CN109073758A

CN109073758A - From mobile device, automatic working system, network RTK positioning system, calculate equipment and operation method

Info

Publication number: CN109073758A
Application number: CN201780005974.0A
Authority: CN
Inventors: 何明明
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2016-12-13
Filing date: 2017-12-13
Publication date: 2018-12-21
Also published as: WO2018108115A1

Abstract

Present specification discloses a kind of network RTK positioning system from mobile device, the positioning system includes several base stations, the base station includes the first satellite signal receiver, receive satellite-signal, it further include the first base station communication module, first base station communication module is communicated with data processing centre, it is obtained with being provided from mobile device in response to the request from mobile device, according to the revise signal generated from the position of mobile device, at least one described first base station communication module accesses that internet carries out communication or at least one described first base station communication module includes that at least one of public frequency band communication module is communicated to access internet by accessing the interconnecting device of own network；Present specification further related to a kind of positioning system operation method, from mobile device, automatic working system, calculate equipment processing method.

Description

From mobile device, automatic working system, network RTK positioning system, calculate equipment and operation method

Technical field

This specification relates to a kind of positioning system, network RTK positioning system of especially a kind of positioning from mobile device.

This specification relates to a kind of operation method of positioning system, the operation method of network RTK positioning system of especially a kind of positioning from mobile device.

This specification relates to one kind from mobile device, especially a kind of automatic mobile device positioned by network RTK positioning system.

It is especially a kind of that the system to work in working region from mobile device is controlled by network RTK positioning system this specification relates to a kind of automatic working system.

This specification relates to a kind of processing method for calculating equipment, especially a kind of processing methods applied to from the calculating equipment in the network RTK positioning system of mobile device.

Background technique

Intelligent grass-removing is used as from one of mobile device, has been widely used.Intelligent grass-removing executes mowing task usually in boundary line, and intelligent grass-removing is equipped with Satellite Navigation Set, and usual Satellite Navigation Set can position and intelligent grass-removing is guided to execute mowing task.But the error that the influence in ionosphere of the positioning coordinate that its received satellite-signal of individual Satellite Navigation Set generates because of satellite itself, route of transmission generate will appear relatively large deviation, the path that will lead to mowing when executing mowing task shifts, to reduce mowing efficiency.Thus, base station is usually provided near intelligent grass-removing, base station can provide revise signal correspondingly by satellite navigation signals based on the received, and the accuracy of positioning can be improved in the positioning signal positioning that intelligent grass-removing is formed according to revise signal and satellite-signal.But unity reference station positioning accuracy is influenced by base station with from mobile device distance.Ideally, base station and 20Km is not to be exceeded from mobile device distance；As terrain complexity (such as knob) increases, above-mentioned distance accordingly shortens.And when association base station failure, system ability to work is directly affected.Thus, the network RTK positioning system of more base stations is come into being, positioning system passes through network RTK algorithm, the data for integrating full base station network are resolved, virtual base station VRS (< 1m) can be being simulated near mobile device and is calculating more accurate ionosphere and tropospheric data, realize overlay area higher positioning accuracy, but the transmission mode of base station to data processing centre in network RTK positioning system generallys use wired or cellular network transmission, the transmission mode of data processing centre to intelligent grass-removing generallys use cellular network transmission, use cable-network transmission, wiring installation is complex, use cellular network transmission, flow consumption is big, need the traffic fee of both expensive.

Therefore, it is necessary to a kind of new technical solutions to solve the above technical problems.

Summary of the invention

Present specification solve the technical issues of are as follows: provide it is a kind of from mobile device, automatic working system, network RTK positioning system and calculate equipment operation method, registration, application method is simple, save cost.

To solve above-mentioned technical problem, the technical solution of present specification is: a kind of network RTK positioning system from mobile device, the positioning system includes: several base stations, the base station includes the first satellite signal receiver, receive satellite-signal, it further include the first base station communication module, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, at least one described first base station communication module is communicated by accessing the interconnecting device access internet of own network.

Present specification also proposed a kind of localization method of network RTK positioning system from mobile device, several base stations are provided, the base station includes the satellite signal receiver and the first base station communication module for receiving satellite-signal, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, comprising the following steps:

At least one described first base station communication module is communicated by accessing the interconnecting device access internet of own network.

Present specification also proposed a kind of network RTK positioning system from mobile device, the positioning system includes: several base stations, the base station includes the first satellite signal receiver, receive satellite-signal, it further include the first base station communication module, first base station communication module is communicated with data processing centre, it is obtained with being provided from mobile device in response to the request from mobile device, according to the revise signal generated from the position of mobile device, at least one described first base station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.

Present specification also proposed a kind of network RTK localization method of positioning system from mobile device, several base stations are provided, the base station includes the first satellite signal receiver and the first base station communication module for receiving satellite-signal, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, comprising the following steps:

At least one described first base station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.

Present specification also proposed a kind of positioning system from mobile device, and the network RTK positioning system includes:

Movement station is positioned, can be installed on described from mobile device；

The positioning movement station includes satellite signal receiver, for receiving satellite-signal and first movement station communication module；

First movement station communication module is communicated with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the positioning movement station is based on the satellite-signal and the revise signal forms positioning signal, described mobile based on positioning signal from mobile device, at least one described first movement station communication module is communicated by accessing the interconnecting device access internet of own network.

Present specification also proposed a kind of localization method of network RTK positioning system from mobile device, provide positioning movement station, can be installed on described from mobile device；The positioning movement station includes the satellite signal receiver and first movement station communication module for receiving satellite-signal；It is communicated by first movement station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the positioning movement station is based on the satellite-signal and the revise signal forms positioning signal, it is described mobile based on positioning signal from mobile device, comprising the following steps:

At least one described first movement station communication module is communicated by accessing the interconnecting device access internet of own network.

Present specification also proposed a kind of network RTK positioning system from mobile device, and the positioning system includes:

First movement station communication module is communicated with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the positioning movement station is based on the satellite-signal and the revise signal forms positioning signal, described mobile based on positioning signal from mobile device, at least one described first movement station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.

At least one described first movement station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.

Present specification also proposed a kind of from mobile device, it is described from mobile device include operational module, mobile module, drive module, control module, the operational module is for executing operation, the mobile module drives mobile from mobile device main body, the drive module provides power for the operational module and mobile module, the control module can control the operational module, mobile module, drive module, it is characterized in that, described positioned from mobile device by the described in any item positioning systems of aforementioned XX (requirement of system entries all authority).

Present specification also proposed a kind of automatic working system, including described from mobile device and the positioning system from mobile device.

Present specification also proposed a kind of processing method for calculating equipment, the calculating equipment application is in the network RTK positioning system from mobile device, the positioning system includes several base stations, the base station includes the first satellite signal receiver for receiving satellite-signal, it further include the first base station communication module, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, it the described method comprises the following steps: judging whether the network environment of base station installation site supports that at least one of public frequency band communication network is communicated, different communication modules is provided according to the first base station communication module stood on the basis of judging result to access internet

Present specification also proposed a kind of processing method for calculating equipment, the equipment that calculates is used to handle the network RTK positioning system from mobile device, the positioning system includes several base stations, the base station includes the first satellite signal receiver for receiving satellite-signal, it further include the first base station communication module, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the described method comprises the following steps: whether the network environment of confirmation base station installation site can support the network for accessing internet by the interconnecting device for accessing own network to be communicated, heterogeneous networks module is provided as the first base station communication module of base station to access internet.

Present specification have the beneficial effect that present specification provide can be realized overlay area higher positioning accuracy, 50-100 kilometers of each base station separation distance from each other from the network RTK positioning system of mobile device；In base station network coverage area, positioning accuracy is relative constant；The failure of unity reference station, has substantially no effect on system ability to work；The data of each base station provided can be stored in Data processing is intracardiac, used for multiple positioning movement stations in base station network coverage area.

The communication mode for the base station and data processing centre in network RTK positioning system that present specification provides, and positioning movement station uses the communication mode communicated by the interconnecting device access internet for accessing own network with the communication mode of data processing centre or sets the communication module of base station or positioning movement station at least one communication mode communicated to access internet of public frequency band communication module, using above-mentioned communication mode from mobile device, automatic working system, network RTK positioning system and operation method, accurate positioning, save cost, it is easy for installation, operation method is simple.

The processing method for the calculating equipment that present specification provides, process is simple, easy to use, can provide different communication modules for different network environments.

To solve above-mentioned technical problem, the technical solution of present specification is: a kind of CORS system, including multiple base stations, movement station, data processing centre, the multiple base station gives satellite data transmission to the data processing centre by satellite data transmission module, the data processing centre receives the multiple base station data, data processing is carried out in conjunction with network RTK algorithm, form differential corrections data, differential corrections data are transferred to the differential data receiving module of the movement station, wherein, the satellite data transmission module of the multiple base station includes at least WIFI module and/or radio module.

Further, the satellite data transmission module of the base station further includes wired module and/or 3G module.

Further, the satellite data transmission module of the base station transmits data using WIFI module, when not supporting WIFI signal, switching wired module communication, and when not supporting wire signal, switching 3G module communication.

Further, the satellite data transmission module of the base station transmits data using radio module, when not supporting radio signal, switching wired module communication, and when not supporting wire signal, switching 3G module communication.

Further, the satellite data transmission module of the base station transmits data using WIFI module, when not supporting WIFI signal, switch radio module and transmit data, when not supporting radio signal, switching wired module transmits data, when not supporting wired module, switching 3G module transmits data.

Further, the satellite data transmission module of the base station transmits data using radio module, when not supporting radio signal, switch WIFI module and transmit data, when not supporting WIFI signal, switching wired module transmits data, when not supporting wire signal, switching 3G module transmits data.

Further, the movement station is mobile mechanical equipment.

Further, the mechanical equipment of the movement is intelligent grass-removing.

Present specification also proposes a kind of technical solution, a kind of operation method of base station in CORS system, it include: that the satellite data transmission module of base station uses WIFI module and/or radio module transmitting satellite data to data processing centre, when detecting that WIFI signal and/or radio signal are bad, it is open-minded that system sends signal prompt 3G signal, and switches to 3G communication pattern.

Further, when detecting that WIFI signal and/or radio signal are bad, wire signal is detected, when wire signal is good, switching wired module communication, when wire signal is bad, it is open-minded that system sends signal prompt 3G signal, and switches to 3G communication pattern.

Further, when detecting that WIFI signal is bad, radio signal is detected, when radio signal is good, switches radio module communication pattern.

Further, when detecting that radio signal is bad, WIFI signal is detected, when WIFI signal is good, switches WIFI module communication pattern.

Present specification also proposes a kind of technical solution, and the differential data receiving module of a kind of movement station equipped with CORS system, the movement station includes at least WIFI module and/or radio module.

Further, the differential data receiving module of the movement station further includes 3G module.

Further, the Satellite Navigation Set of the movement station includes:

Antenna is positioned, for receiving the navigation signal of satellite；

Detection module, for detecting the signal condition of differential data receiving module, detection receives differential corrections data using one of WIFI module, radio module or 3G module；

Differential data receiving module, the differential corrections data that processing center is sent for receiving data；

Locating module, for positioning the position coordinates of movement station according to the navigation signal and differential corrections data of satellite；

Control module, it is mobile for controlling movement station according to position coordinates.

Further, the differential data receiving module of the movement station receives data using WIFI module, when not supporting WIFI signal, switching 3G module communication.

Further, the differential data receiving module of the movement station receives data using radio module, when not supporting radio signal, switching 3G module communication.

Further, the differential data receiving module of the movement station receives data using WIFI module, and when not supporting WIFI signal, switching radio module receives data, when not supporting radio signal, switching 3G module communication.

Further, the differential data receiving module of the movement station receives data using radio module, and when not supporting radio signal, switching WIFI module receives data, when not supporting WIFI signal, switching 3G module communication.

Further, when the differential data receiving module of the movement station receives differential corrections data using 3G module, differential corrections data are directly transferred to the movement station by the data processing centre.

Further, when the differential data receiving module of the movement station receives differential corrections data using WIFI module and/or radio module, differential corrections data are transferred to custom system by the data processing centre, and differential corrections data are transferred to the WIFI module or radio module of the movement station by the custom system.

Further, the custom system includes router, and the movement station obtains WIFI signal by router.

Further, the custom system includes router and network wireless electric transducer, and the movement station obtains radio signal by network wireless electric transducer and router.

Further, differential corrections data are transferred to communications satellite by the data processing centre, and differential corrections data are transferred to the differential data receiving module of the movement station by communications satellite.

Further, the movement station is mobile mechanical equipment.

Present specification also proposes a kind of technical solution, a kind of operation method for the movement station being equipped with CORS system, it include: that the differential data receiving module of the movement station receives differential corrections data using WIFI module and/or radio module, when detecting that WIFI signal and/or radio signal are bad, it is open-minded that system sends signal prompt 3G signal, and switches to 3G communication pattern.

Further, the differential data receiving module of the movement station receives differential corrections data using WIFI module, and when detecting that WIFI signal is bad, system switches radio module communication pattern.

Further, the differential data receiving module of the movement station receives differential corrections data using radio module, and when detecting that radio signal is bad, system switches WIFI module communication pattern.

Present specification also proposes that a kind of technical solution, a kind of base station equipped with CORS system, the satellite data transmission module of the base station include replaceable WIFI module and/or radio module.

Further, when the WIFI module is not supported, radio module or wired module or 3G module are replaced by.

Further, when the radio module is not supported, WIFI module or wired module or 3G module are replaced by.

Present specification also proposes a kind of technical solution, a kind of movement station equipped with CORS system, and the differential data receiving module of the movement station includes replaceable WIFI module and/or radio module.

Further, when the WIFI module is not supported, radio module or 3G module are replaced by.

Further, when the radio module is not supported, WIFI module or 3G module are replaced by.

Present specification also proposes a kind of technical solution, a kind of CORS system, and at least one of which base station uses WIFI module or radio module transmitting satellite data to data processing centre.

The base station of present specification having the beneficial effect that in CORS system transfers data to data processing centre using WIFI module and/or radio module, and the movement station in CORS system receives differential corrections data using WIFI module and/or radio module；Using the base station of above-mentioned data transfer mode and data receiver's formula, movement station and its CORS system, cost is saved in accurate positioning, easy for installation；Conversion between the WIFI module of base station, movement station in CORS system, radio module and other modules is flexibly quick；CORS system response quickly is accurate, and operation method is simple, and the accurate positioning of above-mentioned movement station, working efficiency are promoted.

Detailed description of the invention

Fig. 1 is the network RTK positioning system schematic diagram of present specification.

Fig. 2 is the module map of the interconnecting device of present specification.

Fig. 3 is the schematic diagram that two interfaces are arranged from mobile device of present specification.

Fig. 4 is the schematic diagram that an interface is arranged from mobile device of present specification.

Fig. 5 is that the first detection device of present specification detects the flow chart of the first base station communication module.

Fig. 6 is that the second detection device of present specification detects the flow chart of first movement station communication module.

Fig. 7 is the CORS system schematic of present specification.

Fig. 8 is the module map of the base station data transmission device of present specification.

Fig. 9 is the navigation positional device module map of the movement station of present specification.

Figure 10 is the network connection schematic diagram of the custom system of present specification.

Figure 11 is that the movement station of present specification detects the program flow diagram of differential data receiving module signal.

Figure 12 is the flow chart of the intelligent grass-removing type of the fixed differential data receiving module of sale of present specification.

Specific embodiment

In order to which the objects, technical solutions and advantages of present specification are more clearly understood, with reference to the accompanying drawings and embodiments, present specification is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain present specification, it is not used to limit present specification.

As shown in fig. 1, present specification proposes a kind of network RTK positioning system from mobile device, including several base stations, equipped with from mobile device 10 in the coverage area of base station, each base station includes the first satellite signal receiver, receives satellite-signal, further includes the first base station communication module, base station is communicated by the first base station communication module with data processing centre 30, is obtained with being provided from mobile device 10 according to the revise signal generated from the position of mobile device.Wherein the quantity of base station is at least one, preferably several, forms more reference stations.Being enumerated in the present embodiment from the base station quantity near mobile device 10 is 3, first base station 20, second base station 21, third base station 22, spacing distance is generally 50~100 kilometers between each base station, the course of work is as follows: the first base station 20, second base station 21, third base station 22 receives the satellite-signal that satellite 40 is broadcast, and convert thereof into the satellite data for meeting the telegraph text form of communication protocol, first base station 20, second base station 21, third base station 22 passes through the first base station communication module for the satellite data transmission of telegraph text form to data processing centre 30 respectively, data processing centre 30 receives and stores the first base station 20, second base station 21, the data of third base station 22, in response to the request from mobile device, it is set according to from movement Standby position, it is resolved in conjunction with the data of each reference station of network RTK Algorithms Integration, calculate more accurate ionosphere and tropospheric data, form revise signal, it combines the revise signal formed mobile based on satellite-signal and revise signal from mobile device, realizes overlay area higher positioning accuracy.The more accurate ionosphere and tropospheric data are preferably derived from the virtual base station VRS (< 1m) data simulated near mobile device.In another embodiment, according to from the position of mobile device, the result that data processing centre resolves is most accurate ionosphere and tropospheric data is the immediate base station data in position of distance from mobile device.Wherein, each base station can be self-built base station, or public base station or the base station of rental, the form of base station is without limitation.

Embodiment 1

Wherein, in above-mentioned network RTK positioning system, at least one first base station communication module is communicated by accessing the interconnecting device access internet of own network.

It will be understood that, interconnecting device is for connecting multiple logically separate networks, as shown in Figure 2, interconnecting device includes the first transition network module and the second transition network module, first transition network module is connected with the first base station communication module, second transition network module is connected with own network, finally accesses internet by own network, communicates so as to establish base station with data processing centre.

Own network is ready-made network, base station accesses internet by accessing ready-made network, that is, base station does not need in addition to open new payment networks, ready-made network includes common network, corporate networks, home network etc., the common network of cell near installation site of standing for example including on the basis of, there is network in family from individual subscriber, the network etc. that base station manufacturer provides, specifically it is, for example, including WIFI hot spot regional belonging to base station installation site, it also include the WIFI network of base station installation site nearby users family, it or may be the WIFI network that base station manufacturer provides.

In a kind of preferred embodiment, first base station communication module includes public frequency band communication module, wherein, public frequency band is the public frequency band in ISM band from positioning of mobile equipment system communication protocol, the regulation disunity of various countries in ISM band, such as, 2.4GHZ is the general ISM band in various countries, it can be understood that, meet in various countries' ISM band from the public frequency band in positioning of mobile equipment system communication protocol in present specification protection scope, public frequency band communication module in the present embodiment includes 433MHZ, 868MHZ, 2.4GHZ, at least one of 5GHZ WIFI module, wherein, it can be understood that, 2.4GHZ module includes 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol At least one of module.

In a kind of preferred embodiment, base station further includes the second base station communication module, is communicated by the second base station communication module with data processing centre.As shown in Figure 3, by taking the first base station 20 as an example, two interfaces are set on base station 20, including first interface 201, second interface 202, it is respectively connected to the first base station communication module and the second base station communication module, the second base station communication module includes at least one of cable network module, cellular network module.Base station further include: the network signal of first detection module, the first base station communication module of detection is opened the second base station communication module and communicated when the signal quality for detecting the first base station communication module is unsatisfactory for preset condition.It will be appreciated that without limitation, other interfaces also can be set in the quantity of interface on base station, accessing other can be realized the communication module of communication.

In a kind of preferred embodiment, the first base station communication module on base station can be changed to the second base station communication module, as shown in figure 4, an interface 203 is arranged on base station, the first base station communication module and the second base station communication module can be can be interchangeably mounted on interface 203.Wherein, the second base station communication module also includes at least one of cable network module, cellular network module.It will be appreciated that the interface 203 on base station, which also has access to other, can be realized the network module of communication.

Likewise, also can use the signal quality that first detection module detects the first base station communication module when an interface is arranged, when signal quality is unsatisfactory for preset condition, the first base station communication module is dismantled, accesses the second base station communication module.

Present specification additionally provides a kind of localization method of positioning system from mobile device, several base stations are provided, base station includes the satellite signal receiver and the first base station communication module for receiving satellite-signal, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, comprising the following steps: at least one first base station communication module is communicated by accessing the interconnecting device access internet of own network.

As shown in figure 5, base station further includes the second base station communication module communicated with data processing centre and the first detection module for detecting the first base station communication module network signal in a kind of preferred embodiment, comprising the following steps:

S101: it is communicated by the first base station communication module；

S102: the signal quality of the first base station communication module of detection；

S103: judge whether the signal quality of the first base station communication module meets preset condition；When the signal quality of the first base station communication module meets preset condition, return step S101；

When the signal quality of the first base station communication module is unsatisfactory for preset condition, S104 is entered step: opening the communication of the second base station communication module.

Wherein, the second base station communication module includes at least one of cable network module, cellular network module.

In a kind of preferred embodiment, the first base station communication module on base station can be changed to the second base station communication module, and interface is arranged on base station, and the first base station communication module and the second base station communication module can be interchangeably mounted on interface.Wherein, the second base station communication module also includes at least one of cable network module, cellular network module.

Embodiment 2

Wherein, in above-mentioned network RTK positioning system, at least one first base station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.

It can be understood that, public frequency band is the public frequency band in ISM band from positioning of mobile equipment system communication protocol, the regulation disunity of various countries in ISM band, such as, 2.4GHZ is the general ISM band in various countries, it can be understood that, meet in various countries' ISM band from the public frequency band in positioning of mobile equipment system communication protocol in present specification protection scope, public frequency band communication module in the present embodiment includes 433MHZ, 868MHZ, 2.4GHZ, at least one of 5GHZ WIFI module, wherein, it can be understood that, 2.4GHZ module includes 2.4GHZ WIFI module, Zigbee module, bluetooth module, at least one of proprietary protocol module.

In a kind of preferred embodiment, public frequency band communication module is communicated by accessing the interconnecting device access internet of own network.The introduction of own network repeats no more.

In a kind of preferred embodiment, base station further includes the second base station communication module, is communicated by the second base station communication module with data processing centre.Second base station communication module includes at least one of cable network module, cellular network module.Base station further include: the network signal of first detection module, the first base station communication module of detection is opened the second base station communication module and communicated when the signal quality for detecting the first base station communication module is unsatisfactory for preset condition.

Present specification additionally provides a kind of localization method of positioning system from mobile device, several base stations are provided, base station includes the first satellite signal receiver and the first base station communication module for receiving satellite-signal, it is communicated by the first base station communication module with data processing centre, to be provided from mobile device according to the revise signal that generates from the position of mobile device, comprising the following steps: at least one first base station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.

It can be understood that, public frequency band is the public frequency band in ISM band from positioning of mobile equipment system communication protocol, the regulation disunity of various countries in ISM band, such as, 2.4GHZ is the general ISM band in various countries, it can be understood that, meet in various countries' ISM frequency range from the public frequency band in positioning of mobile equipment system communication protocol in present specification protection scope, public frequency band communication module in the present embodiment includes 433MHZ, 868MHZ, 2.4GHZ, at least one of 5GHZ WIFI module, wherein, it can be understood that, 2.4GHZ module includes 2.4GHZ WIFI module, Zigbee module, bluetooth module, at least one of proprietary protocol module.

In a kind of preferred embodiment, base station further includes the second base station communication module communicated with data processing centre and the first detection module for detecting the first base station communication module network signal, as shown in Figure 5, comprising the following steps:

S101: it is communicated by the first base station communication module；

Embodiment 3

Present specification also proposes a kind of network RTK positioning system from mobile device, comprising: positioning movement station can be installed on from mobile device；Positioning movement station includes satellite signal receiver, for receiving satellite-signal and first movement station communication module；First movement station communication module is communicated with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, it positions movement station and is based on satellite-signal and revise signal formation positioning signal, it is mobile based on positioning signal from mobile device, wherein, in above-mentioned network RTK positioning system, at least one first movement station communication module is communicated by accessing the interconnecting device access internet of own network.The introduction of own network repeats no more.

In a preferred embodiment, first movement station communication module includes at least one of public frequency band communication module.

Wherein, public frequency band is the public frequency band in ISM band from positioning of mobile equipment system communication protocol, the regulation disunity of various countries in ISM band, such as, 2.4GHZ is the general ISM band in various countries, it can be understood that, meet in various countries' ISM band from the public frequency band in positioning of mobile equipment system communication protocol in present specification protection scope, public frequency band communication module in the present embodiment includes 433MHZ, 868MHZ, 2.4GHZ, at least one of 5GHZ WIFI module, wherein, it can be understood that, 2.4GHZ module includes 2.4GHZ WIFI module, Zigbee module, bluetooth module, at least one of proprietary protocol module.

In a kind of preferred embodiment, positioning movement station further includes the second movement station communication module, is communicated by the second movement station communication module with data processing centre.Second movement station communication module includes at least one of cable network module, cellular network module.

In a kind of preferred embodiment, positioning movement station further includes the second movement station communication module, is communicated by the second movement station communication module with data processing centre.It positions and two interfaces is set on movement station, be respectively connected to first movement station communication module and the second movement station communication module, the second movement station communication module includes at least one of cable network module, cellular network module.Position movement station further include: the network signal of first detection module, detection first movement station communication module is opened the second movement station communication module and communicated when the signal quality for detecting first movement station communication module is unsatisfactory for preset condition.It will be appreciated that without limitation, other interfaces also can be set, accessing other can be realized the communication module of communication in the quantity of interface on positioning movement station.

In a kind of preferred embodiment, first movement station communication module on positioning movement station can be changed to the second movement station communication module, it positions and an interface is set on movement station, first movement station communication module and the second movement station communication module can be interchangeably mounted on interface.Wherein, the second movement station communication module also includes at least one of cable network module, cellular network module.It will be appreciated that the interface on positioning movement station also has access to other and can be realized the network module of communication.

Similarly, when positioning movement station one interface of setting, the signal quality of first detection module detection first movement station communication module also can use, when signal quality is unsatisfactory for preset condition, first movement station communication module is dismantled, the second movement station communication module is accessed.

Present specification also proposes a kind of localization method of network RTK positioning system from mobile device, provides positioning movement station, can be installed on from mobile device；Positioning movement station includes the satellite signal receiver and first movement station communication module for receiving satellite-signal；It is communicated by first movement station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, it positions movement station and is based on satellite-signal and revise signal formation positioning signal, it is mobile based on positioning signal from mobile device, comprising the following steps: at least one first movement station communication module is communicated by accessing the interconnecting device access internet of own network.The introduction of own network repeats no more.

In a preferred embodiment, first movement station communication module includes that at least one of public frequency band communication module is connected with interconnecting device and accesses internet.

In a kind of preferred embodiment, positioning movement station further includes the second movement station communication module communicated with data processing centre and the first detection module for detecting first movement station communication module network signal, as shown in Figure 6, comprising the following steps:

S201: it is communicated by first movement station communication module；

S202: the signal quality of detection first movement station communication module；

S203: judge whether the signal quality of first movement station communication module meets preset condition；When the signal quality of first movement communication module meets preset condition, return step S201；

When the signal quality of first movement communication module is unsatisfactory for preset condition, S204 is entered step: opening the communication of the second mobile communication module.

In a kind of preferred embodiment, first movement station communication module on positioning movement station can be changed to the second movement station communication module, interface is set on positioning movement station, first movement station communication module and the second movement station communication module can be interchangeably mounted on interface.Wherein, the second movement station communication module also includes at least one of cable network module, cellular network module.

Embodiment 4

Present specification also proposes a kind of network RTK positioning system from mobile device, comprising: positioning movement station can be installed on from mobile device；Positioning movement station includes satellite signal receiver, for receiving satellite-signal and first movement station communication module；First movement station communication module is communicated with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, it positions movement station and is based on satellite-signal and revise signal formation positioning signal, it is mobile based on positioning signal from mobile device, wherein, in above-mentioned network RTK positioning system, at least one first movement station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.

In a kind of preferred embodiment, position movement station further include: first detection module, the network signal for detecting the first base station communication module is opened the second base station communication module and is communicated when the signal quality for detecting the first base station communication module is unsatisfactory for preset condition.

Present specification also proposes a kind of localization method of network RTK positioning system from mobile device, provides positioning movement station, can be installed on from mobile device；Positioning movement station includes the satellite signal receiver and first movement station communication module for receiving satellite-signal；It is communicated by first movement station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, it positions movement station and is based on satellite-signal and revise signal formation positioning signal, it is mobile based on positioning signal from mobile device, comprising the following steps: at least one first movement station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.The introduction of own network repeats no more.

S201: it is communicated by first movement station communication module；

Embodiment 5

Present specification also proposed a kind of from mobile device, it include operational module, mobile module, drive module, control module from mobile device, operational module is for executing operation, mobile module drives mobile from mobile device main body, drive module provides power for operational module and mobile module, control module can control operational module, mobile module, drive module, be positioned from mobile device by the network RTK positioning system of the above-mentioned offer of present specification.It will be appreciated that automatic mobile device can for intelligent grass-removing or clean robot etc. automatic, semiautomatic machine.

Embodiment 6

Present specification also proposes a kind of automatic working system, the network RTK positioning system from mobile device from mobile device and above-mentioned offer including above-mentioned offer.

Embodiment 7

Present specification also proposes a kind of processing method for calculating equipment, the calculating equipment application is in the network RTK positioning system from mobile device, positioning system includes several base stations, base station includes the first satellite signal receiver for receiving satellite-signal, it further include the first base station communication module, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the processing method is the following steps are included: judge whether the network environment of base station installation site is supported to be communicated by public frequency band communication network at least one, different communication modules is provided according to the first base station communication module stood on the basis of judging result to access internet.

In a preferred embodiment, base station further includes the second base station communication module.

In a preferred embodiment, the first base station communication module on base station can be changed to the second base station communication module, and interface is arranged on base station, and the first base station communication module and the second base station communication module can be interchangeably mounted on interface.

Wherein, the second base station communication module includes at least one of cellular network module, cable network module.

In a preferred embodiment, judge whether the network environment of base station installation site is supported to include the steps that one judges whether the network environment of base station installation site meets default offer condition the step of communication by least one of public frequency band communication network, according to judging result, at least one of the first base station communication module, second base station communication module are provided.

In a preferred embodiment, the specific means of judgement includes: to judge that the judgment method of the network environment of base station installation site includes by providing an order for user's typing information, the information includes the network environment of base station installation site, obtains a judging result according to the order information of typing.

In a preferred embodiment, it includes providing a check device that the specific means of judgement, which includes: the judgment method for the network environment for judging base station installation site, checks the network environment of base station installation site, obtains a judging result according to inspection result.

According to judging result, provide at least one and the second base station communication module of the first base station communication module at least one or, providing at least one of second base station communication module or, providing at least one of first base station communication module.

Situation one:

Judge whether the network environment of base station installation site meets default offer condition, wherein default offer condition includes that there are public frequency band communication networks for the installation site of base station.When meeting the default offer condition, at least one of the first base station communication module is provided；When being unsatisfactory for default offer condition, provides and open the second base station communication module.

Situation two:

Default offer condition includes that public frequency band communication network signal can cover working region comprehensively.When meeting default offer condition, at least one of public frequency band communication module is provided；When being unsatisfactory for default offer condition, at least one of first base station communication module is provided and provides and opens the second base station communication module.

Situation three:

Default offer condition includes whether the signal quality of public frequency band communication network meets preset condition.When meeting default offer condition, at least one of public frequency band communication module is provided；When being unsatisfactory for default offer condition, at least one of first base station communication module is provided and the second base station communication module is provided.When being unsatisfactory for default offer condition but there are work requirements, provides and open the second base station communication module.

Situation four:

Default offer condition includes that judgement exists and at least one of public frequency band communication module can be transferred into the interconnecting device of internet.When meeting default offer condition, at least one of the first base station communication module is provided；When being unsatisfactory for default offer condition, provides and open the second base station communication module.

Above-mentioned four kinds of situations open cellular network modular, generate a valuation scheme when second communication module is cellular network module.Valuation scheme includes being valuated or being collected constant expense by flow.

Embodiment 8

The calculating equipment application that present specification proposes is in APP application system or intelligent terminal, intelligent terminal has microprocessor, and has and output and input, storage information, the terminal for handling the functions such as information, for example including the intelligible intelligent terminal in all this fields such as computer equipment, tablet computer, mobile phone, APP application system is the application software being set on intelligent terminal.Popular general, which can be applied in all computer equipments for being capable of handling information such as web page program or APP application system of intelligent terminal.

Present specification also proposes a kind of processing method for calculating equipment, the calculating equipment application is in the network RTK positioning system from mobile device, positioning system includes several base stations, base station includes the first satellite signal receiver for receiving satellite-signal, it further include the first base station communication module, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the processing method is the following steps are included: judge that the network environment of base station installation site whether there is the network that can support to access internet by the interconnecting device for accessing own network to be communicated, heterogeneous networks module is provided according to the first base station communication module stood on the basis of judging result to access internet.

It in a preferred embodiment, include by access public frequency band communication network by accessing the interconnecting device of own network to access internet with the network communicated.

Situation one:

Situation two:

Situation three:

Situation four:

As shown in Figure 7, a kind of CORS system, including movement station 10, multiple base stations are established in the region of movement station, such as general 3 or 3 of quantity of multiple base stations or more, first base station 20, second base station 21, third base station 22, data processing centre 30, each base station mutual distance is generally 50~100 kilometers, the location navigation of the reception satellite 40 of movement station 10, satellite 40 broadcasts satellite data to the first base station 20, second base station 21, third base station 22, first base station 20, second base station 21, third base station 22 is by satellite data transmission module by satellite data transmission to data processing centre 30, data processing centre 30 receives the first base station 20, second base station 21, the data of third base station 22, in conjunction with network The data of the full reference station of RTK Algorithms Integration are resolved, virtual base station VRS (< 1m) can be simulated near movement station 10 and calculates more accurate ionosphere and tropospheric data, calculate differential corrections data, realize overlay area higher positioning accuracy, differential corrections data are transferred to the differential data receiving module of movement station 10 by data processing centre 30, wherein, the satellite data transmission module of each base station includes at least WIFI module and/or radio module.

As needed, the satellite data transmission module of each base station further includes wired module and/or 3G module.

The operation method of each base station in the CORS system includes: that the satellite navigation module of base station receives differential corrections data using WIFI module and/or radio module, when system detection is to WIFI signal and/or bad radio signal, it is open-minded that system sends signal prompt 3G signal, and switches to 3G communication pattern.

Wherein, when system detection is to WIFI signal and/or bad radio signal, system detection wired module signal, when wire signal is bad, it is open-minded that system sends signal prompt 3G signal, and switches to 3G communication pattern.

Incorporated by reference to shown in Fig. 8, embodiment 1-4 introduced below.

The satellite transmission module of base station includes WIFI module, by WIFI module by satellite data transmission to data processing centre, when not supporting WIFI signal, such as when the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of WIFI signal, general WIFI signal can support the transmission range for being up to 50m, such as base station to attachable network station distance more than 50m when, a reference value then connects wired module, when not supporting connection wired module, such as distance is farther out or when the wired layout of connection is cumbersome, then connect 3G module, by 3G module by satellite data transmission to data processing centre.

The satellite transmission module of base station includes radio module, by radio module by satellite data transmission to data processing centre, when not supporting radio signal, such as when the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of radio signal, general radio signal can support the transmission range for being up to 100m, such as base station station to attachable network station distance more than 100m when, then connect wired module, when not supporting connection wired module, such as the positional distance of base station is to attachable network station distance farther out or when the wired layout of connection is cumbersome, then connect 3G module, by 3G module by satellite data transmission to data processing centre.

The satellite transmission module of base station includes WIFI module, by WIFI module by satellite data transmission to data processing centre, when not supporting WIFI signal, such as the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of WIFI signal, then connect radio module, by radio module by satellite data transmission to data processing centre, when not supporting radio module, such as when the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of radio signal, then connect wired module, but when not supporting wired module, such as distance is farther out or when the wired layout of connection is cumbersome, then connect 3G module, by 3G module by satellite data transmission to data processing centre.

The satellite transmission module of base station includes radio module, by radio module by satellite data transmission to data processing centre, when not supporting radio signal, such as the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of radio signal, then connect WIFI module, by WIFI module by satellite data transmission to data processing centre, when not supporting WIFI module, such as when the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of WIFI signal, then connect wired module, but when not supporting wired module, such as distance is farther out or when the wired layout of connection is cumbersome, then connect 3G module, by 3G module by satellite data transmission to data processing centre.

The differential data receiving module of a kind of movement station 10, movement station 10 includes at least WIFI module and/or radio module.As needed, the differential data receiving module of movement station further includes 3G module.

Movement station 10 is mobile mechanical equipment in present specification, for example, can with intelligent grass-removing or clean robot etc. automatic, semiautomatic machine.In all embodiments below, movement station is by taking intelligent grass-removing as an example.

The operation method of the movement station with CORS system includes: that the differential data receiving module of movement station receives differential corrections data using WIFI module and/or radio module, when detecting that WIFI signal and/or radio signal are bad, it is open-minded that system sends signal prompt 3G signal, and switches to 3G communication pattern.

As shown in connection with fig. 9, embodiment 5-8 introduced below.

The differential data receiving module of intelligent grass-removing receives data using WIFI module, when not supporting WIFI signal, switching 3G module communication.

The differential data receiving module of intelligent grass-removing receives data using radio module, when not supporting radio signal, switching 3G module communication.

The differential data receiving module of intelligent grass-removing receives data using WIFI module, when not supporting WIFI signal, receives data using radio module, when not supporting radio signal, switching 3G module communication.

The differential data receiving module of intelligent grass-removing receives data using radio module, when not supporting radio signal, receives data using WIFI module, when not supporting WIFI signal, switching 3G module communication.

In a specific embodiment, when the case where star base enhancing, the differential data receiving module of intelligent grass-removing receives data using satellite modules, differential corrections data are transferred to communications satellite by data processing centre, and differential corrections data are transferred to the differential data receiving module of intelligent grass-removing by communications satellite.

When the differential data receiving module of intelligent grass-removing receives differential corrections data using 3G module, differential corrections data are directly transferred to movement station by data processing centre.

As shown in Figure 7, in the CORS system, it further include custom system 50, when the differential data receiving module of intelligent grass-removing receives differential corrections data using WIFI module and/or radio module, differential corrections data are passed through network transmission to custom system 50 by data processing centre 40, and differential corrections data are transferred to the WIFI module or radio module of movement station 10 by custom system 50.

Incorporated by reference to shown in Figure 10, custom system 50 includes router 51 and network wireless electric transducer 52, and when the differential data receiving module of intelligent grass-removing receives differential corrections data using WIFI module, intelligent grass-removing obtains WIFI signal by router 51.

When the differential data receiving module of intelligent grass-removing receives differential corrections data using radio module, intelligent grass-removing obtains radio signal by network wireless electric transducer 52 and router 51.Network wireless electric transducer 52 includes radio module 521, antenna 522, network module 523 and control module 524, network module 523 is obtained by wire/wireless mode access router 51 and is connected to the network in network wireless electric transducer 52, network data is converted into radio data by control module 524, pass through antenna 522 for Radio Data-transmission to the radio reception module of intelligent grass-removing, so that differential corrections data can be transferred to intelligent grass-removing by custom system 50 by data processing centre 40 by radio module 521.

Present specification also proposed a kind of base station equipped with CORS system, and the satellite data transmission module of base station includes replaceable WIFI module and/or radio module.When WIFI module and/or unavailable radio module, then WIFI module and/or radio module can directly be replaced with to other supported modules, such as be changed to wired module and/or 3G module.That is, according to the actual situation, satellite data transmission module WIFI module, radio module, wired module, the 3G module of base station are replaceable between each other.

The satellite transmission module of base station includes WIFI module, by WIFI module by satellite data transmission to data processing centre, when not supporting WIFI signal, such as when the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of WIFI signal, then WIFI module is changed to radio module or wired module or 3G module.

The satellite transmission module of base station includes radio module, by radio module by satellite data transmission to data processing centre, when not supporting radio signal, such as when the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of radio signal, then radio module is changed to WIFI module or wired module or 3G module.

The satellite transmission module of base station includes WIFI module and radio module, by WIFI module and radio module by satellite data transmission to data processing centre, when not supporting WIFI signal and radio signal, such as when the distance of base station is more remote, when the attachable network station of the positional distance of base station is more than the transmission range of WIFI signal and radio signal, then wired module or 3G module are changed to.

Present specification also proposed a kind of movement station equipped with CORS system, and the differential data receiving module of movement station includes replaceable WIFI module and/or radio module.It is understood that WIFI module and/or radio module then can directly be replaced with to other supported modules, such as be changed to 3G module when WIFI module and/or unavailable radio module.That is, according to the actual situation, WIFI module, radio module, 3G module are replaceable between each other.

The differential data receiving module of intelligent grass-removing receives data using WIFI module, and when not supporting WIFI signal, WIFI module is replaced by radio module or 3G module.

The differential data receiving module of intelligent grass-removing receives data using radio module, and when not supporting radio signal, radio module is replaced by WIFI module or 3G module.

The differential data receiving module of intelligent grass-removing receives data using WIFI module and radio module, and when not supporting WIFI signal and radio signal, WIFI module and radio module are changed to 3G module.

As shown in Figure 7, a kind of CORS system, multiple base stations are established in region, generally 3 or 3 or more, to constituting the network coverage in the region, wherein at least part base station can support WIFI signal and/or radio signal, such as one of base station to pass through WIFI signal or radio signal for satellite data transmission to data processing centre.Network transmission expense is saved, and easy for installation relative to the other modes that wired or 3G is transmitted using WIFI signal or radio signal transmission data.

The Satellite Navigation Set of intelligent grass-removing needs to be accurately positioned the coordinate position of itself according to amendment number, moves intelligent grass-removing accurately, improve mowing efficiency after receiving differential corrections number.

As shown in figure 9, the navigation positional device of intelligent grass-removing includes:

Antenna is positioned, for receiving the navigation signal of satellite；

Locating module: for according to the navigation signal of satellite and the position coordinates of differential corrections data positioning intelligent grass trimmer；

Control module, it is mobile for controlling intelligent grass-removing according to position coordinates.

The operation method of the Satellite Navigation Set of the intelligent grass-removing includes the following:

S1, positioning antenna receive the navigation signal of satellite, and locating module positions the position coordinates of movement station, and it is mobile that control module controls movement station；

S2, detection module detect the signal condition of differential data receiving module, receive differential corrections data using one of WIFI module, radio module or 3G module；

S3, differential data receiving module receive the differential corrections data that data processing centre sends；

S4, locating module position the position coordinates of movement station according to the navigation signal and differential corrections data of satellite；

It is mobile to control movement station according to modified position coordinates by S5.

In present specification, satellite-signal can be the navigator fixs signals such as GPS signal, Beidou navigation signal, the Galileo signal in Europe, Russian Glonass signal.

Wherein, as shown in figure 11, intelligent grass-removing detection module detection differential data receiving module signal program circuit it is as follows: (1), detector detect WIFI signal situation, when WIFI signal is good, differential corrections data are received using WIFI module, without WIFI signal or when bad WIFI signal, (2) are entered step；

(2), radio signal situation is detected, when radio signal is good, receives differential corrections data using radio module, certain interval of time T, it reenters step (1), when no radio signal or bad radio signal, enters step (3)；Wherein, T is, for example, 10 minutes.

(3), starting 3G signal receives differential corrections data, and certain interval of time T1, reenters step (1) or certain interval of time T2 enters step (2).Wherein, T1 is, for example, 10 minutes, and T2 is, for example, 1 minute.T, the specific setting time of T1, T2 can be set as different numerical value according to the different situations of system.

Alternatively: when detector detects that the differential received module of intelligent grass-removing does not install WIFI module, system can prompt the step of closing detector detection WIFI signal (1) or user that can close the step of detector detects WIFI (1) by control button.When detector detects that the differential received module of intelligent grass-removing does not install radio module, system can prompt the step of closing detector detection radio signal (2) or user that can close the step of detector detects radio (2) by control button.Perhaps detector detects that intelligent grass-removing detects that system can prompt the step of closing detection 3G signal (3) or user that can close the step of detector detects 3G signal (3) by control button when system does not install 3G module.

The case where it is understood that in other examples, there is also detectors first to detect radio signal, then detecting WIFI signal, finally detecting 3G signal, method is same as described above, and which is not described herein again.

Based on the above CORS system, when selling intelligent grass-removing, sales force needs to inquire station address, lawn size, WIFI equipment and wireless device confirmation, to determine whether user family supports WIFI signal and/or radio signal.When supporting WIFI equipment and/or wireless device, then expense is lower, when user family does not support WIFI equipment and wireless device, then opens 3G module, costly, including collects and disposably collect high price expense or high price annual fee.Such as: the WIFI equipment situation of inquiry user man, when user family does not support WIFI equipment, such as when user family lawn is big, more than WIFI signal coverage area when, or, if user family is without WIFI equipment, user family's WIFI signal is often bad, when user's subjectivity is not desired to intelligent grass-removing of the purchase using WIFI module；Then inquire the wireless device situation of user family, when user family does not support wireless device, such as when the lawn of user family is larger, more than radio signal coverage area when, alternatively, as user family without wireless device, user family's radio signal is often bad, when user's subjectivity is not desired to the intelligent grass-removing using wireless device, then the intelligent grass-removing with 3G module is sold, and collect high price expense.

It is understood that according to the needs of users, can also be attached to when user family supports WIFI equipment and wireless device and open 3G module.

Specifically in sale, different intelligent grass-removings is sold according to different situations.As shown in figure 12, in the particular embodiment:

When sale, whether inquiry user man needs WIFI module, and whether the lawn size including user family is supported, whether there is or not WIFI equipments, whether frequent bad, the subjective intelligent grass-removing whether thought purchase and use WIFI module of user of user family's WIFI signal for user family；Ask whether that can family need radio module, whether the lawn size including user family is supported, whether there is or not wireless devices, whether frequent bad, the subjective intelligent grass-removing whether thought purchase and use radio module of user of user family's radio signal for user family；3G module is inquired whether the user needs to, the traffic fee etc. including 3G module.According to the demand of user, different types of grass trimmer is sold.

Fixed differential data receiving module grass trimmer and replaceable differential data receiving module grass trimmer are divided into for the type of grass trimmer.

[type one]

The grass trimmer of fixed differential data receiving module is that differential data receiving module is fixedly connected on grass trimmer, and user is unable to realizing self disassembling, and the grass trimmer installation of this type is reliable, is not easy to loosen.Type is substantially divided following several:

Intelligent grass-removing involved in this embodiment includes following several: grass trimmer A: having WIFI module, has radio module, has 3G module；Grass trimmer E: there is WIFI module, have radio module, without 3G module；Grass trimmer D: have WIFI module, without radio module, have 3G module；Grass trimmer H: have WIFI module, without radio module, without 3G module；Grass trimmer B: no WIFI module has radio module, has 3G module；Grass trimmer F: no WIFI module has radio module, without 3G module；Grass trimmer C: no WIFI module, without radio module, have 3G module.

If user family needs WIFI module, radio module is needed, needs 3G module, then sells grass trimmer A.

If user family needs WIFI module, radio module is needed, does not need 3G module, then sells grass trimmer E.

If user family needs WIFI module, radio module is not needed, needs 3G module, then sells grass trimmer D.

If user family needs WIFI module, radio module is not needed, does not need 3G module, then sells grass trimmer H.

If user family does not need WIFI module, radio module is needed, needs 3G module, then sells grass trimmer B.

If user family does not need WIFI module, radio module is needed, does not need 3G module, then sells grass trimmer F.

If user family does not need WIFI module, radio module is not needed, needs 3G module, then sells grass trimmer C.

[type two]

The grass trimmer of replaceable differential data receiving module is that differential data receiving module activity is connected on intelligent grass-removing, and mode is substantially divided following several:

Only one interface of grass trimmer, the interface can support access WIFI module, radio module and 3G module to be sold to user's at least one of which module according to the needs of users respectively.

In a specific embodiment, when user needs to buy the intelligent grass-removing with WIFI module and 3G module, then it is sold to user's WIFI module, 3G module, firstly, interface accesses WIFI module, differential corrections data are received using WIFI module, when WIFI signal is bad, WIFI module is pulled out, 3G module is accessed, receives differential corrections data using 3G module.If user is subsequent to need to install radio module, outer purchase radio module is only needed, radio module access grass trimmer interface can be used.

Grass trimmer has multiple interfaces, select the wherein at least one module access of WIFI module, radio module and 3G module, when the module of access does not support use, other module is then accessed in another interface, unlike mode one, the module that do not support need not be pulled out, other module is directly accessed.

In a specific embodiment, only there are two when interface for grass trimmer, when user needs to buy the intelligent grass-removing with WIFI module and 3G module, it is then sold to user's WIFI module, 3G module, firstly, first interface accesses WIFI module, differential corrections data are received using WIFI module, when WIFI signal is bad, 3G module is accessed in second interface, receives differential corrections data using 3G module.

In a specific embodiment, there are three when interface for mowing tool, when user needs to buy the intelligent grass-removing with WIFI module and 3G module, it is then sold to user's WIFI module, 3G module, firstly, first interface accesses WIFI module, differential corrections data are received using WIFI module, when WIFI signal is bad, 3G module is accessed in second interface, receives differential corrections data using 3G module.If user is subsequent to need to install radio module, outer purchase radio module is only needed, the third interface of radio module access grass trimmer can be used.

In a specific embodiment, there are three when interface for mowing tool, when user needs to buy the intelligent grass-removing with WIFI module, radio module and 3G module, then it is sold to user's WIFI module, radio module, 3G module, first, first interface accesses WIFI module, differential corrections data are received using WIFI module, when WIFI signal is bad, in second interface radio module, when radio signal is bad, 3G module is accessed in third interface, receives differential corrections data using 3G module.

Grass trimmer has multiple interfaces, is respectively connected to two or three of WIFI module, radio module and 3G module.When using a module reception data are installed, other modules are not open-minded, if user does not support the module by signal of installation, system prompt opens other modules.When three kinds of modules it is one of or several break down need replacing when, user can voluntarily buy the module self access of Interface Matching.

In a specific embodiment, mowing tool is there are two interface, is equipped with WIFI module inside grass trimmer simultaneously, 3G module, not open-minded at the beginning of 3G module.If user does not have WIFI or WIFI signal often bad after installation, then system sends signal prompt and opens 3G, and switches to 3G communication pattern.

In a specific embodiment, mowing tool is there are two interface, is equipped with radio module inside grass trimmer simultaneously, 3G module, not open-minded at the beginning of 3G module.If user does not have radio or radio signal often bad after installation, then system sends signal prompt and opens 3G, and switches to 3G communication pattern.

In a specific embodiment, for mowing tool there are three interface, grass trimmer inside is not open-minded at the beginning of being equipped with WIFI module, radio module, 3G module, radio module and 3G module simultaneously.If user does not have WIFI or WIFI signal often bad after installation, then system sends signal prompt and opens radio module, and user does not have radio or radio signal often bad, then system sends signal prompt and opens 3G, and switches to 3G communication pattern.

In a specific embodiment, for mowing tool there are three interface, grass trimmer inside is not open-minded at the beginning of being equipped with WIFI module, radio module, 3G module, WIFI module and 3G module simultaneously.If user does not have radio or radio signal often bad after installation, then system sends signal prompt and opens WIFI module, and user does not have WIFI or WIFI signal often bad, then system sends signal prompt and opens 3G, and switches to 3G communication pattern.

To sum up, in conjunction with the demand of user, different types of intelligent grass-removing is sold to user.

Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, combination not all possible to each technical characteristic in above-described embodiment is all described, however, as long as there is no contradiction in the combination of these technical features, all should be considered as described in this specification.

The several embodiments of present specification above described embodiment only expresses, the description thereof is more specific and detailed, and but it cannot be understood as the limitations to patent of invention range.It should be pointed out that for those of ordinary skill in the art, under the premise of not departing from present specification design, various modifications and improvements can be made, these belong to the protection scope of present specification.Therefore, the scope of protection shall be subject to the appended claims for present specification patent.

Claims

A kind of network RTK positioning system from mobile device, the positioning system include:

Several base stations, the base station includes the first satellite signal receiver, receive satellite-signal, it further include the first base station communication module, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, which is characterized in that at least one described first base station communication module is communicated by accessing the interconnecting device access internet of own network.
Network RTK positioning system according to claim 1 from mobile device, which is characterized in that the first base station communication module includes that at least one of public frequency band communication module is connected with interconnecting device and accesses internet.
Network RTK positioning system according to claim 1 from mobile device, which is characterized in that the public frequency band communication module includes that at least one of 433MHZ, 868MHZ, 2.4GHZ, 5GHZ WIFI module is connected with interconnecting device and accesses internet.
Network RTK positioning system according to claim 3 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
Network RTK positioning system according to claim 1 from mobile device, which is characterized in that the base station further includes the second base station communication module, is communicated with data processing centre.
Network RTK positioning system according to claim 5 from mobile device, which is characterized in that the second base station communication module includes at least one of cable network module, cellular network module.
Network RTK positioning system according to claim 5 from mobile device, which is characterized in that the base station further include:

First detection module, the signal quality for detecting the first base station communication module are opened the second base station communication module and are communicated when the signal quality for detecting the first base station communication module is unsatisfactory for preset condition.
Network RTK positioning system according to claim 1 from mobile device, it is characterized in that, the first base station communication module on the base station can be changed to the second base station communication module, interface is set on the base station, and the first base station communication module and the second base station communication module can be interchangeably mounted on the interface.
A kind of localization method of the network RTK positioning system from mobile device, several base stations are provided, the base station includes the satellite signal receiver and the first base station communication module for receiving satellite-signal, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, characterized by comprising the following steps:

At least one described first base station communication module is communicated by accessing the interconnecting device access internet of own network.
The localization method of network RTK positioning system according to claim 9 from mobile device, which is characterized in that the first base station communication module includes that at least one of public frequency band communication module is connected with interconnecting device and accesses internet.
The localization method of network RTK positioning system according to claim 9 from mobile device, it is characterized in that, the public frequency band communication module includes that at least one of 433MHZ, 868MHZ, 2.4GHZ, 5GHZ WIFI module is connected with interconnecting device and accesses internet.
The localization method of network RTK positioning system according to claim 11 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
The localization method of network RTK positioning system according to claim 9 from mobile device, it is characterized in that, the base station further includes the second base station communication module communicated with data processing centre and the first detection module for detecting the first base station communication module signal quality, the following steps are included: being communicated by the first base station communication module, when the signal quality for detecting the first base station communication module is unsatisfactory for preset condition, opens the second base station communication module and communicated.
The localization method of network RTK positioning system according to claim 13 from mobile device, which is characterized in that the second base station communication module includes at least one of cable network module, cellular network module.
The localization method of network RTK positioning system according to claim 9 from mobile device, it is characterized in that, the first base station communication module on the base station can be changed to the second base station communication module, interface is set on the base station, and the first base station communication module and the second base station communication module can be interchangeably mounted on the interface.
A kind of network RTK positioning system from mobile device, the positioning system include:

Several base stations, the base station includes the first satellite signal receiver, receive satellite-signal, it further include the first base station communication module, first base station communication module is communicated with data processing centre, is obtained with being provided from mobile device in response to the request from mobile device, according to the revise signal generated from the position of mobile device, it is characterized in that, at least one described first base station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.
Network RTK positioning system according to claim 16 from mobile device, it is characterized in that, the public frequency band communication module includes that at least one of 433MHZ module, 868MHZ module, 2.4GHZ module, 5GHZ WIFI is communicated with accessing internet.
Network RTK positioning system according to claim 17 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
Network RTK positioning system according to claim 16 from mobile device, which is characterized in that the first base station communication module is communicated by accessing the interconnecting device access internet of own network.
A kind of network RTK localization method of the positioning system from mobile device, several base stations are provided, the base station includes the first satellite signal receiver and the first base station communication module for receiving satellite-signal, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, characterized by comprising the following steps:

At least one described first base station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.
Network RTK positioning system according to claim 20 from mobile device, it is characterized in that, the public frequency band communication module includes that at least one of 433MHZ module, 868MHZ module, 2.4GHZ module, 5GHZ WIFI is communicated with accessing internet.
Network RTK positioning system according to claim 21 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
Network RTK positioning system according to claim 20 from mobile device, which is characterized in that the first base station communication module is communicated by accessing the interconnecting device access internet of own network.
A kind of positioning system from mobile device, the network RTK positioning system include:

Movement station is positioned, can be installed on described from mobile device；

The positioning movement station includes satellite signal receiver, for receiving satellite-signal and first movement station communication module；

First movement station communication module is communicated with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the positioning movement station is based on the satellite-signal and the revise signal forms positioning signal, it is described mobile based on positioning signal from mobile device, it is characterized in that, at least one described first movement station communication module is communicated by accessing the interconnecting device access internet of own network.
Network RTK positioning system according to claim 24 from mobile device, which is characterized in that first movement station communication module includes that at least one of public frequency band communication module is connected with interconnecting device and accesses internet.
Network RTK positioning system according to claim 25 from mobile device, it is characterized in that, the public frequency band communication module includes that at least one of 433MHZ, 868MHZ, 2.4GHZ module, 5GHZ WIFI module are connected with interconnecting device and access internet.
Network RTK positioning system according to claim 26 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
Network RTK positioning system according to claim 24 from mobile device, which is characterized in that the positioning movement station further includes the second movement station communication module, is communicated with data processing centre.
Network RTK positioning system according to claim 28 from mobile device, which is characterized in that the second movement station communication module includes at least one of cable network module, cellular network module.
Network RTK positioning system according to claim 28 from mobile device, which is characterized in that the positioning movement station further include:

Second detection module detects the signal quality of first movement station communication module, when the signal quality for detecting the first base station communication module is unsatisfactory for preset condition, opens the second movement station communication module and is communicated.
Network RTK positioning system according to claim 24 from mobile device, it is characterized in that, first movement station communication module on the positioning movement station can be changed to the second movement station communication module, interface is set on the positioning movement station, and first movement station communication module and the second movement station communication module can be interchangeably mounted on the interface.
A kind of localization method of the network RTK positioning system from mobile device, provides positioning movement station, can be installed on described from mobile device；The positioning movement station includes the satellite signal receiver and first movement station communication module for receiving satellite-signal；It is communicated by first movement station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the positioning movement station is based on the satellite-signal and the revise signal forms positioning signal, it is described mobile based on positioning signal from mobile device, characterized by comprising the following steps:

At least one described first movement station communication module is communicated by accessing the interconnecting device access internet of own network.
The localization method of network RTK positioning system according to claim 32 from mobile device, which is characterized in that first movement station communication module includes that at least one of public frequency band communication module is connected with interconnecting device and accesses internet.
The localization method of network RTK positioning system according to claim 33 from mobile device, it is characterized in that, first movement station communication module includes that at least one of 433MHZ, 868MHZ, 2.4GHZ module, 5GHZ WIFI module are connected with interconnecting device and access internet.
The localization method of network RTK positioning system according to claim 34 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
The localization method of network RTK positioning system according to claim 32 from mobile device, it is characterized in that, the positioning movement station further includes the second movement station communication module communicated with data processing centre and the second detection module for detecting the first movement station communication module network signal, the following steps are included: being communicated by first movement station communication module, when the signal quality for detecting first movement station communication module is unsatisfactory for preset condition, opens the second movement station communication module and communicated.
The localization method of network RTK positioning system according to claim 36 from mobile device, which is characterized in that the second movement station communication module includes at least one of cable network module, cellular network module.
The localization method of network RTK positioning system according to claim 36 from mobile device, it is characterized in that, first movement station communication module on the positioning movement station can be changed to the second movement station communication module, interface is set on the positioning movement station, and first movement station communication module and the second movement station communication module can be interchangeably mounted on the interface.
A kind of network RTK positioning system from mobile device, the positioning system include:

Movement station is positioned, can be installed on described from mobile device；

The positioning movement station includes satellite signal receiver, for receiving satellite-signal and first movement station communication module；

First movement station communication module is communicated with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the positioning movement station is based on the satellite-signal and the revise signal forms positioning signal, it is described mobile based on positioning signal from mobile device, it is characterized in that, at least one described first movement station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.
Network RTK positioning system according to claim 39 from mobile device, which is characterized in that the public frequency band communication module includes at least one of 433MHZ module, 868MHZ module, 2.4GHZ module, 5GHZ WIFI module.
Network RTK positioning system according to claim 40 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
Network RTK positioning system according to claim 39 from mobile device, which is characterized in that first movement station communication module is communicated by accessing the interconnecting device access internet of own network.
A kind of localization method of the network RTK positioning system from mobile device, provides positioning movement station, can be installed on described from mobile device；The positioning movement station includes the satellite signal receiver and first movement station communication module for receiving satellite-signal；It is communicated by first movement station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the positioning movement station is based on the satellite-signal and the revise signal forms positioning signal, it is described mobile based on positioning signal from mobile device, characterized by comprising the following steps:

At least one described first movement station communication module includes that at least one of public frequency band communication module is communicated with accessing internet.
Network RTK positioning system according to claim 43 from mobile device, which is characterized in that the public frequency band communication module includes at least one of 433MHZ module, 868MHZ module, 2.4GHZ module, 5GHZ WIFI module.
The localization method of network RTK positioning system according to claim 44 from mobile device, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
The localization method of positioning system according to claim 43 from mobile device, which is characterized in that first movement station communication module is communicated by accessing the interconnecting device access internet of own network.
One kind is from mobile device, it is described from mobile device include operational module, mobile module, drive module, control module, the operational module is for executing operation, the mobile module drives mobile from mobile device main body, the drive module provides power for the operational module and mobile module, the control module can control the operational module, mobile module, drive module, it is characterized in that, it is described to pass through aforementioned 1-8 from mobile device, 16-19, the described in any item positioning system positioning of 24-31,39-42.
A kind of automatic working system, which is characterized in that including as claimed in claim 47 from mobile device and the described in any item positioning systems of claim 1-8,16-19,24-31,39-42.
A kind of processing method calculating equipment, it is characterized in that, the equipment that calculates is used to handle the network RTK positioning system from mobile device, the positioning system includes several base stations, the base station includes the first satellite signal receiver for receiving satellite-signal, it further include the first base station communication module, it is communicated by the first base station communication module with data processing centre, it is obtained with being provided from mobile device according to the revise signal generated from the position of mobile device, the described method comprises the following steps: whether the network environment of confirmation base station installation site can support the network for accessing internet by the interconnecting device for accessing own network to be communicated, heterogeneous networks module is provided as the first base station communication module of base station to access internet.
The localization method of network RTK positioning system according to claim 49 from mobile device, it is characterized in that, it includes being connected with interconnecting device by least one of access public frequency band communication module and accessing internet that the interconnecting device by accessing own network, which accesses internet with the network communicated,.
The processing method according to claim 50 for calculating equipment, which is characterized in that it is characterized in that, the public frequency band communication module includes at least one of 433MHZ, 868MHZ, 2.4GHZ, 5GHZ WIFI communication module.
The processing method according to claim 51 for calculating equipment, which is characterized in that the 2.4GHZ module includes at least one of 2.4GHZ WIFI module, Zigbee module, bluetooth module, proprietary protocol module.
The processing method according to claim 49 for calculating equipment, which is characterized in that the base station further includes the second base station communication module.
The processing method according to claim 49 for calculating equipment, it is characterized in that, the first base station communication module on the base station can be changed to the second base station communication module, interface is set on the base station, and the first base station communication module and the second base station communication module can be interchangeably mounted on the interface.
The processing method of calculating equipment according to claim 53 or 54, which is characterized in that the second base station communication module includes at least one of cellular network module, wired module.
The processing method according to claim 55 for calculating equipment, it is characterized in that, judge whether the network environment of base station installation site meets default offer condition, according to judging result, provides at least one of the first base station communication module, second base station communication module.
The processing method according to claim 49 for calculating equipment, it is characterized in that, the judgment method of the network environment of the judgement base station installation site includes by providing an order for user's typing information, the information includes the network environment of base station installation site, obtains a judging result according to the order information of typing.
The processing method according to claim 49 for calculating equipment, it is characterized in that, the judgment method of the network environment of the judgement base station installation site includes providing a check device, checks the network environment of base station installation site, obtains a judging result according to inspection information.
The processing method according to claim 56 for calculating equipment, which is characterized in that according to judging result, provide at least one of at least one and the second base station communication module of the first base station communication module.
The processing method according to claim 56 for calculating equipment, which is characterized in that according to judging result, provide at least one of second base station communication module.
The processing method according to claim 56 for calculating equipment, which is characterized in that according to judging result, provide at least one of first base station communication module.
The processing method according to claim 56 for calculating equipment, which is characterized in that the default offer condition includes that the installation site of base station has the network for accessing internet by the interconnecting device for accessing own network to be communicated.
The processing method according to claim 56 for calculating equipment, which is characterized in that the default offer condition includes accessing internet by the interconnecting device of the own network of access to cover working region comprehensively with the network signal communicated.
The processing method according to claim 56 for calculating equipment, which is characterized in that the default offer condition includes accessing internet by the interconnecting device of the own network of access to meet preset condition with the signal quality of the network communicated.
The processing method according to claim 56 for calculating equipment, which is characterized in that the default offer condition includes judgement presence being capable of transferring own network into internet with the interconnecting device of the network communicated.
The processing method according to claim 62 for calculating equipment, which is characterized in that when meeting default offer condition, provide at least one of the first base station communication module；When being unsatisfactory for default offer condition, provides and open the second base station communication module.
The processing method according to claim 63 for calculating equipment, which is characterized in that when meeting default offer condition, provide at least one of public frequency band communication module；When being unsatisfactory for default offer condition, at least one of first base station communication module is provided and the second base station communication module is provided.
The processing method according to claim 64 for calculating equipment, which is characterized in that when meeting default offer condition, provide and at least one of public frequency band communication module is provided；When being unsatisfactory for default offer condition, at least one of first base station communication module is provided and the second base station communication module is provided.
The processing method according to claim 68 for calculating equipment, which is characterized in that when being unsatisfactory for default offer condition but having work requirements, provide and open the second base station communication module.
The processing method according to claim 62 for calculating equipment, which is characterized in that when meeting default offer condition, provide at least one of the first base station communication module；When being unsatisfactory for default offer condition, provides and open the second base station communication module.
According to the processing method of calculating equipment described in claim 66 or 67 or 69 or 70, which is characterized in that the second communication module is cellular network module, generates a valuation scheme.
The processing method according to claim 71 for calculating equipment, which is characterized in that the valuation scheme includes being valuated or being collected constant expense by flow.
The processing method according to claim 49 for calculating equipment, which is characterized in that the calculating equipment application is at least one of APP, intelligent terminal.