CN218549913U

CN218549913U - Positioning module and self-moving equipment

Info

Publication number: CN218549913U
Application number: CN202223000129.1U
Authority: CN
Inventors: 刘芳世; 王志成
Original assignee: Zhejiang Baima Technology Co ltd
Current assignee: Zhejiang Baima Technology Co ltd
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2023-02-28
Anticipated expiration: 2032-11-10

Abstract

The embodiment of the utility model discloses orientation module and from mobile device. The positioning module includes: the GPS antenna module is used for positioning the positioning module, generating positioning information and sending the positioning information to the communication module; wherein, the GPS antenna module is an active antenna module. The technical scheme of the utility model can improve orientation module's SNR, strengthen its interference killing feature, reduce positioning deviation, improve response speed.

Description

Positioning module and self-moving equipment

Technical Field

The embodiment of the utility model provides a relate to intelligent robot technical field, especially relate to a orientation module and from mobile device.

Background

With the continuous progress of computer technology and artificial intelligence technology, self-moving devices similar to intelligent robots, such as intelligent lawn mowing robots, have slowly walked into people's lives. The intelligent mowing robot can automatically mow and charge the lawn of the user without user interference. At present, all use on the intelligent robot that mows are passive GPS antenna, and the signal receives the interference easily, and positioning deviation is great and response speed is slower.

SUMMERY OF THE UTILITY MODEL

The utility model provides a positioning module and from mobile device to realize the increase of SNR, the reinforcing interference killing feature reduces positioning deviation, improves response speed.

According to the utility model discloses an aspect provides a positioning module, and positioning module includes: the communication module is connected with the GPS antenna module, and the GPS antenna module is used for positioning the positioning module, generating positioning information and sending the positioning information to the communication module; the GPS antenna module is an active antenna module.

According to another aspect of the present invention, there is provided a self-moving apparatus including the positioning module of any one of the above-mentioned aspects.

According to the technical scheme, the active antenna module is adopted to replace a passive GPS antenna in the prior art, the problems that a passive GPS antenna signal is easily interfered and the response speed is low are solved, and the receiving antenna module, the low-noise amplification module and the power supply module are integrated in the active antenna module. The active antenna module has higher signal-to-noise ratio, better impedance matching and wider frequency band, thereby realizing the increase of the signal-to-noise ratio, enhancing the anti-interference capability, reducing the positioning deviation and improving the response speed.

It should be understood that the statements herein are not intended to identify key or critical features of any embodiment of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will be readily apparent from the following specification.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained without creative efforts.

Fig. 1 is a schematic structural diagram of a positioning module according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another positioning module according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of another positioning module according to an embodiment of the present invention;

fig. 4 is a schematic circuit diagram of a positioning module according to an embodiment of the present invention;

fig. 5 is a structural diagram of a positioning module object according to an embodiment of the present invention;

fig. 6 is a diagram illustrating a structure of a positioning module object according to an embodiment of the present invention;

fig. 7 is a diagram illustrating a structure of a positioning module object according to an embodiment of the present invention;

fig. 8 is a diagram illustrating a structure of a positioning module object according to an embodiment of the present invention;

fig. 9 is a diagram illustrating a structure of a positioning module object according to another embodiment of the present invention;

fig. 10 is a block diagram of another kind of positioning module object according to the embodiment of the present invention.

Detailed Description

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a schematic structural diagram according to the utility model discloses a positioning module, refer to fig. 1, the utility model provides a positioning module, positioning module includes: the communication module 10 is connected with the GPS antenna module 20, the GPS antenna module 20 is used for positioning the positioning module, generating positioning information and sending the positioning information to the communication module 10; the GPS antenna module 20 is an active antenna module.

Specifically, the positioning module is detachably connected with the self-moving device, and the self-moving device can be an intelligent mowing robot. The communication module 10 has the functions of 2G communication, LTE CATM1 communication and NBIoT communication and integrates a GNSS module inside. Frequency bands supported by the communication module 10: 2G frequency band (MHz): 850 900, 1800, 1900; LTE CATM1: b1 B2, B3, B4, B5, B8, B12, B13, B18, B19, B20, B25, B26, B27, B28, B66, B85; NBIoT: b1 B2, B3, B4, B5, B8, B12, B13, B18, B19, B20, B25, B26, B28, B66, B71, B85.

After the communication module 10 is connected with the GPS antenna module 20, longitude and latitude information of the device can be located, so that the position state of the self-moving device can be monitored, and anti-theft judgment and position tracking can be realized, thereby improving the anti-theft capability of the self-moving device. The GPS antenna module 20 is an active antenna module, and a receiving antenna module, a low noise amplification module, and a power supply module are integrated in the active antenna module. The active antenna module can further reduce the power loss of the feeder connection, so that the positioning module has higher signal-to-noise ratio, better impedance matching and wider frequency band. In places with poor GPS signals, such as tree shadows and corners, the active antenna module can be positioned more quickly and with less deviation than a passive GPS antenna.

The IOP system is composed of the positioning module, the telecommunication system, the background server and the user APP, and the user can check the position of the self-moving equipment provided with the positioning module through the mobile phone APP. The positioning module has the functions of low-power-consumption dormancy and motion triggering awakening, so that an ideal power-saving function is achieved, the tracking and positioning time of the stolen mobile equipment is prolonged, and a user can conveniently recover the stolen equipment.

Fig. 2 is a schematic structural diagram of another positioning module according to an embodiment of the present invention, referring to fig. 2, optionally, the GPS antenna module 20 further includes a first switch unit 201, a second switch unit 202, a filtering unit 203, a current limiting unit 204, and a GPS antenna A2; a first end of the filtering unit 203 is connected to a GPS port GNSS-ANT of the communication module 10, a second end of the filtering unit 203 is connected to a first end of the second switch unit 202, a second end of the second switch unit 202 is connected to a power input end 3V3 of the GPS antenna module 20, and a control end of the second switch unit 202 is connected to a second end of the first switch unit 201; a first end of the first switch unit 201 is connected to a GPS enabled port GNSS-LNA-EN of the communication module 10, and a third end of the first switch unit 201 is grounded; the GPS antenna A2 is connected between the filtering unit 203 and the second switching unit 202, and the current limiting unit 204 is connected between the second terminal of the second switching unit 202 and the control terminal of the second switching unit 202.

Fig. 3 is a schematic structural diagram of another positioning module according to an embodiment of the present invention, optionally, the first switch unit 202 includes a fifth switch Q11, a base of the fifth switch Q11 is connected to the GPS-enabled port GNSS-LNA-EN of the communication module 10, a collector of the fifth switch Q11 is connected to the control terminal G of the second switch unit 202, and an emitter of the fifth switch Q11 is grounded.

With continued reference to fig. 3, optionally, the second switching unit 202 includes a sixth switching tube Q10, a first end D of the sixth switching tube Q10 is connected to the filtering unit 203, and a second end S of the sixth switching tube Q10 is connected to the power input terminal 3V3 of the GPS antenna module 20.

With continued reference to fig. 3, optionally, the filtering unit 203 includes a first capacitor C12, and the first capacitor C12 is connected between the GPS port GNSS-ANT of the communication module 10 and the first end D of the sixth switch tube Q10.

With continued reference to fig. 3, optionally, the current limiting unit 204 includes a first resistor R17, and the first resistor R17 is connected between the second terminal S of the sixth switching tube Q10 and the control terminal G of the sixth switching tube Q10.

Specifically, the first resistor R17 may provide a bias voltage for the sixth switching tube Q10; and the sixth switch tube Q10 can also play a role of a bleeder resistor to protect the gate and the source of the sixth switch tube Q10. When the communication module 10 starts the internal GNSS module, the GPS enable port GNSS-LNA-EN of the communication module 10 automatically outputs a high level to turn on the fifth switching tube Q11, the power input end 3V3 of the GPS antenna module 20 inputs 3.3V to the internal circuit of the GPS antenna A2, and the current consumption of the active antenna is about 6 to 15mA when power is supplied. When the GNSS is not started, the GPS enable port GNSS-LNA-EN of the communication module 10 is automatically pulled down, the fifth switching tube Q11 is turned off, the GPS antenna A2 has no current consumption, and when the positioning module is in the sleep state, the GNSS module is automatically turned off.

Fig. 4 is according to the embodiment of the utility model provides a positioning module's schematic circuit diagram, refer to fig. 4, optionally, positioning module still includes power and communication interface 40, power and communication interface 40 include power positive terminal B +, power negative terminal B-, voltage output terminal MAIN-5V, serial communication receiving terminal MAIN-RX, serial communication transmitting terminal MAIN-TX and earthing terminal, power positive terminal B + and power negative terminal B-are connected with the battery respectively, serial communication receiving terminal MAIN-RX and serial communication transmitting terminal MAIN-TX are connected with communication receiving terminal RXD1 and communication transmitting terminal TXD1 of communication module 10 respectively, voltage output terminal MAIN-5V is used for providing supply voltage.

Specifically, the positioning module does not have a battery, and power is supplied from a large-capacity battery of the mobile device. The battery of the self-moving equipment can be a storage battery, the current mainstream is a lithium ion battery, the capacity is 2.0 Ah-6.0 Ah, the voltage is 21V when the battery is fully charged, and the voltage output end MAIN-5V is used for providing direct current 5V power supply voltage.

The positioning module does not need to be in wired communication with the self-moving equipment, if the positioning module is in communication, the functions can be expanded, for example, GPS positioning signals are transmitted to the self-moving equipment through a serial port, and other functions are expanded.

With continued reference to fig. 4, optionally, the positioning module further includes an activation unit 50, a power self-locking unit 60, and a power main switch unit 70, where the power main switch unit 70 includes a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first switch tube Q4, and a second switch tube Q5; a first end S of the first switch tube Q4 is used as an input end of the power main switch unit 70, and a second end D of the first switch tube Q4 is used as an output end of the power main switch unit 70; the second resistor R2 is connected between the first end S and the control end G of the first switch tube Q4, the fourth resistor R4 is connected between the control end G and the second end S of the second switch tube Q5, the first end of the third resistor R3 is connected with the first end of the second resistor R2, the second end of the third resistor R3 is connected with the second end D of the second switch tube Q5, the first end of the fifth resistor R5 is connected with the output ends of the activation unit 50 and the power self-locking unit 60 respectively, and the second end of the fifth resistor R5 is connected with the control end G of the second switch tube Q5.

With continued reference to fig. 4, optionally, the positioning module further includes an LDO unit 80, the LDO unit 80 including a zener diode Z1, a first LDO chip U1, a second LDO chip U2, a second capacitor C1, a third capacitor C2, and a fourth capacitor C3; the cathode of the voltage stabilizing diode Z1 is used as the input end of the LDO unit 80 and is connected with the output end of the power main switch unit 70, the anode of the voltage stabilizing diode Z1 is connected with the input end of the first LDO chip U1, the output end of the first LDO chip U1 is connected with the input end of the second LDO chip U2, the second capacitor C1 is connected between the input end of the first LDO chip U1 and the grounding end, the third capacitor C2 is connected between the output end of the first LDO chip U1 and the grounding end, and the fourth capacitor C3 is connected between the output end of the second LDO chip U2 and the grounding end; the output end of the first LDO chip U1 serves as a first output end 4V0 of the LDO unit 80, and the output end of the second LDO chip U2 serves as a second output end 3V3 of the LDO unit 80;

the positioning module further comprises a DC/DC switching power supply unit 90, the DC/DC switching power supply unit 90 comprises a power supply chip U3, a fifth inductor L5, a sixth capacitor C5, a seventh capacitor C6, a sixth resistor R20, a seventh resistor R21, an eighth resistor R14 and a ninth resistor R15;

a first end VIN of the power chip U3 is connected to an output end of the power master switch unit 70, a first end of an eighth resistor R14 is connected to a voltage output end MAIN-5V of the power and communication interface 40, a first end of a ninth resistor R15 is connected to a first interface IO1 of the communication module 10, a second end of the eighth resistor R14 and a second end of the ninth resistor R15 are connected to an enable end EN of the power chip U3, a seventh capacitor C6 is connected between the second end BOOT and a third end SW of the power chip U3, a first end of a fifth inductor L5 is connected to the third end SW of the power chip U3, and a second end of the fifth inductor L5 is connected to a sixth resistor R20;

the sixth resistor R20 is connected between the third end SW and the fourth end FB of the power chip U3, the first end of the seventh resistor R21 is connected to the fourth end FB of the power chip U3, the second end of the seventh resistor R21 is grounded, the first end of the sixth capacitor C5 is connected to the second end of the fifth inductor L5 and then serves as the output end of the DC/DC switching power supply unit 90, and the second end of the sixth capacitor C5 is grounded;

the positioning module further comprises a power supply switching unit 100, and the power supply switching unit 100 comprises an eighth resistor R1, a third switching tube Q1, a first triode Q3 and a second triode Q2;

the eighth resistor R1 is connected between the first end S and the control end G of the third switching tube Q1, the second end D of the third switching tube Q1 is connected with the first end of the sixth capacitor C5, the base of the first triode Q3 is connected with the second interface IO2 of the communication module 10, the base of the second triode Q2 is connected with the voltage output end MAIN-5V of the power supply and communication interface 40, the collector electrodes of the first triode Q3 and the second triode Q2 are connected and then connected with the control end G of the third switching tube Q1, and the emitter electrodes of the first triode Q3 and the second triode Q2 are grounded;

the positioning module further comprises a battery voltage sampling unit 110, wherein the battery voltage sampling unit 110 comprises a third triode Q6, a fourth triode Q8, a ninth resistor R10, a tenth resistor R11, an eleventh resistor R12, a twelfth resistor R13 and a seventh capacitor C7;

the ninth resistor R10 is connected between an emitter and a base of the third triode Q6, a base of the third triode Q6 is connected with a first end of a tenth resistor R11, a second end of the tenth resistor R11 is connected with an emitter of the fourth triode Q8, a base of the fourth triode Q8 is connected with an output end of the DC/DC switching power supply unit 90, an emitter of the fourth triode Q8 is connected with a second end of a twelfth resistor R13 and then grounded, a first end of the twelfth resistor R13 is connected with a first end of the seventh capacitor C7 and a second end of the eleventh resistor R12 respectively, a first end of the eleventh resistor R12 is connected with a collector of the third triode Q6, and a first end of the seventh capacitor C7 is connected with the sampling end ADC of the communication module 10 as an output end of the battery voltage sampling unit 110;

the activation unit 50 comprises a first diode D2, an anode of the first diode D2 is connected with the voltage output terminal MAIN-5V of the power and communication interface 40, and a cathode of the first diode D2 is connected with a first end of a fifth resistor R5 as an output terminal of the activation unit 50;

the power self-locking unit 60 comprises a thirteenth resistor R6 and a second diode D3, a first end of the thirteenth resistor R6 is connected with the first output end 4V0 of the LDO unit 80, a second end of the thirteenth resistor R6 is connected with an anode of the second diode D3, and a cathode of the second diode D3 is connected with a first end of the fifth resistor R5 as an output end of the power self-locking unit 60;

the positioning module further comprises a power suicide unit 120, and the power suicide unit 120 comprises a fourth switching tube Q7, a fifth switching tube Q9, a fourteenth resistor R7, a fifteenth resistor R8, a third diode D4, an eighth capacitor C11 and a sixteenth resistor R9;

the fourteenth resistor R7 is connected between the first end S of the fourth switching tube Q7 and the control end G, the first end S of the fourth switching tube Q7 is connected with the second end of the thirteenth resistor R6, and the second end D of the fourth switching tube Q7 is grounded;

a control end G of the fourth switching tube Q7 is connected to a first end D of the fifth switching tube Q9, a second end S of the fifth switching tube Q9 is connected to a fifteenth resistor R8 and a first end of an eighth capacitor C11 and then grounded, a control end G of the fifth switching tube Q9 is connected to a second end of the fifteenth resistor R8 and a second end of the eighth capacitor C11 and then connected to a cathode of the third diode D4, an anode of the third diode D4 is connected to a first end of a sixteenth resistor R9, and a second end of the sixteenth resistor R9 is connected to a fourth interface IO4 of the communication module 10;

the positioning module further comprises a voltage detection unit 130, the voltage detection unit 130 comprises a fourth triode Q13, a base electrode of the fourth triode Q13 is connected with a voltage output end MAIN-5V of the power supply and communication interface 40, a collector electrode of the fourth triode Q13 is connected with a third interface IO3 of the communication module 10, and an emitter electrode of the fourth triode Q13 is grounded;

the positioning module further comprises a motion monitoring sensor 140, an input end of the motion monitoring sensor 140 is connected with a second output end 3V3 of the LDO unit 80, a first end INT1 of the motion monitoring sensor 140 is connected with a power-ON or WAKE-up interface ON-OFF/WAKE of the communication module 10, and a second end INT2 of the motion monitoring sensor 140 is connected with a fifth interface IO5 of the communication module.

Specifically, the LDO unit 80 is used for step-down in the power saving state, and the DC/DC switching power supply unit 90 is used for step-down in the non-power saving state. When the DC/DC switching power supply unit 90 is used, a voltage of 3.8V is output, and the battery voltage sampling unit 110 operates; when the LDO unit 80 is used, no 3.8V voltage is output, and the battery voltage sampling unit 110 does not operate.

In fig. 4, F1 is a self-recovery fuse, in order to prevent the module from being damaged by accidental short circuit, the first switch tube Q4 in the power main switch unit 70 is a main power electronic switch, and after passing through the first switch tube Q4, the power is divided into two paths, one path to the LDO unit 80 and the other path to the DC/DC switch power supply unit 90. The LDO unit 80 may be composed of low dropout regulators (LDOs) of 4.0V, 3.3V, and 1.8V as required, and the quiescent current of the LDO unit 80 is less than 5 to 8 μ a without load. The LDO is selected in the embodiment, so that the low quiescent current is emphasized, but the LDO has the defect that the input current is larger than or equal to the output current. For example, a 4.0V LDO, the input current is at least 100mA if the load current is 100mA, the power Pw = (20-4.0) V = 100mA = (1600mW) = (1.6W) consumed by the LDO itself if the input voltage is 20V, and the thermal resistance θ of a 4.0V LDO _JA (Junction-to-Ambient Thermal Resistance) =200 ℃/W, the actual PCB circuit board has copper foil for heat dissipation, assuming that the actual Thermal Resistance is 100 ℃/W, the 1.6W temperature rise will reach 160K, and the Ambient temperature in the plastic shell of the positioning module in summer is 50 ℃, the temperature of the LDO will reach 210 ℃, and the semiconductor Junction temperature cannot exceed 175 ℃ at most, so the internal over-temperature protection will be started and the load will be cut off as soon as the LDO is loaded and standing, if the over-temperature protection is not provided, the LDO will be burned out for several seconds, and the instantaneous current of the communication module during communication needs 2000mA, and the power supply by the LDO is not practical. Therefore, the LDO unit 80 can only be used to supply power when the positioning module is in a low power consumption state, such as below 20mA, and the positioning module consumes less than 10mA in a standby state (not communicating with the network, not starting GPS positioning) and less than 40 μ a in a sleep state. A load of 10mA, LDO temperature rise = (20-4.0) V0.010a 100 ℃/W =16K, plus ambient temperature 50 ℃, then the LDO temperature is 66 ℃, without exceeding its maximum use temperature limit of 85 ℃.

In order to reduce the power consumption of the LDO, for an application with a higher input voltage, a power zener diode may be connected in series at the front end for voltage division, in this embodiment, a zener diode Z1 of 8.2V is selected, and assuming that the LDO load of 4.0V is also 10mA, under the condition of 20V input power, the LDO temperature rise = (20-8.2-4.0) V × 0.010a × 100c/W =7.8K, and the ambient temperature is 50 ℃, then the LDO temperature is 57.8 ℃, the temperature rise is low, and the reliability of the LDO is high.

In order to satisfy the power supply of the positioning module under the condition of heavy load (networking, starting GPS positioning), the present embodiment uses another power supply, a DC/DC switching power supply unit 90. The main loop of the DC/DC switching power supply unit 90 is composed of a 3A/500KHz loopThe step-down converter power chip U3+ a fifth inductor L5 + a sixth capacitor C5, a sixth resistor R20 and a seventh resistor R21 form a voltage sampling feedback circuit, and V _FB If R20=150K2 and R21=40.2K Ω, the voltage =0.8V (R20 + R21)/R21 =3.78V generated by the DC/DC switching power supply unit 90 after conversion, and 3V8 is taken as a network tag in fig. 4. The communication module 10 used in this embodiment is generally used in a place powered by a single lithium battery, such as a mobile phone, so that the rated power supply voltage is 3.8V.

When the enable pin EN of the power chip U3 is at high level, when V is _EN >At 1.2V, the switch power supply is enabled, the DC/DC switch power supply unit 90 works and can output large current for power supply, and when the enable pin EN is at low level, V _EN <At 0.9V, the DC/DC switching power supply unit 90 stops working, and the current consumption of the power supply chip U3 is reduced<3 muA. When EN is high level, even if the internal switch circuit of the power chip U3 stops working (the external supply V) _FB A voltage of 0.83V is applied), the quiescent current of the power chip U3 will also be 150 μ a, and if the internal switch circuit of the power chip U3 is operated, the current consumption of the power chip U3 itself is at least of mA level, assuming 3mA, if the battery capacity is 300mAh, the positioning module can only discharge 300mAh/3mA =100h =4.2day in the sleep state.

In summary, when the power chip is in sleep, a low level is applied to the enable pin EN of the power chip U3, the DC/DC switching power supply unit 90 stops working, and the LDO unit 80 supplies power; when a large current is needed for power supply, a high level is applied to the EN of the power chip U3, and the DC/DC switching power supply 90 operates to supply power. Therefore, the consumption of the positioning module can be greatly reduced, and the positioning module can be in a standby state for a long time in a stolen state or a storage state.

The working logic of the whole positioning module is described as follows: after the mobile device is turned on, 5V is output to 3 pins (i.e., MAIN-5V) of the power and

communication interface

40, 5V of the activation unit 50 is provided to the second switching tube Q5 through the first diode D2 and the fifth resistor R5, the second switching tube Q5 may be an MOS tube, and the second switching tube Q5 is turned on, so that the first switching tube Q4 in the power master switching unit 70 is turned on, and the LDO unit 80 is powered to output 4V0 and 3V3. At the same time, MAIN-5V also applies 5V to the enable pin EN of the power chip U3 in the DC/DC switching power supply unit 90 to make the DC/DC switching power supply unit 90 work, and also applies to the base of the second triode Q2 of the power switching unit 100 to turn on the third switching transistor Q1, which may be a p-channel MOS transistor. It can be seen that when 5V is provided from the mobile device when it is powered on, the positioning module is powered by the DC/DC switching power supply unit 90.

After the positioning module is powered on, the second switching tube Q5 is switched on by the 4V0 generated by the LDO unit 80 through the power self-locking unit 60, so that the first switching tube Q4 is switched on, and at this time, even if the self-moving device turns off the 5V, the positioning module can still maintain power through the power self-locking unit 60.

When VBATT of the communication module 10 is powered ON, and Q12 is turned ON through MAIN-5V, the power-ON or WAKE-up interface ON-OFF/WAKE is pulled down for 5S, and then the communication module 10 can be started to work. After the communication module 10 is operated, the DC/DC-EN pin outputs a high level, and the 3V8-ON pin also outputs a high level, so that even if 5V is turned off, the power chip U3 continues to enable, and the third switching tube Q1 in the power switching unit 100 also continues to be kept ON.

In the enabled state of the DC/DC switching power supply unit 90, the battery voltage sampling unit 110 operates, the battery voltage is divided by the third triode Q6, the eleventh resistor R12, and the twelfth resistor R13 to obtain BATT-AN, and the communication module 10 obtains the battery voltage through AD conversion. When the 3V8 is not available, the fourth transistor Q8 of the battery voltage sampling unit 110 is turned off, so that the third transistor Q6 is turned off, and the eleventh resistor R12 and the twelfth resistor R13 of the sampling circuit consume no current.

After the communication module 10 works, the motion monitoring sensor 140 is configured through SPI communication, when the positioning module is stationary, the INT1/INT2 pin of the first end of the motion monitoring sensor 140 outputs a high level, and when the positioning module is moved, the INT1 pin of the first end of the motion monitoring sensor 140 outputs a low level and maintains the low level for a period of time (for example, 10S), which is enough to enable the power-ON or WAKE-up interface ON-OFF/WAKE-down of the communication module 10 to maintain 5S of sleep state WAKE-up, after the communication module 10 WAKEs up, the level state of the IO5 pin is detected to be a low level, and the confirmation module is moved.

The voltage detection unit 130 may be a 5V detection circuit, and the 5V detection circuit is used to detect whether 5V from the mobile device exists. If 5V exists, the system always works in a normal working mode: networking, initiating location, etc. Once 5V disappears, the positioning module can go to sleep → wake-up → normal work → sleep, and cycle alternation as required.

The power management after 5V is closed is as follows:

since the DC/DC-EN pin is high level, the DC/DC switching power supply unit 90 continues to operate; since 3V8-ON is at high level, the third switching tube Q1 also continues to be turned ON, VBATT =3V8, and the communication module 10 operates in normal operation: networking communication, GPS positioning and periodically collecting the battery voltage.

When the positioning module is detected to be in a static state, the communication module 10 starts to sleep, after the positioning module is in the sleep state, the DC/DC-EN pin is at a low level, the DC/DC switching power supply unit 90 does not work, 3V8 is not output, the battery voltage sampling unit 110 does not consume power, and at the moment, the power consumption of the whole positioning module is distributed in the following places:

1) Maintaining the first switch Q4 in the power main switch unit 70 to be turned on, and the second resistor R2 and the third resistor R3 consume power = battery voltage/(R2 + R3), and if the battery voltage =18V and the second resistor R2= the third resistor R3=3M Ω, consume power 3 μ a;

2) The power self-locking unit 60 consumes 1.25 μ a, and if the thirteenth resistor R6=200K and the fourth resistor R4=3M Ω, 4V/3.2m =1.25 μ a is consumed;

3) LDO unit 80 consumes about 6 μ A statically;

4) The power supply chip U3 consumes 2 muA;

5) The motion monitor sensor 140 consumes 2 μ Α;

6) The communication module 10 consumes around 10 μ Α;

7) Others consumed around 10 μ A.

The total consumption is about 34 μ a, and since the LDO unit 80 supplies power during sleep, 34 μ a also corresponds to the consumption current of the battery. When the self-moving mobile phone is moved, the first end INT1 of the motion monitoring sensor 140 outputs a low level to wake up and activate the communication module 10, the DC/DC-EN pin outputs a high level, then the 3V8-ON pin also outputs a high level, the DC/DC switching power supply unit 90 supplies power to the communication module 10, the communication module 10 is networked, GPS positioning is started, longitude and latitude information is transmitted to a mobile phone of a user, and the battery voltage can be detected at regular time in the period.

In principle, the third switch Q1 may also be a diode, but since the instantaneous maximum current of the communication module 10 can reach 2A, if a switch diode with low reverse leakage current is used, the diode has a voltage drop of 0.6-0.7V, and the larger the current is, the larger the voltage drop is, which may cause the VBATT voltage to be unstable, and in addition, the power loss of the diode is not negligible, and the power loss of the diode is equal to the current flowing through the diode multiplied by the voltage drop of the diode. However, although the voltage drop of the Schottky diode can be reduced to 0.3-0.4V, the reverse leakage current of the Schottky diode is large, the temperature is increased, the reverse leakage current is further increased, and the temperature in the positioning module can reach 50 ℃ in summer since the mobile equipment is high in temperature. Therefore, the third switch tube Q1 adopts a P-channel MOS tube instead of a diode, which can avoid the above disadvantages.

As shown in fig. 4, if the third switch Q1 is not controlled, it is equivalent to a normal switch diode, the 3V8 voltage output by the DC/DC switching power supply unit 90 can supply power to VBATT through the parasitic diode in the third switch Q1, similarly, the parasitic diode in the third switch Q1 also has power loss, which is equal to the product of voltage drop and current, if the voltage drop is 0.7V and the current is 1A, the power loss is 0.7W, in order to reduce this loss, the switch of the third switch Q1 is controlled by the second transistor Q2 or the first transistor Q3, when the third switch Q1 is turned on, the power loss is equal to the current flowing times the on-resistance, in this embodiment, the third switch Q1 is a MOS transistor, R is an optional transistor, and R is an optional transistor _DSON ＝11mΩ， V _GS =3.8V, and when the current is 1A, the loss P = I of the third switching tube Q1 ² * R =1 × 0.011=0.011w, which is only 1.6% of 0.7W, is very low, and the voltage drop across the third switching tube Q1 is only 0.011V, which shows that the advantage of using MOS tubes to replace diodes is very obvious. In addition, it should be noted that after the sleep wake-up, after the power chip U3 is enabled, the DC/DC-EN pin outputs a high level, and the third switch Q1 is turned on after at least 5mS of delay, because the power chip U3 generally has a soft start time, the power chip U3 is turned on3, the soft start time is 1.5mS, if the third switch tube Q1 is turned on immediately after the power chip U3 is enabled, the power chip U3 has not yet reached to charge the sixth capacitor C5, VBATT will reversely charge the sixth capacitor C5 through the third switch tube Q1, VBATT voltage will be pulled to the reset voltage instantaneously (VBATT will be pulled to below 2.7V, and the minimum working voltage of the communication module 10 is VBATT _min = 2.7V), causing the communication module 10 to reset, causing the positioning module to be unstable.

In the above cycle of sleep → normal operation → sleep, if it is detected that the battery voltage is lower than a certain threshold, for example, 15V, in order to prevent the battery from being damaged due to over-discharge, the positioning module enables the POWER suicide unit 120, the output of POWER-OFF is switched from low level to high level → the fifth switch Q9 is turned on → the fourth switch Q7 is turned on → the input end of the second diode D3 is pulled to GND → the second switch Q5 is turned OFF → the first switch Q4 is turned OFF → the 4V0 voltage of the LDO unit 80 starts to drop, when the voltage drops to about 2.7V, the communication module 10 has a reset action, the program in the communication module 10 starts to run from the initial position, where POWER-OFF outputs low level, and if the third diode D4 and the eighth capacitor C11 are not provided, the gate of the fifth switch Q9 is pulled low, so that the fourth switch Q7 is turned OFF, and POWER self-locking occurs, and the 4V0 voltage is again turned on, so that the suicide is not performed.

In order to avoid the situation of incapability of suicide, a third diode D4 and an eighth capacitor C11 are added to the power suicide unit 120, assuming that the capacitance value of the eighth capacitor C11 is 10uF, the fifteenth resistor R8 is 1.0MQ, and the turn-on threshold of the fifth switching tube Q9 is V _GS(th) =1.0V, so that when POWER-OFF is high, the eighth capacitor C11 will be charged through the third diode D4. When the voltage of 4V0 drops to 2.7V, the communication module 10 resets to set POWER-OFF to low level, and the charge stored on the eighth capacitor C11 does not leak to POWER-OFF due to the blocking effect of the third diode D4, and assuming that the initial voltage on the eighth capacitor C11 is 1.6V (the IO port level of the communication module is 1.8V, and the voltage drops to 1.6V after passing through the third diode D4), the time t = RC × Ln (V1/Vt) = 1.0M Ω × 10uf Ln (1.6/1.0) =4.7s, during which the eighth capacitor C11 drops from 1.6V to 1.0V, the fifth switch tube is set to low level during the time t = RC = Ln (V1.0M Ω × 10uf Ln (1.6/1.0) =4.7s,4.7sQ9 is kept on, so that the fourth triode Q8 is also turned on, the self-locking unit 60 is shielded and does not work, the time of 4.7S is enough to allow the voltage of 4V0 to drop below the reset voltage of the communication module 10, the communication module 10 is not reset, the first switch tube Q4 is always off, and thus, the positioning module does not consume power any more. To power up the module again, the slave mobile device must be turned back on for 5V.

When the initial stage of the theft of the mobile equipment is found, in order to continuously track the track of the equipment, the user can start the tracking function, so that the positioning module can continuously send the position of the equipment to the mobile phone of the user.

The positioning module is provided with a Motion monitoring sensor 140, and after the module enters a sleep state for power saving, once the device moves (self-moving or manually moving), the Motion monitoring sensor 140 can sense that the device has a Motion-activated function (Motion-activated functions), the Motion monitoring sensor 140 may be a 3-axis acceleration sensor based on MEMS, and set an acceleration sensor threshold parameter through an MCU in the communication module 10, and when an acceleration value of any one of XYZ axes exceeds a certain threshold value, the Motion monitoring sensor 140 outputs a low level (static state is high level) at an INT1/INT2 pin, so that the communication module 10 can be woken up from a low power consumption sleep mode, and the positioning module can start to acquire a GPS position and transmit the GPS position to a terminal device (such as a mobile phone, iPAD, etc.) held by a user through a communication network (2G/LTE CATM 1/NBIoT) of the communication module 10. The advantage of having the motion activation function is that when the self-moving device (such as the intelligent mowing robot) is not used and stored in winter, because no motion occurs, the positioning module can work in a low power consumption sleep mode for a long time, the battery power is greatly saved, the sleep power consumption of the positioning module is measured to be less than 40 muA, and the battery power can last for 10.4 months even if the battery is stored with residual power of 300mAh (full power is greater than 40000 mAh) even if the residual power is 40 muA. And the storage time of the intelligent mowing robot is only 4-5 months. And once theft occurs, the self-moving device must be in motion, activating the module.

The positioning module further includes a communication antenna module 30, and the communication antenna module 30 includes a ninth capacitor C10, a seventeenth resistor R16, a first inductor L1, a second inductor L2, a third inductor L3, a fourth inductor L4, and a patch A1. The patch antenna A1 is used for communication with a cellular network. In some embodiments, patch antenna A1 may also be used to communicate with a charging station using a 868/433Hz frequency.

The positioning module also comprises an eSIM card, wherein the eSIM card is an electronic SIM card, is similar to a chip, has the same basic function as a plug-in card, and increases the reliability due to SMT welding.

The positioning module also includes a USB connector through which developers and manufacturers can perform secondary program development and download of the communication module 10, and parameter configuration.

It should be noted that the electrical nodes with the same labels are electrically connected, such as 3V8, 4V0 and 3V3. Describing the network tag in FIG. 4, MAIN-5V, 5V-DETEC represent network tags, with arrows pointing inward to represent inputs and arrows pointing outward to represent outputs. The network tags of fig. 4, which are identical in alphabetical characters, are electrically connected to each other, which is done for clarity of the drawing.

The embodiment of the utility model provides a still provide a from mobile device, including the orientation module of any one of the above-mentioned embodiment.

In particular, the self-moving device may be an autonomous working device, for example, an intelligent mowing robot, and the positioning module is detachably connected with the self-moving device.

Since the self-moving device includes the positioning module provided in any embodiment of the present invention, the beneficial effects of the self-moving device and the positioning module are the same, and are not described herein again.

Fig. 5 is according to the embodiment of the utility model provides a structure diagram in kind of orientation module, fig. 6 is according to the utility model provides a structure diagram in kind of another orientation module in kind, fig. 7 is according to the utility model discloses a structure diagram in kind of another orientation module in kind that provides, fig. 8 is according to the utility model discloses a structure diagram in kind of another orientation module in kind that provides, fig. 9 is according to the utility model discloses a structure diagram in kind of another orientation module in kind that provides, fig. 10 is according to the utility model provides a structure diagram in kind of another orientation module in kind that provides, refer to fig. 5, fig. 6, fig. 7, fig. 8, fig. 9 and fig. 10, electronic component installs in plastic housing, and the shell comprises drain pan 1 and upper cover 2, through the buckle pressfitting, need not the screw fixation, and the equipment is convenient high-efficient. 1 in fig. 5 represents a bottom case, and 2 represents an upper cover; in fig. 6, 3 represents a module PCBA, 4 represents an eSIM card, and 5 represents a GPS active antenna; in fig. 7, 6 denotes a patch antenna, 7 denotes a communication module, 8 denotes a 3-axis acceleration sensor, and 9 denotes a USB female socket; in fig. 8, 10 denotes a TE connector and 11 denotes a connection main board harness.

The above detailed description does not limit the scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning module, comprising: the communication module is connected with the GPS antenna module, and the GPS antenna module is used for positioning the positioning module, generating positioning information and sending the positioning information to the communication module; the GPS antenna module is an active antenna module.

2. The positioning module of claim 1, wherein the GPS antenna module further comprises a first switching unit, a second switching unit, a filtering unit, a current limiting unit, and a GPS antenna;

the first end of the filtering unit is connected with the GPS port of the communication module, the second end of the filtering unit is connected with the first end of the second switch unit, the second end of the second switch unit is connected with the power input end of the GPS antenna module, and the control end of the second switch unit is connected with the second end of the first switch unit;

the first end of the first switch unit is connected with a GPS enabling port of the communication module, and the third end of the first switch unit is grounded;

the GPS antenna is connected between the filtering unit and the second switch unit, and the current limiting unit is connected between the second end of the second switch unit and the control end of the second switch unit.

3. The positioning module according to claim 2, wherein the first switch unit comprises a fifth switch tube, a base of the fifth switch tube is connected to the GPS enable port of the communication module, a collector of the fifth switch tube is connected to the control terminal of the second switch unit, and an emitter of the fifth switch tube is grounded.

4. The positioning module of claim 2, wherein the second switch unit comprises a sixth switch tube, a first end of the sixth switch tube is connected to the filtering unit, and a second end of the sixth switch tube is connected to the power input end of the GPS antenna module.

5. The positioning module of claim 4, wherein the filtering unit comprises a first capacitor connected between the GPS port of the communication module and the first end of the sixth switching tube.

6. The positioning module of claim 5, wherein the current limiting unit comprises a first resistor connected between the second end of the sixth switching tube and the control end of the sixth switching tube.

7. The positioning module according to claim 2, further comprising a power supply and communication interface, wherein the power supply and communication interface comprises a power supply positive terminal, a power supply negative terminal, a voltage output terminal, a serial communication receiving terminal, a serial communication transmitting terminal and a ground terminal, the power supply positive terminal and the power supply negative terminal are respectively connected to a battery, the serial communication receiving terminal and the serial communication transmitting terminal are respectively connected to the communication receiving terminal and the communication transmitting terminal of the communication module, and the voltage output terminal is used for providing a power supply voltage.

8. The positioning module according to claim 7, further comprising an activation unit, a power self-locking unit and a power main switch unit, wherein the power main switch unit comprises a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first switch tube and a second switch tube;

the first end of the first switch tube is used as the input end of the power supply main switch unit, and the second end of the first switch tube is used as the output end of the power supply main switch unit;

the second resistor is connected between the first end and the control end of the first switch tube, the fourth resistor is connected between the control end and the second end of the second switch tube, the first end of the third resistor is connected with the first end of the second resistor, the second end of the third resistor is connected with the second end of the second switch tube, the first end of the fifth resistor is respectively connected with the activation unit and the output end of the power self-locking unit, and the second end of the fifth resistor is connected with the control end of the second switch tube.

9. The positioning module of claim 8, further comprising an LDO unit comprising a zener diode, a first LDO chip, a second capacitor, a third capacitor, and a fourth capacitor;

the cathode of the voltage stabilizing diode is used as the input end of the LDO unit and is connected with the output end of the power main switch unit, the anode of the voltage stabilizing diode is connected with the input end of the first LDO chip, the output end of the first LDO chip is connected with the input end of the second LDO chip, the second capacitor is connected between the input end of the first LDO chip and the grounding end, the third capacitor is connected between the output end of the first LDO chip and the grounding end, and the fourth capacitor is connected between the output end of the second LDO chip and the grounding end;

the output end of the first LDO chip is used as a first output end of the LDO unit, and the output end of the second LDO chip is used as a second output end of the LDO unit;

the DC/DC switching power supply unit comprises a power supply chip, a fifth inductor, a sixth capacitor, a seventh capacitor, a sixth resistor, a seventh resistor, an eighth resistor and a ninth resistor;

the first end of the power supply chip is connected with the output end of the power supply main switch unit, the first end of the eighth resistor is connected with the voltage output end of the power supply and communication interface, the first end of the ninth resistor is connected with the first interface of the communication module, the second end of the eighth resistor and the second end of the ninth resistor are connected and then connected with the enable end of the power supply chip, the seventh capacitor is connected between the second end and the third end of the power supply chip, the first end of the fifth inductor is connected with the third end of the power supply chip, and the second end of the fifth inductor is connected with the sixth resistor;

the sixth resistor is connected between the third end and the fourth end of the power supply chip, the first end of the seventh resistor is connected with the fourth end of the power supply chip, the second end of the seventh resistor is grounded, the first end of the sixth capacitor is connected with the second end of the fifth inductor and then serves as the output end of the DC/DC switching power supply unit, and the second end of the sixth capacitor is grounded;

the power supply switching unit comprises an eighth resistor, a third switching tube, a first triode and a second triode;

the eighth resistor is connected between the first end and the control end of the third switching tube, the second end of the third switching tube is connected with the first end of the sixth capacitor, the base electrode of the first triode is connected with the second interface of the communication module, the base electrode of the second triode is connected with the voltage output end of the power supply and communication interface, the collector electrodes of the first triode and the second triode are connected and then connected with the control end of the third switching tube, and the emitter electrodes of the first triode and the second triode are grounded;

the battery voltage sampling unit comprises a third triode, a fourth triode, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor and a seventh capacitor;

the ninth resistor is connected between an emitting electrode and a base electrode of the third triode, the base electrode of the third triode is connected with a first end of the tenth resistor, a second end of the tenth resistor is connected with an emitting electrode of the fourth triode, the base electrode of the fourth triode is connected with the output end of the DC/DC switching power supply unit, the emitting electrode of the fourth triode is grounded after being connected with a second end of a twelfth resistor, a first end of the twelfth resistor is respectively connected with a first end of the seventh capacitor and a second end of the eleventh resistor, a first end of the eleventh resistor is connected with a collector electrode of the third triode, and a first end of the seventh capacitor is connected with a sampling end of the communication module as an output end of the battery voltage sampling unit;

the activation unit comprises a first diode, the anode of the first diode is connected with the voltage output end of the power supply and communication interface, and the cathode of the first diode is used as the output end of the activation unit and is connected with the first end of the fifth resistor;

the power supply self-locking unit comprises a thirteenth resistor and a second diode, wherein the first end of the thirteenth resistor is connected with the first output end of the LDO unit, the second end of the thirteenth resistor is connected with the anode of the second diode, and the cathode of the second diode is used as the output end of the power supply self-locking unit and is connected with the first end of the fifth resistor;

the power supply suicide unit comprises a fourth switching tube, a fifth switching tube, a fourteenth resistor, a fifteenth resistor, a third diode, an eighth capacitor and a sixteenth resistor;

the fourteenth resistor is connected between the first end and the control end of the fourth switching tube, the first end of the fourth switching tube is connected with the second end of the thirteenth resistor, and the second end of the fourth switching tube is grounded;

the control end of the fourth switching tube is connected with the first end of the fifth switching tube, the second end of the fifth switching tube is connected with the first ends of the fifteenth resistor and the eighth capacitor and then grounded, the control end of the fifth switching tube is connected with the second ends of the fifteenth resistor and the eighth capacitor and then connected with the cathode of the third diode, the anode of the third diode is connected with the first end of the sixteenth resistor, and the second end of the sixteenth resistor is connected with the fourth interface of the communication module;

the voltage detection unit comprises a fourth triode, the base of the fourth triode is connected with the voltage output end of the power supply and communication interface, the collector of the fourth triode is connected with the third interface of the communication module, and the emitter of the fourth triode is grounded;

still include motion monitoring sensor, motion monitoring sensor's input with the second output of LDO unit is connected, motion monitoring sensor's first end with communication module's power-on or awaken interface connection, motion monitoring sensor's second end with communication module's fifth interface connection.

10. A self-moving device, characterized in that it comprises a positioning module according to any one of claims 1-9.