A communication positioning device

Abstract

The application discloses a communication positioning device and relates to the technical field of robot positioning, and can realize multi-method fusion positioning search, improves the universality of the communication positioning device for a task execution environment, and is applicable to environments with good Beidou satellite and 4G public network signals and to complex terrains such as jungles, mountains and gobi for special tasks in the wild, and the device cannot be independently positioned or directly connected with a control center. Meanwhile, the device has a low power consumption characteristic, and according to different search modes, the working states (whether to be powered on) of various modules are dynamically adjusted, the deep sleep time is set to 60 minutes, the communication device works once (the Beidou positioning module is positioned, and the 4G public network and the Beidou short message send longitude and latitude data), and theoretically, one 18650 rechargeable lithium battery with a capacity of 2600mAh can work for more than 4000 hours.

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 long-distance outdoor use of a quadruped robot dog. 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 principles of bionics, they imitate and realize the gait of quadrupeds, enabling them to 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, quadruped robots have a wide range of applications, including rescue missions, military reconnaissance, industrial production, etc. They have the advantages of carrying heavy objects, strong stability, and the ability to traverse complex terrain. They can complete tasks that are difficult for humans to complete.

[0003] Satellite-based positioning systems primarily rely on time-of-distance navigation and positioning. A device calculates its position by measuring the distance to multiple satellites with known reference coordinates. This positioning method is simple in structure, with the device acquiring longitude and latitude information via a dedicated satellite signal receiver and decoder module. However, the complex environments in which devices operate in the field often lead to reduced positioning accuracy or even failure to locate the device due to obstruction caused by unusual terrain features.

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

[0005] WiFi (Wireless Fidelity) is a wireless local area network technology based on the IEEE 802.11 standard. It allows electronic devices within a certain range to connect to a network via radio waves, enabling internet access and data transmission. WiFi operates in the 2.4 GHz, 5 GHz, and 6 GHz frequency bands, typically using power between 20 mW and 50 mW, with transmission rates up to 54 Mbps. Its coverage range is typically around 50 meters indoors and up to 100 meters outdoors.

[0006] LoRa (Long Range Radio) is a low-power, wide-area IoT 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, reaching up to 15 km.

[0007] Outdoor crowd-sensing positioning methods based on WiFi hotspots simplify the positioning system structure and reduce node power consumption. However, for unknown nodes, since they are uncontrolled, base stations must receive signals emitted or reflected by the nodes, such as radio frequency and sound signals, to locate them. For the positioning of aerial drones, image information observed by electro-optical cameras enables the detection and location of small drones in airspace. Positioning based on the low-power wide-area network LoRa performs well in terms of system power consumption, accuracy, and network coverage, and has been initially applied in many typical application scenarios.

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

[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 quadruped 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 designed to overcome or at least partially resolve these issues. This device utilizes a multi-method fusion approach to achieve low-power, long-distance search for a quadruped robot dog. This device addresses the problems of existing quadruped robot dogs, such as their single positioning method, significant susceptibility to environmental factors such as surrounding terrain, and the difficulty and high power consumption associated with long-distance search when autonomous positioning is unavailable or communication with the control center is lost during field missions.

[0014] The present invention provides the following solutions:

[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 the 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 signal states of each module in a current task execution environment of the carrier;

[0020] Determine an output source of the carrier's positioning information 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 mission 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 the 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] Determining that the signal status of the satellite positioning module and the 4G public network communication module are both good, determining to execute the first ground search mode, and controlling each module to enter a deep sleep mode after the operation is completed;

[0030] Determining 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, determining to execute the second ground search mode, and controlling each module to enter a deep sleep mode after the operation 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 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 deep sleep mode after the work is completed;

[0032] It is determined that the signal status 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 the deep sleep mode.

[0033] Preferably, the device further comprises a first dip switch group, wherein 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 combination search mode, and 100000 corresponds to the second combination search mode.

[0035] Preferably, the device further includes a second dial switch group, which 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 disk 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 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 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 sleep 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] The communication positioning device provided in the embodiment of the present application can realize multi-means integrated positioning search, which improves the universality of the communication positioning device for the task execution environment. It can be used in environments with good Beidou satellite and 4G public network signals, and is also suitable for environments where the equipment cannot locate itself or cannot establish a direct connection with the control center under complex terrain such as jungles, mountains, and Gobi when performing special tasks in the field. At the same time, it has low power consumption characteristics. According to different settings of the search method, the working status of each module (whether it is powered on) is dynamically adjusted. 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 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] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

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

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

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

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

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

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

[0051] Figure 7 This is a working principle diagram of the second combined search method provided by 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, disk 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 following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within 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 includes:

[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 signal states of each module in a current task execution environment of the carrier;

[0059] 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 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 used for four-legged robot dogs that perform special tasks in the wild, and can be used when they cannot locate themselves or when they lose contact with the control center. The wild environment includes complex terrains such as jungles, mountains, and Gobi. The inability to locate themselves 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 based on the received target search method, and then combine it 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 mission 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, and 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 the 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 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 deep sleep mode after the work is completed;

[0073] It is determined that the signal status 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 the 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, which 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 combination search mode, and 100000 corresponds to the second combination 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 disk 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, with two low-power modes: sleep and deep sleep. The operating power consumption is 35 microamperes and the power consumption in deep sleep mode is 0.7 microamperes.

[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 vertically, 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 a 400MHz frequency band, a transmitting current of 110mA, a receiving current of 15mA, a sleep current of 3uA, and a maximum transmission distance of 15km.

[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, a running power consumption of ≤160mA, and a transmitting power consumption of ≤3A.

[0082] The following will take the application of the Beidou positioning module on a quadruped robot dog as an example to describe the communication positioning device provided by the embodiments in detail.

[0083] The communication positioning device is installed on the quadruped robot dog and is composed 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 selects a positioning module supporting BDS B1 / GPS L1 / GLONASS L1 frequency points (three out of two), a first positioning time of 28s (typical value), a positioning accuracy of 3m horizontally and 5m in elevation, an average power consumption of 28mA, and a standby power consumption of 25uA.

[0085] The MCU control module 1 adopts a domestic ultra-low-power 32-bit controller, a 32-bit Cortex architecture, a built-in 256K byte Flash, a frequency of 64MHz, two low-power modes of sleep and deep sleep, a running power consumption of 35uA, and a power consumption of 0.7uA in a deep sleep mode.

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

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

[0088] The Beidou short message communication module adopts a Beidou-3 short message communication module developed based on a radio frequency baseband integrated chip, a running power consumption of ≤160mA, and a transmitting power consumption of ≤3A.

[0089] The communication positioning device has a Beidou positioning antenna, a 4G public network communication antenna, and a LoRa communication antenna. According to the frequency band selection of the modules, the Beidou positioning antenna, the short message communication antenna, and the 4G public network communication antenna are combined and designed into a disc antenna 8, and the LoRa communication antenna is independent.

[0090] 4G public network communication module 6 adopts 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 mode, according to the working frequency band used by LoRa wireless data transmission module, linear polarization antenna (straight rod antenna 7) is used to improve signal transmission effect.

[0092] Working principle:

[0093] The first ground search mode: as shown in the figure, Figure 2 The Beidou positioning signal of the satellite positioning module 3 and the network state of the 4G public network communication module 6 are good, and the communication positioning device can send its latitude and longitude information to the handheld search terminal 11 through the 4G public network communication module 6.

[0094] The second ground search mode: as shown in the figure, Figure 3 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 latitude and longitude information to the handheld search terminal 11 through the Beidou short message module.

[0095] The third ground search mode: as shown in the figure, Figure 4 The Beidou positioning signal of the satellite positioning module 3 is in good condition, the communication positioning device and the handheld search terminal 11 LoRa connection signal are good, and the communication positioning device can send its latitude and longitude information to the handheld search terminal 11 through the LoRa communication module 4.

[0096] Air search mode: as shown in the figure, Figure 5 The communication positioning device continuously sends link building information through the LoRa communication module 4, the handheld search terminal 11 controls the unmanned aerial vehicle carrying the LoRa signal positioning assembly 12 to search in the air, completes the information link between the communication positioning device and the LoRa signal positioning assembly 12, the handheld search terminal 11 analyzes the obtained LoRa data, realizes the positioning of the communication positioning device, and the LoRa signal positioning assembly 12 sends the latitude and longitude information of the communication positioning device to the handheld search terminal 11, and sends the working end instruction to the communication positioning device.

[0097] The first combined search mode: as shown in the figure, Figure 6 The three ground search modes are combined. The combined search strategy is as follows:

[0098] The three ground search modes are completed in turn, and the work is ended. The communication positioning device enters deep sleep mode.

[0099] The second combined search mode: as shown in the figure, Figure 7 As shown, the three ground search methods are combined with the aerial search method.

[0100] The combined search strategy is as follows:

[0101] 1. The Beidou positioning signal and 4G public communication network of the communication positioning device are in good condition. The first ground search mode is automatically selected. After the work is completed, the communication 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 is in poor condition, and the Beidou short message signal is in good condition. The second ground search mode is automatically selected, and 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 status is poor, the Beidou short message signal status is poor, the communication and positioning device has a good connection signal with the handheld search terminal 11LoRa, and automatically selects the third ground search mode. After the work is completed, 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 the air search mode is automatically selected.

[0105] The search mode is set via the first DIP switch group 9 of the communication positioning device. The first DIP switch group 9 of the communication positioning device is a 6-position 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 aerial search mode, 010000 corresponds to the first combined search mode, and 100000 corresponds to the second combined 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, LoRa communication module 4, Beidou short message communication module, and 4G public network communication module 6 and is powered off, the MCU control module 1 enters deep sleep.

[0108] It can be seen that the communication positioning device provided by this application has two sets of dial switches for search mode setting 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. Depending on the task 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 positioning of the communication positioning device.

[0109] The first combined search method relies on the Beidou positioning module for positioning, reporting location information via the 4G public network, Beidou short messages, and LoRa radio signals. The second combined search method combines Beidou satellite positioning and LoRa radio signal positioning, dynamically switching based on signal status. Dynamically adjusting the operating status (power on / off) of each module based on the search method settings can effectively reduce the power consumption of the communication positioning device.

[0110] It is understandable that the device provided in this 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, which improves the universality of the communication positioning device for the task execution environment. It can be used in environments with good Beidou satellite and 4G public network signals, and is also suitable for performing special tasks in the wild in complex terrains such as jungles, mountains, and Gobi where the equipment cannot locate itself or cannot establish a direct connection with the control center. At the same time, it has low power consumption characteristics. According to different settings of the search method, it dynamically adjusts the working status of each module (whether it is powered on). 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 4000 hours.

[0112] Explanation of terms:

[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: Fourth generation mobile communication technology.

[0120] 18650 lithium battery: includes the battery's diameter, length, shape, and capacity. 18 represents a battery diameter of 18cm, 65 represents a 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 document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0125] Through the description of the above embodiments, it can be seen 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 this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of 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 various embodiments or certain parts of the embodiments of the present application.

[0126] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, 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 can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection 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, Communication module, satellite short message communication module, 4G public network communication module and straight rod antenna; The power supply module, the satellite positioning module, The 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 The straight rod antenna is used to establish a communication with the handheld search terminal Communication connection; The MCU control module is used to perform the following operations: receiving a target search mode, wherein the target search mode is determined by signal states of each module in a current task execution environment of the carrier; The output source of the positioning information of the carrier is determined according to the target search method, and the positioning information is sent to the handheld search terminal through the determined forwarding module; the output source includes the satellite positioning module or the Communication module, the forwarding module includes the 4G public network communication module, the satellite short message communication module, the Any one of the communication modules; After determining that the positioning information has been sent, controlling each module to enter a deep sleep mode; 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 mission 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 in the current mission execution environment, and Communication module and The connection signal is in good condition, and it is determined that the output source is the satellite positioning module, and the forwarding module is the A communication module and the straight rod antenna; The aerial search method includes determining that the output source is the Communication module, the forwarding module is carried by the UAV Signal positioning component, so that the handheld search terminal can obtain The data is analyzed to determine the positioning information.

2. The communication positioning device according to claim 1, 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.

3. The communication positioning device according to claim 2, characterized in that: Also included is a second combined search method; the second combined search method includes: Determining that the signal status of the satellite positioning module and the 4G public network communication module are both good, determining to execute the first ground search mode, and controlling each module to enter a deep sleep mode after the operation is completed; Determining 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, determining to execute the second ground search mode, and controlling each module to enter a deep sleep mode after the operation 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, The communication module and the If the connection signal is in good condition, the third ground search mode is executed, and after the operation is completed, each module is controlled to enter a deep sleep mode; Determine that the signal status of the satellite short message communication module and the 4G public network communication module are both poor, and the The communication module and the handheld search terminal cannot Establish a link, determine to execute the air search mode, and control each module to enter deep sleep mode after the work is completed.

4. The communication positioning device according to claim 3, 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.

5. The communication positioning device according to claim 4, 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 combination search mode, and 100000 corresponds to the second combination search mode.

6. 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.

7. 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 disk antenna.

8. The communication positioning device according to claim 1, characterized in that: The MCU control module adopts ARM® 32-bit Cortex architecture, has a built-in 256K bytes of Flash, a frequency of 64MHz, and has two low-power modes: sleep and deep sleep. The operating power consumption is 35 microamperes, and the power consumption in deep sleep mode is 0.7 microamperes.

9. 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 mA, and a standby power consumption of 25 μA; described The communication module includes 400MHz frequency band Wireless data transmission module, transmitting current 110 mA, receiving current 15 mA, sleep current 3 μA, maximum transmission distance 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.

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