WO2021136547A1

WO2021136547A1 - Base station sharing method and system of autonomous robot, and storage medium

Info

Publication number: WO2021136547A1
Application number: PCT/CN2021/070128
Authority: WO
Inventors: 何明明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-01-02
Filing date: 2021-01-04
Publication date: 2021-07-08
Also published as: CN113064191A; WO2021135714A1

Abstract

Provided are a base station sharing method and system of an autonomous robot, and a storage medium. The system comprises: a base station (10), configured at a fixed location around a first autonomous robot and used for receiving a satellite signal and outputting differential telegraph text on this basis; a first mobile station (20), configured on the first autonomous robot and used for receiving the differential telegraph text, and performing differential positioning according to the differential telegraph text and the satellite signal received by the first mobile station per se; at least one second mobile station (60), configured on a corresponding second autonomous robot; and a first gateway (30), configured on the base station (10) side and used for providing the differential telegraph text for the second mobile station (60) by means of a communication network for differential positioning by the second mobile station (60). The method can reduce costs of differential positioning of autonomous robots.

Description

Base station sharing method, system and storage medium of autonomous robot

This application claims the priority of the Chinese patent application whose application date is January 02, 2020 and the application number is 202010001088.4, the entire content of which is incorporated into this application by reference.

Technical field

This specification relates to the technical field of positioning of autonomous robots, and in particular to a method, system and storage medium for sharing a reference station of an autonomous robot.

Background technique

Autonomous robots (or self-moving robots) are robots that are equipped with various necessary sensors and controllers in their body, and can complete certain tasks independently without external human information input and control during operation, that is, autonomous The robot can move autonomously and perform tasks in the work area.

Generally, the autonomous robot is equipped with a satellite positioning and navigation device to locate and guide the movement of the autonomous robot in the working area. In view of the low positioning accuracy of a single satellite positioning and navigation device, a fixed reference station is usually set near the autonomous robot. The reference station can receive satellite signals from the satellite positioning system and provide corresponding differential messages to the mobile station based on the satellite signals. (That is, the satellite positioning and navigation device configured on the autonomous robot). The mobile station can correct the satellite signal received by itself according to the differential message, so as to improve the positioning and navigation accuracy of the autonomous robot. This positioning method is usually also called differential positioning.

At present, for each user, in order to realize the differential positioning of their autonomous robots, they generally need to build a reference station for their autonomous robots. Obviously, the cost of differential positioning of such autonomous robots is relatively high. Therefore, how to reduce the differential positioning cost of autonomous robots has become a technical problem that needs to be solved urgently.

Summary of the invention

The purpose of the embodiments of this specification is to provide a method, system and storage medium for sharing a reference station of an autonomous robot, so as to reduce the cost of differential positioning of an autonomous robot.

To achieve the above objective, on the one hand, an embodiment of this specification provides a base station sharing system for an autonomous robot, the system includes:

The reference station, which is configured at a fixed position around the first autonomous robot, is used to receive satellite signals and output differential messages accordingly;

A first mobile station, which is configured on the first autonomous robot, and is configured to receive the differential message, and perform differential positioning according to the differential message and the satellite signal received by itself;

At least one second mobile station, which is configured on the corresponding second autonomous robot;

The first gateway, which is configured on the side of the reference station, is used to provide the differential message to the second mobile station through a communication network, so that the second mobile station can perform differential positioning.

On the other hand, the embodiment of this specification also provides a method for sharing a reference station of an autonomous robot, including:

Use a reference station to receive satellite signals and output differential messages accordingly; the reference station is configured at a fixed position around the first autonomous robot;

Use a first mobile station to receive the differential message, and perform differential positioning according to the differential message and satellite signals received by itself; the first mobile station is configured on the first autonomous robot;

The first gateway is used to provide the differential message to at least one second mobile station, so that the second mobile station can perform differential positioning; the first gateway is configured on the side of the reference station, and the second mobile station is configured On the corresponding second autonomous robot.

On the other hand, the embodiment of this specification also provides a computer storage medium on which a computer program is stored, and the computer program is executed by a processor to realize the above-mentioned reference station sharing method.

It can be seen from the technical solutions provided by the above embodiments of this specification that the embodiments of this specification can provide differential messages to the first mobile station and at least one second mobile station through a reference station for these mobile stations to perform differential positioning. For users of the second mobile station, since they can use the differential message provided by the reference station corresponding to the first mobile station to perform differential positioning, there is no need to build a reference station by themselves, which greatly reduces the differential positioning of the second mobile station. cost. For the user of the first mobile station, as the base station maintainer, because it shares its base station externally (that is, to one or more second mobile stations); in return, it can report to the user of the second mobile station Charge an appropriate sharing service fee, thereby also reducing the differential positioning cost of the first mobile station.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor. In the attached picture:

Figure 1 is a schematic structural diagram of a base station sharing system of an autonomous robot in some embodiments of this specification;

2 is a schematic diagram of the structure of the base station sharing system of the autonomous robot in some other embodiments of the specification;

Figure 3 is a schematic diagram of a plurality of second mobile stations receiving satellite signals in some embodiments of this specification;

Fig. 4 is a flowchart of a method for sharing a base station of an autonomous robot in some embodiments of this specification.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in this specification, the following will clearly and completely describe the technical solutions in the embodiments of this specification in conjunction with the drawings in the embodiments of this specification. Obviously, the described The embodiments are only a part of the embodiments in this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this specification.

The autonomous robot mentioned in this manual can move autonomously in the work area to automatically perform work tasks. In the embodiment of this specification, the autonomous robot may be, for example, a floor cleaning robot or a lawn care robot. For example, in some exemplary embodiments, the ground cleaning robot may be, for example, an automatic sweeper, an automatic mopping machine, or an automatic snowplow, etc.; the grass care robot may be, for example, an intelligent lawn mower, an automatic watering machine, Automatic lawn care machines, etc.

As mentioned above, for individual users of autonomous robots, in order to realize the differential positioning of autonomous robots, it is generally necessary to build a reference station for their autonomous robots, which leads to the generally high cost of differential positioning of autonomous robots.

In view of this, in order to reduce the cost of differential positioning of autonomous robots, the embodiments of this specification provide a base station sharing system for autonomous robots. As shown in FIG. 1, in some embodiments of this specification, the base station sharing system of an autonomous robot may include a base station 10, a first mobile station 20, at least one second mobile station 60 and a first gateway 30. Wherein, the reference station 10 can be configured at a fixed position around the first autonomous robot (the position coordinates of the fixed position are known), and it can be used to receive satellite signals from the satellite positioning system 40 and output differential messages accordingly. The first mobile station 20 may be configured on the first autonomous robot, and it may be used to receive the differential message, and perform differential positioning based on the differential message and the satellite signal received by itself. The second mobile station 60 may be configured on the corresponding second autonomous robot. The first gateway 30 may be configured on the side of the reference station 10, and it may be used to provide the differential message to the second mobile station 60 through a communication network, so that the second mobile station 60 can perform differential positioning. Similar to the first mobile station 20, the second mobile station 60 also needs to receive satellite signals from the satellite positioning system 40 (for example, as shown in FIG. 3) to perform differential positioning based on the differential message and the satellite signals received by itself. In this specification, for ease of description, in the embodiment shown in FIG. 1, the first autonomous robot configured with a mobile station is referred to as the first mobile station 20; similarly, the second mobile station 60 may refer to a mobile station configured with a mobile station. The second autonomous robot.

It can be seen that the above-mentioned embodiment of the present specification realizes that a reference station 10 can provide a differential message to the first mobile station 20 and at least one second mobile station 60 for these mobile stations to perform differential positioning. For users of the second mobile station 60, since they can use the differential message provided by the reference station 10 corresponding to the first mobile station 20 to perform differential positioning, there is no need to build a reference station by themselves, which greatly reduces the number of second mobile stations. 60 differential positioning cost. For the user of the first mobile station 20, as the base station maintainer, because he shares his base station 10 externally (that is, to one or more second mobile stations 60); in return, he can move to the second mobile station The user of the station 60 charges an appropriate sharing service fee, thereby also reducing the differential positioning cost of the first mobile station 20. Not only that, for any user who has built a base station 10 by himself, he can freely choose whether or not to share the base station 10 with the outside; and for a user who has newly purchased an autonomous robot and has not built a base station 10 by himself, when there are other In the case that the user shares the base station 10 externally, he can freely choose whether to build the base station 10 himself or use the base station 10 shared by other users, thereby providing the user with more choices and improving the user experience.

The differential positioning mentioned in this specification may include, but is not limited to, position difference, pseudorange difference, pseudorange difference after carrier phase smoothing, and other carrier phase differences. For example, in an exemplary embodiment, the differential positioning may use RTK (Real-time kinematic) carrier phase difference technology in carrier phase difference.

In the embodiment of this specification, the above-mentioned differential positioning is based on the error between the mobile station (including the first mobile station 20 and the second mobile station 60) and the reference station 10 (such as satellite ephemeris error, satellite clock error, ionospheric error). Delay and multipath effects, etc.) are strongly similar to this basis. Therefore, as the distance between the mobile station and the reference station increases, the error similarity becomes worse and the positioning accuracy becomes lower and lower. Therefore, in order to help ensure positioning accuracy, the first mobile station 20, the second mobile station 60 and the reference station 10 can choose the same satellite positioning system, and the distance between the second mobile station 60 and the reference station 10 should be within a suitable distance range. Inside. For example, in an exemplary embodiment of this specification, the first mobile station 20, the second mobile station 60, and the reference station 10 may all select the GPS satellite positioning system, and the distance between the second mobile station 60 and the reference station 10 does not exceed 10KM . Of course, in other embodiments, the satellite positioning system can also be a Galileo satellite navigation system, a Beidou satellite navigation system, or GLONASS; and the distance between the second mobile station 60 and the reference station 10 can also be determined according to actual conditions. There is no restriction on this.

In some embodiments of this specification, in order to improve the reliability and stability of the system, the reference station 10 may be fixedly set at a position with a better satellite signal. Since the position coordinates of the position are known, the reference station 10 compares the observation value at the position (that is, the position coordinates calculated based on the received satellite signal) with the known value, so as to obtain the differential correction data. The differential message output by the reference station 10 carries differential correction data (or called differential correction number) so that the first mobile station 20 and the second mobile station 60 can correct themselves based on the differential correction data. The position coordinates obtained by calculating the satellite signal can improve the positioning accuracy. In some exemplary embodiments of this specification, the differential message output by the reference station 10 may be in RTCM (Radio Technical Commission for Maritime services) or CMR (Compact Measurement Record) format, etc., which is not limited in this specification.

In theory, although the differential message obtained by the reference station 10 can be directly broadcast to the first mobile station 20 and the second mobile station 60 by means of a high-power digital transmission station or the like. However, in view of the high price of high-power digital transmission stations, in some embodiments of this specification, the first gateway 30 configured on the side of the reference station 10 is used to provide the differential message to the second communication network through a public communication network. The mobile station 60 is a more economical and feasible option. Wherein, the communication network may be, for example, the Internet, a cloud network (such as Alibaba Cloud, Amazon Web Services (Amazon Web Services), Microsoft Cloud, Google Cloud), or a mobile data network (such as GPRS (General Packet Radio Service, General Packet Radio Service)) )Wait.

A gateway is generally configured on the autonomous robot side for data transmission with the first autonomous robot. The data transmission may include, for example, uploading data (such as status data, etc.) to the user terminal of the first autonomous robot through a gateway, and may also include receiving an instruction sent by the user terminal through the gateway. Therefore, if only from the perspective of cost reduction, the gateway can be used as the first gateway 30 (that is, the functions of the first gateway 30 and the second gateway 31 are implemented on one gateway device). However, in this way, the base station 10, the first gateway 30, and the first mobile station 20 need to be networked and time-sharing, which easily leads to increased system complexity and difficulty in upgrading from the original system.

Therefore, in some embodiments of this specification, in order to reduce the complexity of the system and facilitate system upgrades, a gateway may be added to the base station maintainer as the first gateway 30 mentioned above; and the base station maintainer may add a gateway as the above-mentioned first gateway 30; Some gateways can be used as the second gateway 31 (for example, as shown in Figure 2) to continue to maintain the original function, that is, the second gateway 31 can upload data to the user terminal of the first autonomous robot, and/or receive the user The instructions sent by the end.

In some embodiments of this specification, the user terminal may be a desktop computer, a tablet computer, a notebook computer, a smart phone, a digital assistant, a smart wearable device, and the like. Among them, smart wearable devices may include smart bracelets, smart watches, smart glasses, smart helmets, and so on. Of course, the client terminal is not limited to the above-mentioned electronic equipment with a certain entity, and it can also be software running in the above-mentioned electronic equipment.

In some embodiments of this specification, the first gateway 30 provides the differential message to the second mobile station via a communication network, for example, it may include: the first gateway 30 communication network multicasts the differential message in real time To the second mobile station 60. Correspondingly, as shown in FIG. 2, the system may further include at least one third gateway 50, which may be configured on the side of the corresponding second autonomous robot (that is, each second autonomous robot side may be configured with a third gateway 50). ); Through the third gateway 50, the second mobile station 60 can receive the differential message from the communication network according to a preset receiving strategy, so that the differential message can be obtained on demand.

For example, when the second mobile station 60 is in the working state, it can receive differential telegrams in real time through the communication network; in other states (such as standby state, charging state), the second mobile station 60 can reduce reception from the communication network. The frequency of the differential message (not even receiving the differential message) to reduce overhead. For example, in an exemplary embodiment, when the second mobile station 60 is in the standby state, the receiving frequency of the differential message received from the communication network may be reduced from the original reception once per second to once every 3 seconds. The communication network generally needs to pay a communication service fee to receive the differential message. Under the premise of ensuring the positioning accuracy, this method of reducing the receiving frequency can help reduce the communication cost.

In some embodiments of this specification, between the reference station 10 and the first mobile station 20, between the reference station 10 and the first gateway 30, the second gateway 31 and the first mobile station The communication between the mobile stations 20 and the third gateway 50 and the corresponding second mobile station 60 can all be communicated through a wireless transmission protocol. In some exemplary embodiments, the wireless transmission protocol may be, for example, a radio frequency (RF) communication protocol, a Bluetooth communication protocol, a WIFI communication protocol, and so on. Since these wireless transmission protocols have stable performance and no additional communication service fees are generated, the implementation cost can be further reduced. In some embodiments, the power of the wireless transmission protocol is less than 1w. In some embodiments, the power of the wireless transmission protocol is less than 0.5w. In some embodiments, the frequency of the wireless transmission protocol is 433 MHz, or 868 MHz, or 915 MHz.

In some embodiments of this specification, the first gateway 30, the second gateway 31, and the third gateway 50 may all be implemented based on general or dedicated gateway equipment. For example, in an exemplary embodiment, the first gateway 30 may be implemented based on a router, a network switch, or the like.

For the convenience of description, when describing the above device, the functions are divided into various units and described separately. Of course, when implementing this specification, the functions of each unit can be implemented in the same at least one piece of software and/or hardware.

Corresponding to the above-mentioned base station sharing system for autonomous robots, this manual also provides a base station sharing method for autonomous robots. Referring to FIG. 4, in some embodiments of this description, the method for sharing a base station of an autonomous robot may include the following steps:

S41. Use a reference station to receive satellite signals and output differential messages accordingly; the reference station is configured at a fixed position around the first autonomous robot.

S42a. Use a first mobile station to receive the differential message, and perform differential positioning according to the differential message and the satellite signal received by itself; the first mobile station is configured on the first autonomous robot.

S42b. Use a first gateway to provide the differential message to at least one second mobile station, so that the second mobile station performs differential positioning; the first gateway is configured on the reference station side, and the second mobile station The station is configured on the corresponding second autonomous robot.

The reference station sharing method of some embodiments of this specification may further include:

The second gateway is used to upload data to the user terminal of the first autonomous robot and/or receive instructions sent by the user terminal; the second gateway is configured on the side of the first autonomous robot.

In the reference station sharing method of some embodiments of the present specification, the providing the differential message to the second mobile station through a communication network may include:

The differential message is multicast to the second mobile station in real time through the communication network.

At least one third gateway is used to receive the differential message from the communication network according to a preset receiving strategy and provide it to the corresponding second mobile station; the third gateway is configured on the side of the corresponding second autonomous robot.

In the base station sharing method of some embodiments of this specification, the receiving the differential message from the communication network according to a preset receiving strategy includes:

Receiving a differential message from the communication network according to a preset receiving frequency.

In the base station sharing method of some embodiments of this specification, the base station and the first mobile station, and the base station and the first gateway communicate through a wireless transmission protocol.

In the base station sharing method of some embodiments of this specification, the second gateway and the first mobile station communicate with each other through a wireless transmission protocol.

In the base station sharing method of some embodiments of this specification, the third gateway and the corresponding second mobile station communicate with each other through a wireless transmission protocol.

Although the process flow described above includes multiple operations appearing in a specific order, it should be clearly understood that these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel (for example, using parallel processors or Multi-threaded environment).

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

In a typical configuration, the computing device includes at least one processor (CPU), input/output interface, network interface, and memory.

The memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cartridges, disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, or device including a series of elements not only includes those elements, but also includes no The other elements clearly listed may also include elements inherent to the process, method, or equipment. If there is no more restriction, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, or device that includes the element.

Those skilled in the art should understand that the embodiments of this specification can be provided as a method, a system or a computer program product. Therefore, this specification may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on at least one computer-usable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be configured in local and remote computer storage media including storage devices.

The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the difference from other embodiments. In particular, as for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

The above descriptions are only examples of this specification, and are not intended to limit this specification. For those skilled in the art, this specification can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included in the scope of the claims of this specification.

Claims

A reference station sharing system for autonomous robots, characterized in that the system includes:

The reference station, which is configured at a fixed position around the first autonomous robot, is used to receive satellite signals and output differential messages accordingly;

A first mobile station, which is configured on the first autonomous robot, and is configured to receive the differential message, and perform differential positioning according to the differential message and the satellite signal received by itself;

At least one second mobile station, which is configured on the corresponding second autonomous robot;

The first gateway, which is configured on the side of the reference station, is used to provide the differential message to the second mobile station through a communication network, so that the second mobile station can perform differential positioning.
The reference station sharing system according to claim 1, wherein the system further comprises:

The second gateway, which is configured on the side of the first autonomous robot, is used to upload data to the user terminal of the first autonomous robot and/or receive instructions sent by the user terminal.
The reference station sharing system according to claim 1, wherein said providing said differential message to said second mobile station via a communication network comprises:

The differential message is multicast to the second mobile station in real time through the communication network.
The reference station sharing system according to claim 3, wherein the system further comprises:

At least one third gateway, which is configured on the side of the corresponding second autonomous robot, is configured to receive the differential message from the communication network according to a preset receiving strategy, and provide it to the corresponding second mobile station.
The reference station sharing system according to claim 4, wherein the receiving the differential message from the communication network according to a preset receiving strategy comprises:

Receiving a differential message from the communication network according to a preset receiving frequency.
The reference station sharing system according to claim 1, wherein the communication between the reference station and the first mobile station, and between the reference station and the first gateway is performed through a wireless transmission protocol.
The base station sharing system according to claim 2, wherein the second gateway and the first mobile station communicate with each other through a wireless transmission protocol.
The reference station sharing system according to claim 4, wherein the third gateway and the corresponding second mobile station communicate with each other through a wireless transmission protocol.
The base station sharing system according to any one of claims 6-8, wherein the power of the wireless transmission protocol is less than 1w, and/or the frequency of the wireless transmission protocol is 433MHz, 868MHz, 915MHz, among them one.
A method for sharing a base station of an autonomous robot, which is characterized in that it includes:

Use a reference station to receive satellite signals and output differential messages accordingly; the reference station is configured at a fixed position around the first autonomous robot;

Use a first mobile station to receive the differential message, and perform differential positioning according to the differential message and satellite signals received by itself; the first mobile station is configured on the first autonomous robot;

The first gateway is used to provide the differential message to at least one second mobile station, so that the second mobile station can perform differential positioning; the first gateway is configured on the side of the reference station, and the second mobile station is configured On the corresponding second autonomous robot.
The base station sharing method according to claim 10, further comprising:

The second gateway is used to upload data to the user terminal of the first autonomous robot and/or receive instructions sent by the user terminal; the second gateway is configured on the side of the first autonomous robot.
10. The reference station sharing method according to claim 10, wherein said providing said differential message to said second mobile station via a communication network comprises:

The differential message is multicast to the second mobile station in real time through the communication network.
The base station sharing method according to claim 12, further comprising:

At least one third gateway is used to receive the differential message from the communication network according to a preset receiving strategy and provide it to the corresponding second mobile station; the third gateway is configured on the side of the corresponding second autonomous robot.
The base station sharing method according to claim 13, wherein the receiving the differential message from the communication network according to a preset receiving strategy comprises:

Receiving a differential message from the communication network according to a preset receiving frequency.
11. The base station sharing method according to claim 10, wherein the base station and the first mobile station, and the base station and the first gateway communicate through a wireless transmission protocol.
11. The base station sharing method according to claim 11, wherein the second gateway and the first mobile station communicate with each other through a wireless transmission protocol.
The base station sharing method according to claim 13, wherein the third gateway and the corresponding second mobile station communicate with each other through a wireless transmission protocol.
The reference station sharing method according to any one of claims 15-17, wherein the power of the wireless transmission protocol is less than 1w, and/or the frequency of the wireless transmission protocol is 433MHz, 868MHz, 915MHz, among others one.
A computer storage medium with a computer program stored thereon, wherein the computer program implements the base station sharing method according to any one of claims 10-17 when the computer program is executed by a processor.