The processing method of a computing device according to claim 66 or 67 or 69 or 70, wherein the second communication module is a cellular network module, and generates a pricing plan.
根据权利要求71所述的计算设备的处理方法，其特征在于，所述计价方案包括按流量计价或收取固定费用。The processing method of a computing device according to claim 71, wherein the pricing scheme comprises charging or charging a fixed fee.
根据权利要求49所述的计算设备的处理方法，其特征在于，所述计算设备应用于APP、智能终端中的至少一个。The processing method of a computing device according to claim 49, wherein the computing device is applied to at least one of an APP and a smart terminal.