UWB positioning module, intelligent following mobile device and following control method thereof

Abstract

The invention discloses an intelligent following mobile device, which comprises a mobile body with power drive, a UWB base station, two communication antennas and a shielding cover, wherein the UWB base station is arranged on the mobile body and synchronously steers along with the mobile body and is in wireless signal connection with a UWB signal label arranged on a target tracking object; the twocommunication antennas are arranged on the UWB base station and are used for directionally detecting the orientation of the UWB signal label in a trusted precision detection area of the UWB base station; and the shielding cover is arranged on the UWB base station and is used for shielding wireless signals in an untrusted precision detection area of the UWB base station. When the mobile body is steered, the UWB base station can be driven to synchronously steer, so that the orientation of the UWB signal label relative to the UWB base station can be directionally detected by the two communication antennas of the UWB base station, and the interactive cooperation performance of intelligent following mobile device is improved.

Description

technical field [0001] The invention relates to the technical field of target tracking, in particular to an intelligent following mobile device based on UWB positioning technology. Background technique [0002] Ultra Wideband (UWB for short) is a carrier-free communication technology that uses nanosecond to microsecond non-sine wave narrow pulses to transmit data, and can use its sub-nanosecond ultra-narrow pulses to do close-range accurate indoor position. [0003] The existing automatic following robot based on UWB positioning technology is provided with a UWB base station, and the UWB base station is wirelessly connected to a UWB positioning beacon installed on a target tracking object. The automatic following robot is based on a single base station antenna display, and uses the signal arrival angle positioning algorithm (Angle of Arrival referred to as AOA) for positioning to achieve automatic following, for example: the automatic following robot is located behind the t...

AI Technical Summary

Problems solved by technology

[0004] However, when the target tracking object is in a non-ideal following state relative to the automatic following robot, for example: the target tracking object is away from the detection orientation of the UWB base station, or the target tracking object is located on the left, right, left rear or right side of the automatic following robot When the rear side (the UWB base station is installed on the front face of the automatic following robot), that is, the UWB positioning beacon is located in the unreliable accuracy detection area of ​​the UWB base station (other detection areas except the above-mentioned credible accuracy detection area), it is easy to cause the UWB base station to It is impossible to judge the relative orientation of the UWB positioning beacon to the UWB base station, resulting in misjudgment, which leads to the phenomenon of decision-making errors in the controller of the automatic following robot, which cannot follow the target tracking object in real time, and may even go against the moving direction of the target tracking object relax

[0005] When the existing automatic follower robot adopts the AOA positioning algorithm based on the single base station antenna display, there are technical problems that it cannot achieve 360-degree follow-up without dead angle, and the human-computer interaction ability is poor, and it does not have good product application feasibility.

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