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Following system and following method based on UWB

A technology for transmitting and receiving objects, applied in location information-based services, electrical components, wireless communications, etc. It can solve the problems of not being concise and accurate in the calculation of the distance and deflection angle of the following target, and the high cost of the following system, so as to achieve reliable measurement and simplified algorithm Efficient and good user experience effect

Inactive Publication Date: 2019-02-15
黎国溥
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is that the cost of the existing following system is high and the calculation of the distance and deflection angle of the following target is not concise and accurate enough

Method used

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  • Following system and following method based on UWB
  • Following system and following method based on UWB
  • Following system and following method based on UWB

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment 1

[0064] When the projection of the first UWB transmitting and receiving module on the reference surface is located on the left side of the y-axis: According to the law of cosines, calculate ∠θ:

[0065]

[0066] According to the law of cosines, calculate d:

[0067]

[0068] According to the law of cosines, calculate ∠β 1 :

[0069]

[0070] According to the arccosine formula, we get ∠β 1 = arccos(m);

[0071] According to the triangle relation, get ∠α=∠β 1 -90°;

[0072] Simplified to get:

specific Embodiment 2

[0073] When the projection of the first UWB transmitting and receiving module on the reference plane is located on the right side of the y-axis: According to the law of cosines, calculate ∠θ:

[0074]

[0075] According to the law of cosines, calculate d:

[0076]

[0077] According to the law of cosines, calculate ∠β 2 :

[0078]

[0079] According to the arccosine formula, we get ∠β 2 = arccos(m);

[0080] According to the triangle relation, get ∠α=90°-∠β 2 ;

[0081] Simplified to get:

specific Embodiment 3

[0082] When the projection of the first UWB transmitting and receiving module on the reference plane falls on the y-axis:

[0083] According to the triangle relationship, we get ∠α=0°,

[0084] The first UWB transmitting and receiving module detects the movement information of the target object through the speed sensor and the three-axis acceleration sensor, and transmits the movement information to the second and third UWB transmitting and receiving modules, and controls the acceleration, deceleration or constant speed of the following object through the control unit , to keep the following object at a set distance from the target object.

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Abstract

The invention discloses a following system based on UWB, comprising the following parts: a first UWB transmitting and receiving module, disposed on a target object followed and provided with a UWB tag; a second UWB transmitting and receiving module and a third UWB transmitting and receiving module, horizontally arranged on the following object at intervals, wherein the UWB tag obtains the distances L2 and L3 from the first UWB transmitting and receiving module; a calculating unit, configured to obtain the distances L2 and L3 from the first UWB transmitting and receiving module according to theUWB tag, and calculate to obtain the distance and angle between the followed object and the first UWB transmitting and receiving module; and a control unit, configured to control the driving device disposed on the followed object so that the followed object faces the target object. The following system based on UWB realizes the measurement of the distance and angle of the target object through three UWB transmitting and receiving modules, has simple and efficient algorithm, reliable measurement and high following accuracy compared with the existing positioning following scheme (based on UWB,WiFi, Bluetooth, zigbee module, etc.), and in addition, reduces the cost and has good user experience.

Description

technical field [0001] The invention relates to the technical field of intelligent following, in particular to a UWB-based following system and method. Background technique [0002] Smart follow products bring more convenience to people's life, such as follow trolleys in supermarkets, smart follow suitcases, smart follow strollers, etc. [0003] The current intelligent following technologies are mainly based on positioning tags and based on machine vision. Among them, the intelligent tracking technology based on positioning tags is the most widely used because of its low cost and simple algorithm. [0004] Chinese invention patent CN105828431A discloses a UWB-based autonomous follower robot positioning method and system, including UWB base stations and UWB positioning tags, among which there are three UWB base stations, and the distances from UWB positioning tags are d1, d2, and d3 respectively. In the coordinate system, the x and y position coordinates of the UWB position...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/029H04W4/02H04W64/00
CPCH04W4/02H04W4/023H04W4/027H04W4/029H04W64/00H04W64/006
Inventor 黎国溥
Owner 黎国溥
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