Communication positioning device

Abstract

The invention discloses a communication positioning device, relates to the technical field of robot positioning, can realize multi-means fusion positioning search, improves the universality of the communication positioning device to a task execution environment, can be suitable for environments with good Beidou satellite and 4G public network signals, and also can be suitable for environments with good Beidou satellite and 4G public network signals. And the system is also suitable for environments in which equipment cannot be automatically positioned or cannot be directly connected with a control center under complex terrains such as jungles, mountainous regions and gobi for executing special tasks in the field. Meanwhile, the communication device has the characteristic of low power consumption, the working state (whether the modules are powered on) of each module is dynamically adjusted according to different settings of search modes, the deep sleep time is set to be 60 minutes, the communication device works once (the Beidou positioning module is used for positioning, and latitude and longitude data are sent by a 4G public network and a Beidou short message), and a 2600mAh 18650 rechargeable lithium battery can work for more than 4000 hours according to theoretical calculation.

Description

Technical Field

[0001] The present invention relates to the field of robot positioning technology, and in particular to a low-power communication positioning device suitable for a four-legged robot dog to be used remotely in the field. Background Art

[0002] With the continuous advancement of science and technology, the development of quadruped robots has made significant progress. The design of quadruped robots is derived from the movement of animal limbs. Through the principle of bionics, they imitate and realize the gait of quadruped animals, so that they can walk and move in various complex environments. Quadruped robots are equipped with various sensors, such as lidar, cameras, inertial measurement units, etc., which can obtain various environmental data. Through a series of complex motion planning and control algorithms, they can make accurate judgments and decisions, and can walk autonomously and avoid obstacles in different environments. At present, the application fields of quadruped robots are very wide, including rescue missions, military reconnaissance, industrial production, etc. They have the advantages of carrying heavy objects, strong stability, and being able to pass through complex terrains, and can complete some tasks that are difficult for humans to complete.

[0003] The satellite-based positioning system is mainly based on time-of-day navigation and positioning. The device calculates its own position information by measuring the distance between it and multiple satellites with known reference coordinates. This positioning method has a simple structure, and the device obtains longitude and latitude information based on a dedicated satellite signal receiving and decoding module. However, the environment in which the device performs tasks in the field is complex, and the positioning accuracy often decreases or cannot be positioned due to occlusion caused by special objects.

[0004] There are many ways of field positioning that do not rely on satellites. For example, the positioning system based on the fusion of vision and lidar information has no reliance on infrastructure and has significant advantages in system deployment. However, it requires complex sensors and higher system computing power, which leads to higher system power consumption costs.

[0005] WiFi (Wireless Fidelity) is a wireless LAN technology based on the IEEE802.11 standard, which allows electronic devices to connect to the network through radio waves within a certain range, enabling Internet access and data transmission. The WiFi operating frequency band is 2.4GHz, 5GHz, and 6GHz, the power is generally between 20mW and 50mW, the transmission rate can reach 54Mbps, and the coverage range is usually about 50 meters indoors and about 100 meters outdoors.

[0006] LoRa (Long Range Radio) is a low-power wide-area Internet of Things standard. It is a long-distance wireless physical layer protocol for point-to-point connections. It has the advantages of high sensitivity, strong anti-interference ability and large system capacity. Under the same power consumption conditions, the signal transmission distance is 3 to 5 times longer than that of other similar wireless communication systems, up to 15km.

[0007] The outdoor crowd-sensing positioning method based on WiFi hotspots simplifies the positioning system structure and reduces node power consumption. However, for nodes with unknown information, since the nodes are not controlled, it is necessary to receive signals sent or reflected by the nodes through the base station, such as radio frequency and sound signals to locate them. For the positioning of aerial drones, the detection and positioning of small drones in the airspace are achieved through the image information observed by the electronic optical camera. The positioning based on the low-power wide area network LoRa has outstanding performance in system power consumption, accuracy, network coverage, etc., and has been initially applied in many typical application scenarios.

[0008] It can be seen that the existing quadruped robot dog positioning communication technology solutions mainly include the following disadvantages:

[0009] 1. The positioning method is single, mainly relying on satellite autonomous positioning, and uploading location data information to the control center through radio or 4G communication.

[0010] 2. The positioning antenna of the four-legged robot dog is easily blocked in the wild environment, resulting in weak or no positioning satellite signal.

[0011] 3.4G communication signals have not yet been fully covered in remote areas of my country, resulting in poor 4G communication for the four-legged robot dog.

[0012] 4. Satellite positioning and 4G communication require high power and short battery life, which is not conducive to long-term searches. Summary of the invention

[0013] In view of the above problems, the present invention provides a communication positioning device for overcoming the above problems or at least partially solving the above problems. The low-power long-distance search of the quadruped robot dog is realized by the fusion of multiple means, which solves the problems that the existing quadruped robot dog has a single positioning means, the positioning function is greatly affected by environmental factors such as surrounding objects, and the long-distance search is difficult and consumes high power when it cannot locate itself or loses information connection with the control center during field missions.

[0014] The present invention provides the following scheme:

[0015] A communication positioning device, comprising:

[0016] An MCU control module, a power supply module, a satellite positioning module, a LoRa communication module, a satellite short message communication module, a 4G public network communication module and a straight rod antenna are arranged on the carrier;

[0017] The power supply module, the satellite positioning module, the LoRa communication module, the satellite short message communication module and the 4G public network communication module are all connected to the MCU control module, and the straight rod antenna is connected to the LoRa communication module; the straight rod antenna is used to establish a LoRa communication connection with a handheld search terminal;

[0018] The MCU control module is used to perform the following operations:

[0019] receiving a target search mode, wherein the target search mode is determined by the signal status of each module in the current task execution environment of the carrier;

[0020] Determine the output source of the positioning information of the carrier according to the target search method, and send the positioning information to the handheld search terminal through a determined forwarding module; the output source includes the satellite positioning module or the LoRa communication module, and the forwarding module includes any one of the 4G public network communication module, the satellite short message communication module, and the LoRa communication module;

[0021] After determining that the positioning information has been sent, each module is controlled to enter a deep sleep mode.

[0022] Preferably: the target search mode includes a first ground search mode, a second ground search mode, a third ground search mode and an air search mode;

[0023] The first ground search method includes determining that the signals of the satellite positioning module and the 4G public network communication module are both in good condition under the current task execution environment, determining that the output source is the satellite positioning module, and the forwarding module is the 4G public network communication module;

[0024] The second ground search method includes determining that the signals of the satellite positioning module and the satellite short message communication module are both in good condition under the current task execution environment, determining that the output source is the satellite positioning module, and the forwarding module is the satellite short message communication module;

[0025] The third ground search method includes determining that the signal status of the satellite positioning module is good under the current task execution environment, and the signal status of the connection between the LoRa communication module and the LoRa signal positioning component is good, determining that the output source is the satellite positioning module, and the forwarding module is the LoRa communication module and the straight rod antenna;

[0026] The aerial search method includes determining that the output source is the LoRa communication module, and the forwarding module is a LoRa signal positioning component carried by the drone, so that the handheld search terminal analyzes the acquired LoRa data to determine the positioning information.

[0027] Preferably: it also includes a first combined search method; the first combined search method includes completing the first ground search method, the second ground search method and the third ground search method in sequence.

[0028] Preferably, a second combined search method is also included; the second combined search method includes:

[0029] Determine that the signal status of the satellite positioning module and the 4G public network communication module are both good, determine to execute the first ground search mode, and control each module to enter a deep sleep mode after the work is completed;

[0030] Determine that the signal status of the satellite positioning module is good, the signal status of the 4G public network communication module is poor, and the signal status of the satellite short message communication module is good, determine to execute the second ground search mode, and control each module to enter a deep sleep mode after the work is completed;

[0031] Determine that the signal status of the satellite positioning module is good, the signal status of the satellite short message communication module and the 4G public network communication module are both poor, and the signal status of the connection between the LoRa communication module and the LoRa signal positioning component is good, determine to execute the third ground search mode, and control each module to enter a deep sleep mode after the work is completed;

[0032] It is determined that the signal states of the satellite short message communication module and the 4G public network communication module are both poor, and the LoRa communication module and the handheld search terminal cannot establish a LoRa link, and it is determined to execute the air search mode. After the work is completed, each module is controlled to enter a deep sleep mode.

[0033] Preferably: it also includes a first dip switch group, and the first dip switch group is used to send a trigger signal of the target search mode to the MCU control module.

[0034] Preferably: the first dip switch group includes 6 groups of switches, among which 000001 corresponds to the first ground search mode, 000010 corresponds to the second ground search mode, 000100 corresponds to the third ground search mode, 001000 corresponds to the air search mode, 010000 corresponds to the first combined search mode, and 100000 corresponds to the second combined search mode.

[0035] Preferably: it also includes a second dial switch group, and the second dial switch group is used to send the sleep time of each module to the MCU control module.

[0036] Preferably: the satellite positioning module, the satellite short message communication module and the 4G public network communication module are integrated into a disc antenna.

[0037] Preferably: the MCU control module adopts a domestically produced ultra-low power 32-bit controller. 32-bit tCortex architecture, built-in 256K bytes Flash, frequency 64MHz, with two low-power modes: sleep and deep sleep. The operating power consumption is 35 microamps and the power consumption in deep sleep mode is 0.7 microamps.

[0038] Preferably: the satellite positioning module includes a Beidou positioning module supporting BDS B1 / GPS L1 / GLONASS L1 frequency points, with a first positioning time of 28 seconds, a positioning accuracy of 3 meters horizontally and 5 meters vertically, an average power consumption of 28 mA, and a standby power consumption of 25 μA;

[0039] The LoRa communication module includes a 400MHz frequency band LoRa wireless data transmission module, with a transmitting current of 110 mA, a receiving current of 15 mA, a sleeping current of 3 μA, and a maximum transmission distance of 15 km;

[0040] The satellite short message communication module includes a BeiDou-3 short message communication module developed based on a radio frequency baseband integrated chip, with an operating power consumption of ≤160 mA and a transmitting power consumption of ≤3 A.

[0041] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0042] A communication positioning device provided in the embodiment of the present application can realize multi-means integrated positioning search, improve the universality of the communication positioning device for the task execution environment, and can be applied to environments with good Beidou satellite and 4G public network signals, as well as environments where the equipment cannot locate itself or cannot establish a direct connection with the control center under complex terrains such as jungles, mountains, and Gobi for performing special tasks in the field. At the same time, it has low power consumption characteristics, dynamically adjusts the working status of each module (whether it is powered on) according to different settings of the search method, and the communication device works once when the deep sleep time is set to 60 minutes (Beidou positioning module positioning, 4G public network and Beidou short message sending latitude and longitude data), and theoretically calculated that a 2600mAh 18650 rechargeable lithium battery can work for more than 4000 hours.

[0043] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 is a composition diagram of a communication positioning device provided by an embodiment of the present invention;

[0046] Figure 2 is a working principle diagram of the first ground search mode provided by an embodiment of the present invention;

[0047] Figure 3 is a working principle diagram of the second ground search mode provided by an embodiment of the present invention;

[0048] Figure 4 is a working principle diagram of the second ground search mode provided by an embodiment of the present invention;

[0049] Figure 5 is a working principle diagram of the aerial search method provided by an embodiment of the present invention;

[0050] Figure 6 is a working principle diagram of the first combined search method provided by an embodiment of the present invention;

[0051] Figure 7 It is a working principle diagram of the second combined search method provided in an embodiment of the present invention.

[0052] In the figure: MCU control module 1, power supply module 2, satellite positioning module 3, LoRa communication module 4, satellite short message communication module 5, 4G public network communication module 6, straight rod antenna 7, disc antenna 8, first dip switch group 9, second dip switch group 10, handheld search terminal 11, LoRa signal positioning component 12. DETAILED DESCRIPTION

[0053] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0054] See also Figure 1 , is a communication positioning device provided by an embodiment of the present invention, such as Figure 1 As shown, the method device comprises:

[0055] An MCU control module 1, a power supply module 2, a satellite positioning module 3, a LoRa communication module 4, a satellite short message communication module 5, a 4G public network communication module 6 and a straight rod antenna 7 are arranged on the carrier;

[0056] The power supply module 2, the satellite positioning module 3, the LoRa communication module 4, the satellite short message communication module 5 and the 4G public network communication module 6 are all connected to the MCU control module 1, and the straight rod antenna 7 is connected to the LoRa communication module 4; the straight rod antenna 7 is used to establish a LoRa communication connection with the handheld search terminal 11;

[0057] The MCU control module 1 is used to perform the following operations:

[0058] receiving a target search mode, wherein the target search mode is determined by the signal status of each module in the current task execution environment of the carrier;

[0059] Determine the output source of the positioning information of the carrier according to the target search mode, and send the positioning information to the handheld search terminal 11 through the determined forwarding module; the output source includes the satellite positioning module 3 or the LoRa communication module 4, and the forwarding module includes any one of the 4G public network communication module 6, the satellite short message communication module 5, and the LoRa communication module 4;

[0060] After determining that the positioning information has been sent, each module is controlled to enter a deep sleep mode.

[0061] The communication positioning device provided in the embodiment of the present application adopts a fusion of multiple means to achieve low-power long-distance search and positioning of a four-legged robot dog (carrier). It is applied to four-legged robot dogs that perform special tasks in the wild, and can be used when they cannot locate themselves or lose contact with the control center. The wild environment includes complex terrains such as jungles, mountains, and Gobi. The inability to locate autonomously and the loss of contact with the control center include equipment failure and communication signal obstruction. By setting up a variety of modules, it is possible to accurately locate the four-legged robot dog in a variety of signal-poor conditions.

[0062] The MCU control module 1 can collect corresponding positioning information according to the received target search method, and then combine with the link that can communicate with the handheld search terminal 11 to send the positioning information to the handheld search terminal 11, ensuring that in an environment where no signal is blocked, the handheld search terminal 11 can still obtain the positioning information of the four-legged robot dog.

[0063] In practical applications, the search methods may include multiple methods. For example, in one implementation, the embodiment of the present application may provide that the target search method includes a first ground search method, a second ground search method, a third ground search method, and an air search method;

[0064] The first ground search method includes determining that the signals of the satellite positioning module 3 and the 4G public network communication module 6 are both in good condition under the current task execution environment, determining that the output source is the satellite positioning module 3, and the forwarding module is the 4G public network communication module 6;

[0065] The second ground search method includes determining that the signals of the satellite positioning module 3 and the satellite short message communication module 5 are both in good condition under the current task execution environment, determining that the output source is the satellite positioning module 3, and the forwarding module is the satellite short message communication module 5;

[0066] The third ground search method includes determining that the signal status of the satellite positioning module 3 is good under the current task execution environment, and the signal status of the connection between the LoRa communication module 4 and the LoRa signal positioning component 12 is good, determining that the output source is the satellite positioning module 3, and the forwarding module is the LoRa communication module 4 and the straight rod antenna 7;

[0067] The aerial search method includes determining that the output source is the LoRa communication module 4, and the forwarding module is the LoRa signal positioning component 12 carried by the drone, so that the handheld search terminal 11 analyzes the acquired LoRa data to determine the positioning information.

[0068] Furthermore, an embodiment of the present application may provide a first combined search method; the first combined search method includes completing the first ground search method, the second ground search method, and the third ground search method in sequence.

[0069] Furthermore, the embodiment of the present application may also provide a second combined search method; the second combined search method includes:

[0070] Determine that the signal status of the satellite positioning module 3 and the 4G public network communication module 6 are both good, determine to execute the first ground search mode, and control each module to enter a deep sleep mode after the work is completed;

[0071] Determine that the signal status of the satellite positioning module 3 is good, the signal status of the 4G public network communication module 6 is poor, and the signal status of the satellite short message communication module 5 is good, determine to execute the second ground search mode, and control each module to enter the deep sleep mode after the work is completed;

[0072] Determine that the signal status of the satellite positioning module 3 is good, the signal status of the satellite short message communication module 5 and the 4G public network communication module 6 are both poor, and the signal status of the connection between the LoRa communication module 4 and the LoRa signal positioning component 12 is good, determine to execute the third ground search mode, and control each module to enter the deep sleep mode after the work is completed;

[0073] It is determined that the signal states of the satellite short message communication module 5 and the 4G public network communication module 6 are both poor, and the LoRa communication module 4 and the handheld search terminal 11 cannot establish a LoRa link, and it is determined to execute the air search mode. After the work is completed, each module is controlled to enter a deep sleep mode.

[0074] In order to facilitate sending the target search mode to the MCU control module 1, the embodiment of the present application can also provide a first dip switch group 9, and the first dip switch group 9 is used to send a trigger signal of the target search mode to the MCU control module 1.

[0075] In specific implementation, the first DIP switch group 9 includes 6 groups of switches, among which 000001 corresponds to the first ground search mode, 000010 corresponds to the second ground search mode, 000100 corresponds to the third ground search mode, 001000 corresponds to the air search mode, 010000 corresponds to the first combined search mode, and 100000 corresponds to the second combined search mode.

[0076] In order to adjust the sleep time at any time, the embodiment of the present application may further provide a second dip switch group 10, and the second dip switch group 10 is used to send the sleep time of each module to the MCU control module 1.

[0077] In order to facilitate the installation of each module, the embodiment of the present application can also provide the satellite positioning module 3, the satellite short message communication module 5 and the 4G public network communication module 6 to be combined and integrated to form a disc antenna 8.

[0078] Furthermore, the MCU control module 1 adopts a domestically produced ultra-low power 32-bit controller. 32-bit Cortex architecture, built-in 256K bytes Flash, frequency 64MHz, two low-power modes: sleep and deep sleep. The operating power consumption is 35 microamps and the power consumption in deep sleep mode is 0.7 microamps.

[0079] The satellite positioning module 3 includes a Beidou positioning module that supports BDS B1 / GPS L1 / GLONASS L1 frequency points, with a first positioning time of 28 seconds, a positioning accuracy of 3 meters horizontally and 5 meters in elevation, an average power consumption of 28 mA, and a standby power consumption of 25 μA;

[0080] The LoRa communication module 4 includes a LoRa wireless data transmission module of 400MHz frequency band, with a transmitting current of 110 mA, a receiving current of 15 mA, a sleeping current of 3 μA, and a maximum transmission distance of 15 km;

[0081] The satellite short message communication module 5 includes a BeiDou-3 short message communication module developed based on a radio frequency baseband integrated chip, with an operating power consumption of ≤160 mA and a transmitting power consumption of ≤3 A.

[0082] The following describes in detail the communication positioning device provided in the embodiment of the present application by taking the application of the Beidou positioning module on a quadruped robot dog as an example.

[0083] The communication and positioning device is installed on the quadruped robot dog, and consists of a Beidou positioning module, an MCU control module 1, a power supply module 2, a LoRa communication module 4, a Beidou short message communication module, a 4G public network communication module 6 and a straight rod antenna 7.

[0084] The Beidou positioning module uses a positioning module that supports BDS B1 / GPS L1 / GLONASS L1 frequency points (choose two from three). Its first positioning time is 28s (typical value), the positioning accuracy level is 3m, the elevation is 5m, the average power consumption is 28mA, and the standby power consumption is 25uA.

[0085] MCU control module 1 adopts domestically produced ultra-low power 32-bit controller. 32-bit Cortex architecture, built-in 256K bytes Flash, frequency 64MHz, with two low-power modes: sleep and deep sleep. The operating power consumption is 35uA and the power consumption in deep sleep mode is 0.7uA.

[0086] The power supply module 2 uses a 18650 rechargeable low-temperature lithium battery.

[0087] LoRa communication module 4 adopts a new generation of LoRa wireless data transmission module with excellent signal diffraction function and 400MHz frequency band, with a transmitting current of 110mA, a receiving current of 15mA, a sleep current of 3uA, and a maximum transmission distance of up to 15km.

[0088] The Beidou short message communication module adopts the Beidou-3 short message communication module developed based on the RF baseband integrated chip, with an operating power consumption of ≤160mA and a transmitting power consumption of ≤3A.

[0089] The communication positioning device has Beidou positioning, information sending and receiving antennas, 4G public network communication antennas, and LoRa communication antennas. According to the frequency band of the module, Beidou positioning, short message communication, and 4G public network communication antennas are integrated into a disc antenna 8, and the LoRa communication antenna is independent.

[0090] The 4G public network communication module 6 adopts a standard Mini PCIe interface LTE module. LTE-FDD: maximum downlink rate 150Mbps, maximum uplink rate 50Mbps, LTE-TDD: maximum downlink rate 130Mbps, maximum uplink rate 30Mbps.

[0091] LoRa communication uses vertical polarization. According to the working frequency band used by the LoRa wireless data transmission module, a linear polarization antenna (straight rod antenna 7) is used to improve the signal transmission effect.

[0092] Working principle:

[0093] First ground search method: Figure 2 As shown, the Beidou positioning signal of the satellite positioning module 3 and the network status of the 4G public network communication module 6 are in good condition, and the communication positioning device can send its own latitude and longitude information to the handheld search terminal 11 through the 4G public network communication module 6.

[0094] Second ground search method: Figure 3 As shown, the Beidou positioning signal of the satellite positioning module 3 and the Beidou short message signal of the satellite short message communication module 5 are in good condition, and the communication positioning device can send its own latitude and longitude information to the handheld search terminal 11 through the Beidou short message module.

[0095] Third ground search method: Figure 4 As shown, the Beidou positioning signal of the satellite positioning module 3 is in good condition, the LoRa connection signal between the communication positioning device and the handheld search terminal 11 is good, and the communication positioning device can send its own latitude and longitude information to the handheld search terminal 11 through the LoRa communication module 4.

[0096] Aerial search method: Figure 5 As shown, the communication positioning device continuously sends link establishment information through the LoRa communication module 4, and the handheld search terminal 11 controls the drone equipped with the LoRa signal positioning component 12 to perform aerial search, completing the information link establishment between the communication positioning device and the LoRa signal positioning component 12. The handheld search terminal 11 analyzes the acquired LoRa data to realize the positioning of the communication positioning device. After the LoRa signal positioning component 12 sends the longitude and latitude information of the communication positioning device to the handheld search terminal 11, it sends a work end instruction to the communication positioning device.

[0097] The first combination search method: Figure 6 As shown, the three ground search methods are combined. The combined search strategy is as follows:

[0098] After completing the three ground search methods in sequence, the work is completed and the communication and positioning device enters deep sleep mode.

[0099] The second combination search method: Figure 7 As shown, three ground search methods are combined with an aerial search method.

[0100] The combined search strategy is as follows:

[0101] 1. The Beidou positioning signal and 4G public network communication network of the communication and positioning device are in good condition. The first ground search mode is automatically selected. When the work is completed, the communication and positioning device enters deep sleep mode.

[0102] 2. The Beidou positioning signal of the communication and positioning device is in good condition, the 4G public network communication network is in poor condition, the Beidou short message signal is in good condition, and the second ground search mode is automatically selected. When the work is completed, the communication and positioning device enters deep sleep mode.

[0103] 3. The Beidou positioning signal of the communication and positioning device is in good condition, the 4G public network communication network is in poor condition, the Beidou short message signal is in poor condition, the communication and positioning device has a good connection signal with the handheld search terminal 11LoRa, and the third ground search mode is automatically selected. The work is completed and the communication and positioning device enters deep sleep mode.

[0104] 4. The 4G public network communication status is poor, the Beidou short message signal status is poor, the communication positioning device and the handheld search terminal 11 cannot establish a LoRa link, and automatically selects the air search mode.

[0105] The search mode is set by the first dial switch group 9 of the communication positioning device. The first dial switch group 9 of the communication positioning device is a 6-bit switch, 000001 corresponds to the first ground search mode, 000010 corresponds to the second ground search mode, 000100 corresponds to the third ground search mode, 001000 corresponds to the air search mode, 010000 corresponds to the first combination search mode, and 100000 corresponds to the second combination search mode.

[0106] The deep sleep time is set by the second dial switch group 10 of the positioning device. The second dial switch group 10 of the communication positioning device is a 6-bit switch, 000001 corresponds to 10 minutes of sleep, 000010 corresponds to 60 minutes of sleep, 000100 corresponds to 2 hours of sleep, 001000 corresponds to 4 hours of sleep, 010000 corresponds to 8 hours of sleep, 100000 corresponds to 12 hours of sleep, and 000000 corresponds to 24 hours of sleep.

[0107] Deep sleep mode: After the MCU control module 1 controls the Beidou positioning module, the LoRa communication module 4, the Beidou short message communication module, and the 4G public network communication module 6 to be powered off, the MCU control module 1 enters deep sleep.

[0108] It can be seen that the communication positioning device provided by the present application has two sets of dial switches for setting the search mode and deep sleep time, which can set the search mode and deep sleep time. The combination of multiple search modes can meet the requirements of different execution task environments. MCU control module 1 adopts 32-bit tCortex architecture 64MHz low-power computing processor. According to the different tasks to be performed, fixed search methods (first ground search method, second ground search method, third ground search method, air search method) and combined search methods are used to complete the location positioning of the communication positioning device.

[0109] Among them, the first combined search method relies on Beidou positioning module positioning, and reports location information through 4G public network, Beidou short message and LoRa radio signal. The second combined search method combines Beidou satellite positioning and LoRa radio signal positioning, which can be dynamically switched according to the signal status, and combines 4G public network, Beidou short message and LoRa radio signal reporting location information. According to the different settings of the search method, dynamically adjusting the working status of each module (whether it is powered on) can effectively reduce the power consumption of the communication positioning device.

[0110] It is understandable that the device provided in the present application can be used on similar or other products, and is not limited to four-legged robot dogs, but is also suitable for long-distance, low-power positioning and searching of other equipment in the wild.

[0111] In short, the communication positioning device provided by this application can realize multi-means integrated positioning search, improve the universality of the communication positioning device for the task execution environment, and can be applied to environments with good Beidou satellite and 4G public network signals, as well as to environments where the equipment cannot locate itself or cannot establish a direct connection with the control center under complex terrains such as jungles, mountains, and Gobi for performing special tasks in the field. At the same time, it has low power consumption characteristics, and dynamically adjusts the working status of each module (whether it is powered on or not) according to different settings of the search method. When the deep sleep time is set to 60 minutes, the communication device works once (Beidou positioning module positioning, 4G public network and Beidou short message sending latitude and longitude data). Theoretically, a 2600mAh 18650 rechargeable lithium battery can work for more than 4,000 hours.

[0112] Terminology explanation:

[0113] LoRa(Long Range Radio): long range radio.

[0114] BDS (Beidou Navigation Satellite System): Beidou satellite navigation system.

[0115] GPS (Global Positioning System): Global Positioning System.

[0116] GLONASS: Global Navigation Satellite System; GLONASS.

[0117] WiFi (Wireless Fidelity): Wireless Fidelity.

[0118] LoRa(Long Range Radio): long range radio.

[0119] 4G: The fourth generation of mobile communication technology.

[0120] 18650 lithium battery: includes the battery diameter, length, shape, and capacity. 18 represents the battery diameter of 18cm, 65 represents the length of 65cm, and 0 represents a cylinder.

[0121] LTE (Long Term Evolution): Long Term Evolution.

[0122] LTE-FDD: One of the two major 4G standards, frequency division duplex.

[0123] LTE-TDD: One of the two major 4G standards, time division duplex.

[0124] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0125] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0126] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A communication positioning device, characterized in that: It includes an MCU control module, a power supply module, a satellite positioning module, a LoRa communication module, a satellite short message communication module, a 4G public network communication module and a straight rod antenna arranged on a carrier; The power supply module, the satellite positioning module, the LoRa communication module, the satellite short message communication module and the 4G public network communication module are all connected to the MCU control module, and the straight rod antenna is connected to the LoRa communication module; the straight rod antenna is used to establish a LoRa communication connection with a handheld search terminal; The MCU control module is used to perform the following operations: receiving a target search mode, wherein the target search mode is determined by the signal status of each module in the current task execution environment of the carrier; Determine the output source of the positioning information of the carrier according to the target search method, and send the positioning information to the handheld search terminal through a determined forwarding module; the output source includes the satellite positioning module or the LoRa communication module, and the forwarding module includes any one of the 4G public network communication module, the satellite short message communication module, and the LoRa communication module; After determining that the positioning information has been sent, each module is controlled to enter a deep sleep mode.

2. The communication positioning device according to claim 1, characterized in that: The target search mode includes a first ground search mode, a second ground search mode, a third ground search mode and an air search mode; The first ground search method includes determining that the signals of the satellite positioning module and the 4G public network communication module are both in good condition under the current task execution environment, determining that the output source is the satellite positioning module, and the forwarding module is the 4G public network communication module; The second ground search method includes determining that the signals of the satellite positioning module and the satellite short message communication module are both in good condition under the current task execution environment, determining that the output source is the satellite positioning module, and the forwarding module is the satellite short message communication module; The third ground search method includes determining that the signal status of the satellite positioning module is good under the current task execution environment, and the signal status of the connection between the LoRa communication module and the LoRa signal positioning component is good, determining that the output source is the satellite positioning module, and the forwarding module is the LoRa communication module and the straight rod antenna; The aerial search method includes determining that the output source is the LoRa communication module, and the forwarding module is a LoRa signal positioning component carried by the drone, so that the handheld search terminal analyzes the acquired LoRa data to determine the positioning information.

3. The communication positioning device according to claim 2, characterized in that: It also includes a first combined search method; the first combined search method includes completing the first ground search method, the second ground search method and the third ground search method in sequence.

4. The communication positioning device according to claim 3, characterized in that: Also includes a second combined search method; the second combined search method includes: Determine that the signal status of the satellite positioning module and the 4G public network communication module are both good, determine to execute the first ground search mode, and control each module to enter a deep sleep mode after the work is completed; Determine that the signal status of the satellite positioning module is good, the signal status of the 4G public network communication module is poor, and the signal status of the satellite short message communication module is good, determine to execute the second ground search mode, and control each module to enter a deep sleep mode after the work is completed; Determine that the signal status of the satellite positioning module is good, the signal status of the satellite short message communication module and the 4G public network communication module are both poor, and the signal status of the connection between the LoRa communication module and the LoRa signal positioning component is good, determine to execute the third ground search mode, and control each module to enter a deep sleep mode after the work is completed; It is determined that the signal states of the satellite short message communication module and the 4G public network communication module are both poor, and the LoRa communication module and the handheld search terminal cannot establish a LoRa link, and it is determined to execute the air search mode. After the work is completed, each module is controlled to enter a deep sleep mode.

5. The communication positioning device according to claim 4, characterized in that: It also includes a first dial switch group, which is used to send a trigger signal of the target search mode to the MCU control module.

6. The communication positioning device according to claim 5, characterized in that: The first DIP switch group includes 6 groups of switches, among which 000001 corresponds to the first ground search mode, 000010 corresponds to the second ground search mode, 000100 corresponds to the third ground search mode, 001000 corresponds to the air search mode, 010000 corresponds to the first combined search mode, and 100000 corresponds to the second combined search mode.

7. The communication positioning device according to claim 1, characterized in that: It also includes a second dial switch group, which is used to send the sleep time of each module to the MCU control module.

8. The communication positioning device according to claim 1, characterized in that: The satellite positioning module, the satellite short message communication module and the 4G public network communication module are integrated into a disc antenna.

9. The communication positioning device according to claim 1, characterized in that: The MCU control module adopts a domestically produced ultra-low power 32-bit controller. 32-bit Cortex architecture, built-in 256K bytes Flash, frequency 64MHz, two low-power modes: sleep and deep sleep. The operating power consumption is 35 microamps and the power consumption in deep sleep mode is 0.7 microamps.

10. The communication positioning device according to claim 1, characterized in that: The satellite positioning module includes a Beidou positioning module that supports BDSB1 / GPS L1 / GLONASS L1 frequency points, with a first positioning time of 28 seconds, a positioning accuracy of 3 meters horizontally and 5 meters vertically, an average power consumption of 28 milliamps, and a standby power consumption of 25 microamps; The LoRa communication module includes a 400MHz frequency band LoRa wireless data transmission module, with a transmitting current of 110 mA, a receiving current of 15 mA, a sleeping current of 3 μA, and a maximum transmission distance of 15 km; The satellite short message communication module includes a BeiDou-3 short message communication module developed based on a radio frequency baseband integrated chip, with an operating power consumption of ≤160 mA and a transmitting power consumption of ≤3 A.

Images