Article positioning method, device and equipment based on ultra-wideband technology and storage medium

Abstract

The application discloses an article positioning method and device based on ultra-wideband technology, equipment and a storage medium, comprising controlling a mobile robot to obtain the position information of an anti-lost sticker, the anti-lost sticker being previously bound with the mobile robot, adding the position information to an environment map generated by preselected scanning of the mobile robot, and sending the environment map to a corresponding terminal. Through the above method, the position of the article is indicated by setting the anti-lost sticker on the article, and the position of the article is added to the environment map generated after scanning by the mobile robot after accurately identifying the article. When a user needs to find the article, the environment map with the position of the anti-lost sticker can be directly viewed on the mobile phone, which facilitates the user to find the article and improves the quality of life of the user.

Description

TECHNICAL FIELD

[0001] The present application relates to object positioning, in particular an object positioning method, device, equipment and storage medium based on ultra-wideband technology. BACKGROUND

[0002] In today's fast-paced society, people's life rhythm gradually speeds up, and work pressure also increases. After using an object, people often forget the location where the object is placed. However, in order to improve work and life efficiency, people often spend time on more valuable things. Thus, a large amount of time spent on searching for the object forgotten to be placed brings unnecessary troubles to users, thereby reducing the life quality of the users. SUMMARY

[0003] The present application aims to provide an object positioning method, device, equipment and storage medium based on ultra-wideband technology, and aims to solve the problem in the prior art that users need to spend a large amount of time to search for an object, thereby bringing unnecessary troubles and reducing the life quality of the users.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0005] The present application provides an object positioning method based on ultra-wideband technology, comprising:

[0006] controlling a mobile robot to acquire position information of a loss-preventing sticker, the loss-preventing sticker being a loss-preventing sticker previously bound with the mobile robot;

[0007] adding the position information to an environment map previously scanned by the mobile robot to generate an object position map;

[0008] sending the object position map to a corresponding terminal.

[0009] Further, after the step of adding the position information to the environment map previously scanned by the mobile robot to generate the object position map, the present application comprises:

[0010] judging whether the position information of the loss-preventing sticker is in a matching area of the environment map, and if not, sending an alarm information to the terminal.

[0011] Further, the step of judging whether the position information of the loss-preventing sticker is in the matching area of the environment map, and if not, sending an alarm information to the terminal, comprises:

[0012] acquiring a corresponding matching area from the environment map according to the position information, which is recorded as a first loss-preventing sticker area;

[0013] acquiring a distance signal of the loss-preventing sticker;

[0014] determining whether the anti-lost sticker is in the first anti-lost sticker area according to the signal strength of the distance signal, and if not, sending an alarm information to the terminal.

[0015] Further, the determining whether the anti-lost sticker is in the first anti-lost sticker area according to the signal strength of the distance signal, and if not, sending an alarm information to the terminal, comprises:

[0016] controlling the mobile robot to move towards the first anti-lost sticker area;

[0017] determining whether the distance signal has a decay change;

[0018] if yes, determining whether the decay value of the distance signal is greater than a preset decay threshold within a preset time;

[0019] if the decay value is greater than the preset decay threshold, sending an alarm information to the terminal.

[0020] Further, the if the decay value is greater than the preset decay threshold, sending an alarm information to the terminal, comprises:

[0021] obtaining a signal direction of the distance signal;

[0022] obtaining a corresponding matching area from the environment map according to the signal direction and the signal strength, which is recorded as a second anti-lost sticker area;

[0023] controlling the mobile robot to move towards the second anti-lost sticker area;

[0024] when the mobile robot reaches the second anti-lost sticker area, taking a picture of the corresponding position of the anti-lost sticker according to the signal direction;

[0025] sending the picture to the terminal.

[0026] Further, the obtaining the distance signal of the anti-lost sticker, comprises:

[0027] when the distance signal cannot be obtained, obtaining a historical positioning coordinate of the anti-lost sticker;

[0028] obtaining a corresponding matching area from the environment map according to the historical positioning coordinate, which is recorded as a historical placement area;

[0029] sending the historical placement area to the terminal.

[0030] Further, the sending the picture to the terminal, comprises:

[0031] Obtaining the shape information of the article contained in the picture, denoted as first article shape information;

[0032] Obtaining the shape information of the article matched with the anti-lost sticker, denoted as second article shape information;

[0033] Judging whether the first article shape information is consistent with the second article shape information, if yes, identifying the article corresponding to the second article shape information in the picture to generate a target picture;

[0034] Sending the target picture to the terminal.

[0035] The application also provides an article positioning device based on the ultra-wideband technology, comprising:

[0036] An information obtaining unit is configured to obtain the position information of the anti-lost sticker by the mobile robot, wherein the anti-lost sticker is the anti-lost sticker pre-bound with the mobile robot;

[0037] An adding unit is configured to add the position information to the environment map generated by the mobile robot in advance to generate an article position map;

[0038] A sending unit is configured to send the article position map to the corresponding terminal.

[0039] The application also provides a storage medium, which is a computer-readable storage medium, and has a computer program stored thereon, wherein the computer program is executed to implement the article positioning method based on the ultra-wideband technology.

[0040] The application also provides a computer device comprising instructions, which, when executed on the computer device, cause the computer device to execute the article positioning method based on the ultra-wideband technology.

[0041] The application has the following beneficial effects: the position of the article is indicated by setting the anti-lost sticker on the article, and the position of the article is added to the environment map generated after scanning by the mobile robot after accurately identifying the article, so that the user can directly check the environment map with the position of the anti-lost sticker on the mobile phone when the user needs to find the article, which facilitates the user to find the article and improves the quality of life of the user. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The method flowchart of the article positioning method based on the ultra-wideband technology of an embodiment of the application;

[0043] Figure 2 The structural schematic diagram of the article positioning device based on the ultra-wideband technology of an embodiment of the application;

[0044] Figure 3 A structural block diagram of a storage medium according to an embodiment of the present application;

[0045] Figure 4 A structural block diagram of a computer device according to an embodiment of the present application;

[0046] The label names in the figure are: 1-information acquisition unit, 2-addition unit, 3-addition unit, 100-storage medium, 200-computer program, 300-computer device, 400-processor. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the present application and do not limit the present application.

[0048] Those skilled in the art can understand that, unless specifically stated, the singular forms "a", "an" and "the" used herein also include the plural forms. It should be further understood that the use of the term "including" in the specification of the present application means that the features, integers, steps, operations, elements and / or components described exist, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. The term "and / or" used herein includes all or any one of the associated listed items and all combinations thereof.

[0049] Reference Figure 1 The present application provides an article positioning method based on ultra-wideband technology, comprising:

[0050] S1, controlling a mobile robot to acquire position information of an anti-lost sticker, the anti-lost sticker being an anti-lost sticker pre-bound with the mobile robot;

[0051] S2, adding the position information to an environment map generated by the mobile robot in advance, to generate an article position map;

[0052] S3, sending the article position map to a corresponding terminal.

[0053] As described in the above step S1, the above-mentioned ultra wide band technology (UWB) is a wireless carrier communication technology which does not use a sine carrier, but transmits data by using a nanosecond-level non-sine wave narrow pulse, so the frequency spectrum range occupied thereby is very wide. The ultra wide band technology has the advantages of low system complexity, low transmitting signal power spectrum density, insensitivity to channel fading, low interception ability, high positioning accuracy, etc., and is especially suitable for high-speed wireless access in dense multipath places such as indoors. The mobile robot is a sweeper, the anti-lost sticker is fixed on the article which the user needs to find, and the anti-lost sticker is pre-bound with the sweeper before being fixed on the article, so that the sweeper can determine the position of the article according to the position information of the anti-lost sticker.

[0054] As described in the above step S2, the sweeper adds the position information of the anti-lost sticker to the environment map generated by scanning, thereby generating an environment map with the position information of the article.

[0055] It can be understood that the map form of the environment map can be a two-dimensional map or a three-dimensional map, etc., which is not limited in the present application.

[0056] As described in the above step S3, the terminal includes a user's mobile phone, and the sweeper sends the environment map with the position information of the article to the user's mobile phone, so that the user can directly find the corresponding article through the mobile phone when the user needs to find the article.

[0057] The present application realizes that the user can directly view the environment map with the position information of the anti-lost sticker on the mobile phone when the user needs to find the article, which facilitates the user to find the article and improves the user's quality of life, by setting the anti-lost sticker on the article to indicate the position of the article and adding the position of the article to the environment map generated by scanning after the mobile robot accurately identifies the article.

[0058] In an embodiment, after the step S2, the method further includes:

[0059] S4, determining whether the position information of the anti-lost sticker is in the matching area of the environment map, and if not, sending an alarm information to the terminal.

[0060] As described in the above step S4, the mobile robot determines whether the position of the anti-lost sticker is still in the matching area defined by the user in the environment map, and if not, the mobile robot determines that the article has left the matching area and has the risk of being lost, and then sends an alarm information to the terminal.

[0061] In an embodiment, the step S4 includes:

[0062] According to the position information, a corresponding matching area is obtained from the environment map, which is recorded as a first anti-lost sticker area;

[0063] The distance signal of the anti-lost sticker is obtained;

[0064] According to the signal strength of the distance signal, it is judged whether the anti-lost sticker is in the first anti-lost sticker area, and if not, an alarm information is sent to the terminal.

[0065] As described above, the environment map contains a plurality of matching areas, which can be a room in the environment map or a specific area set by a user, for limiting the activity range of the anti-lost sticker. Then, the mobile robot obtains a corresponding matching area from the environment map according to the position information of the anti-lost sticker, and records it as a first anti-lost sticker area matched with the anti-lost sticker, so as to determine which matching area the anti-lost sticker is currently in. Then, the mobile robot judges whether the anti-lost sticker is still in the first anti-lost sticker area according to the signal strength of the distance signal of the anti-lost sticker. If the mobile robot judges that the anti-lost sticker has left the first anti-lost sticker area, the mobile robot sends an alarm information to the terminal, so as to prompt the user that the corresponding article of the anti-lost sticker has left the warning range.

[0066] In an embodiment, according to the signal strength of the distance signal, it is judged whether the anti-lost sticker is in the first anti-lost sticker area, and if not, an alarm information is sent to the terminal, which comprises:

[0067] The mobile robot is controlled to move towards the first anti-lost sticker area;

[0068] It is judged whether the distance signal has an attenuation change;

[0069] If yes, it is judged whether the attenuation value of the distance signal is greater than a preset attenuation threshold value within a preset time;

[0070] If the attenuation value is greater than the preset attenuation threshold value, an alarm information is sent to the terminal.

[0071] As described above, when the mobile robot moves towards the first anti-lost sticker area, the distance signal of the anti-lost sticker will change (may be enhanced, may be attenuated, or may have no signal). When the distance signal attenuates, it means that the distance between the mobile robot and the anti-lost sticker is getting farther and farther. Therefore, in this embodiment, a preset time length and an attenuation threshold value are set. When the attenuation value of the distance signal is greater than the preset attenuation threshold value within the preset time, it means that the anti-lost sticker is not in the first anti-lost sticker area. At this time, the mobile robot can be controlled to stop moving towards the first anti-lost sticker area, so as to save the energy consumption of the mobile robot.

[0072] In an embodiment, the signal strength of the distance signal is used to determine whether the anti-lost sticker is in the first anti-lost sticker area. If not, an alarm message is sent to the terminal, including:

[0073] The mobile robot is controlled to move towards the first anti-lost sticker area. When the mobile robot reaches the first anti-lost sticker area, it is determined whether the signal strength of the distance signal is less than a preset threshold. If so, it is determined that the matching area matching is incorrect, and a matching area error message is sent to the terminal.

[0074] As described above, the mobile robot moves towards the first anti-lost sticker area. When the mobile robot reaches the first anti-lost sticker area, the mobile robot determines whether the anti-lost sticker is located in the first anti-lost sticker area according to the signal strength of the distance signal. Specifically, the mobile robot obtains the signal strength of the distance signal and determines whether the signal strength is less than a preset threshold. If so, it is determined that the anti-lost sticker is currently located far away from the mobile robot and is not located in the first anti-lost sticker area. Then, the mobile robot determines that the matching area matching is incorrect and sends a matching area error message to the terminal, prompting the user that the matching area corresponding to the anti-lost sticker is incorrect.

[0075] In an embodiment, after the above-mentioned step of sending an alarm message to the terminal if the attenuation value is greater than a preset attenuation threshold, the method further includes:

[0076] The signal direction of the distance signal is obtained.

[0077] A corresponding matching area, referred to as a second anti-lost sticker area, is obtained from the environment map according to the signal direction and the signal strength.

[0078] The mobile robot is controlled to move towards the second anti-lost sticker area.

[0079] When the mobile robot reaches the second anti-lost sticker area, a picture of the position corresponding to the anti-lost sticker is taken according to the signal direction, and the picture is sent to the terminal.

[0080] As described above, the mobile robot obtains the signal direction of the distance signal and re-obtains a matching area corresponding to the anti-lost sticker from the environment map according to the signal direction, thereby repositioning the anti-lost sticker. Then, the mobile robot re-obtains the matching area as a second anti-lost sticker area and moves towards the second anti-lost sticker area. When the mobile robot reaches the second anti-lost sticker area, the current position of the anti-lost sticker is obtained according to the signal direction, a picture of the position corresponding to the anti-lost sticker is taken, and the picture is sent to the user's mobile phone, thereby prompting the user of the current position of the anti-lost sticker.

[0081] In an embodiment, after obtaining the distance signal of the anti-lost sticker, the method further comprises:

[0082] obtaining historical positioning coordinates of the anti-lost sticker when the distance signal cannot be obtained;

[0083] obtaining a corresponding matching area from the environment map according to the historical positioning coordinates, denoted as a historical placement area;

[0084] sending the historical placement area to the terminal.

[0085] As described above, when the anti-lost sticker is damaged, out of energy, or far enough from the mobile robot, the mobile robot cannot obtain the distance signal. When the mobile robot determines that the distance signal cannot be obtained, the mobile robot obtains the historical positioning coordinates of the anti-lost sticker. Then, the mobile robot obtains a corresponding matching area from the environment map according to the historical positioning coordinates of the anti-lost sticker, denoted as a historical placement area. At this time, the mobile robot determines that the historical placement area is the last matching area where the anti-lost sticker appears. Then, the mobile robot sends the historical placement area to the user's mobile phone, thereby reminding the user to manually search in the historical placement area.

[0086] Further, after sending the historical placement area to the terminal, the method further comprises:

[0087] controlling the mobile robot to travel towards the historical placement area;

[0088] determining whether the distance signal is obtained when the mobile robot reaches the historical placement area;

[0089] if yes, sending prompt information that the anti-lost sticker is in the historical placement area to the terminal.

[0090] As described above, the mobile robot travels towards the historical placement area. When the mobile robot reaches the historical placement area, it is determined again whether the distance signal is obtained, thereby preventing the mobile robot from being unable to obtain the distance signal at a long distance due to insufficient power of the anti-lost sticker. If the distance signal is still not obtained, it is determined that the anti-lost sticker is indeed not located in the historical placement area. If the distance signal is obtained, prompt information that the anti-lost sticker is in the historical placement area is sent to the terminal, so that the user knows the specific location area of the anti-lost sticker, thereby improving the user experience.

[0091] In an embodiment, the sending of the picture to the terminal comprises:

[0092] Obtain the shape information of the article contained in the picture, denoted as the first article shape information, obtain the shape information of the article matched with the anti-lost sticker, denoted as the second article shape information, judge whether the first article shape information is consistent with the second article shape information, if yes, mark the article corresponding to the second article shape information in the picture, generate a target picture, and send the target picture to the terminal.

[0093] As described in the above step S10, after the mobile robot takes a picture of the position corresponding to the anti-lost sticker according to the signal direction, the mobile robot obtains the shape information of all articles in the picture, and records it as the first article shape information. Then the mobile robot obtains the shape information of the article matched with the anti-lost sticker being searched, and records it as the second article shape information. Then the mobile robot judges whether there is an article in the first article shape information that is consistent with the second article shape information. If yes, the mobile robot marks the article corresponding to the second article shape in the picture, generates a target picture, and sends the target picture to the terminal. At this time, the user can refer to the target picture to accurately find the article corresponding to the anti-lost sticker in the second anti-lost sticker area. Further, the process of marking the article corresponding to the second article shape in the picture can be enlarging the image of the article corresponding to the anti-lost sticker, improving the brightness, and the like, so as to help the user find the article corresponding to the anti-lost sticker faster.

[0094] Reference Figure 2 The application also provides an article positioning device based on ultra-wideband technology, comprising:

[0095] An information obtaining unit 1 is configured to obtain the position information of the anti-lost sticker by the mobile robot, wherein the anti-lost sticker is the anti-lost sticker previously bound with the mobile robot.

[0096] An adding unit 2 is configured to add the position information to the environment map generated by the mobile robot in advance, to generate an article position map.

[0097] A sending unit 3 is configured to send the article position map to the corresponding terminal.

[0098] In an embodiment, the article positioning device based on ultra-wideband technology further comprises:

[0099] A judging unit is configured to judge whether the position information of the anti-lost sticker is in the matching area of the environment map, and if not, send an alarm information to the terminal.

[0100] In an embodiment, the judging unit comprises:

[0101] A region determining subunit is configured to acquire a corresponding matching region from the environment map according to the position information, which is referred to as a first anti-lost sticker region.

[0102] A distance signal acquiring subunit is configured to acquire a distance signal of the anti-lost sticker.

[0103] An alarm information sending subunit is configured to determine whether the anti-lost sticker is in the first anti-lost sticker region according to the signal strength of the distance signal, and send alarm information to the terminal if not.

[0104] In an embodiment, the alarm information sending subunit includes:

[0105] A travel control module is configured to control the mobile robot to travel towards the first anti-lost sticker region.

[0106] A first determining module is configured to determine whether the distance signal has experienced attenuation change.

[0107] A second determining module is configured to determine whether the attenuation value of the distance signal is greater than a preset attenuation threshold within a preset time when the distance signal has experienced attenuation change.

[0108] A sending module is configured to send alarm information to the terminal if the attenuation value is greater than the preset attenuation threshold.

[0109] In an embodiment, the alarm information sending subunit further includes:

[0110] A signal direction acquiring module is configured to acquire the signal direction of the distance signal.

[0111] A second region generating module is configured to acquire a corresponding matching region from the environment map according to the signal direction and the signal strength, which is referred to as a second anti-lost sticker region.

[0112] A movement control module is configured to control the mobile robot to travel towards the second anti-lost sticker region.

[0113] A shooting module is configured to shoot a picture of the position corresponding to the anti-lost sticker according to the signal direction when the mobile robot reaches the second anti-lost sticker region.

[0114] A picture sending module is configured to send the picture to the terminal.

[0115] In an embodiment, the determining unit further includes:

[0116] A historical coordinate acquiring subunit is configured to acquire a historical positioning coordinate of the anti-lost sticker when the distance signal cannot be acquired.

[0117] The placement area sending subunit is configured to send the historical placement area to the terminal.

[0118] In an embodiment, the judging unit further comprises:

[0119] The movement control subunit is configured to control the mobile robot to move towards the historical placement area.

[0120] The signal obtaining subunit is configured to judge whether the distance signal is obtained after the mobile robot reaches the historical placement area.

[0121] The prompt information sending subunit is configured to send the prompt information of the anti-lost sticker on the historical placement area to the terminal.

[0122] In an embodiment, the picture sending module comprises:

[0123] The first shape information obtaining sub-module is configured to obtain the shape information of the article contained in the picture, denoted as first article shape information.

[0124] The first shape information obtaining sub-module is configured to obtain the shape information of the article matched with the anti-lost sticker, denoted as second article shape information.

[0125] The generating sub-module is configured to judge whether the first article shape information is consistent with the second article shape information, and if yes, mark the article corresponding to the second article shape information in the picture to generate a target picture.

[0126] The sending sub-module is configured to send the target picture to the terminal.

[0127] The above units are used to execute the above-mentioned article positioning device based on ultra-wideband technology, and will not be introduced one by one.

[0128] Reference Figure 3 The application also provides a storage medium 100, which is a computer-readable storage medium, and has a computer program 200 stored thereon, the computer program 200 is executed to realize the above-mentioned article positioning method based on ultra-wideband technology.

[0129] Reference Figure 4 The application also provides a computer device 300 comprising instructions, when the computer device 300 is executed on the computer device 300, the computer device 300 is configured to execute the above-mentioned article positioning method based on ultra-wideband technology by the processor 400 arranged inside the computer device 300.

[0130] In summary, the biggest advantage of the application is that the position of the article can be indicated by setting the anti-lost sticker on the article, and the position of the article can be added to the environment map generated after scanning after the mobile robot accurately identifies the article, so that the user can directly check the environment map with the position of the anti-lost sticker on the mobile phone when the user needs to find the article, which facilitates the user to find the article and improves the user's quality of life.

[0131] Those skilled in the art can understand that the operation method of the intelligent device described in the present application and the above-mentioned devices for executing one or more methods described in the present application. These devices can be specially designed and manufactured for the required purpose, or can also include known devices in a general-purpose computer. These devices have computer programs or application programs stored therein, which are selectively activated or reconfigured. Such computer programs can be stored in a device (for example, a computer) readable medium or any type of medium suitable for storing electronic instructions and respectively coupled to the bus, including but not limited to any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, the readable medium includes any medium that can store or transmit information in a form that can be read by a device (for example, a computer).

[0132] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for locating objects based on ultra-wideband technology, characterized in that, include: The system controls a mobile robot to obtain the location information of an anti-loss sticker, which is pre-bound to the mobile robot. The mobile robot is a robotic vacuum cleaner. The anti-loss sticker is fixed to the item that the user needs to find. The anti-loss sticker is pre-bound to the robotic vacuum cleaner before being fixed to the item, so that the robotic vacuum cleaner can determine the location of the item based on the location information obtained from the anti-loss sticker. The location information is added to the environmental map pre-scanned and generated by the mobile robot to generate an item location map; Send the item location map to the corresponding terminal; After adding the location information to the pre-scanned environmental map generated by the mobile robot to generate the item location map, the process includes: Determine whether the location information of the anti-loss sticker is within the matching area of ​​the environmental map; if not, send an alarm message to the terminal. The step of determining whether the location information of the anti-loss sticker is within the matching area of ​​the environmental map, and if not, sending an alarm message to the terminal, includes: Based on the location information, the corresponding matching area is obtained from the environmental map and denoted as the first anti-loss sticker area; Obtain the distance signal of the anti-loss sticker; The anti-loss sticker is determined based on the signal strength of the distance signal. If the anti-loss sticker is not in the first anti-loss sticker area, an alarm message is sent to the terminal. The step of determining whether the anti-loss sticker is within the first anti-loss sticker area based on the signal strength of the distance signal, and if not, sending an alarm message to the terminal, includes: Control the mobile robot to move towards the first anti-loss sticker area; Determine whether the distance signal has undergone attenuation. If so, determine whether the attenuation value of the distance signal is greater than the preset attenuation threshold within the preset time. If the attenuation value is greater than the preset attenuation threshold, an alarm message is sent to the terminal. Based on the signal direction of the distance signal, the second anti-loss sticker area is determined, and the mobile robot is controlled to send the image of the corresponding position of the anti-loss sticker within the second anti-loss sticker area to the terminal. After acquiring the distance signal of the anti-loss sticker, the process includes: When the distance signal cannot be obtained, the historical positioning coordinates of the anti-loss sticker are obtained; The corresponding matching area is obtained from the environmental map based on the historical positioning coordinates and recorded as the historical placement area. At this time, the mobile robot determines that the historical placement area is the matching area where the anti-loss sticker last appeared; and sends the historical placement area to the terminal to remind the user to manually search for it in the historical placement area. Sending the image to the terminal includes: Obtain the shape information of the items contained in the image, and denote it as the first item shape information; Obtain the item shape information that matches the anti-loss sticker, and record it as the second item shape information; Determine whether the shape information of the first item is consistent with the shape information of the second item. If so, mark the item corresponding to the shape information of the second item in the image and generate a target image. Send the target image to the terminal; After sending the historical placement area to the terminal, the process includes: Control the mobile robot to move toward the historical placement area; When the mobile robot arrives at the historical placement area, it is determined whether the distance signal has been acquired. If so, a notification message indicating that the anti-loss sticker is in the historical placement area is sent to the terminal; The step of determining whether the anti-loss sticker is within the first anti-loss sticker area based on the signal strength of the distance signal, and if not, sending an alarm message to the terminal, further includes: The mobile robot is controlled to move towards the first anti-loss sticker area; when the mobile robot reaches the first anti-loss sticker area, it is determined whether the signal strength of the distance signal is less than a preset threshold. If so, it is determined that the matching area is incorrect and a matching area error message is sent to the terminal.

2. The object positioning method based on ultra-wideband technology as described in claim 1, characterized in that, The step of determining the second anti-loss sticker area based on the signal direction of the distance signal, and controlling the mobile robot to send an image of the corresponding position of the anti-loss sticker within the second anti-loss sticker area to the terminal includes: Obtain the signal direction of the distance signal; Based on the signal direction and the signal strength, the corresponding matching area is obtained from the environmental map and recorded as the second anti-loss sticker area; Control the mobile robot to move toward the second anti-loss sticker area; When the mobile robot reaches the area of ​​the second anti-loss sticker, it takes a picture of the location of the anti-loss sticker according to the direction of the signal. The image is sent to the terminal.

3. An item positioning device based on ultra-wideband technology, used to perform the method described in any one of claims 1-2, characterized in that, include: An information acquisition unit is used for the mobile robot to acquire the location information of the anti-loss sticker, wherein the anti-loss sticker is an anti-loss sticker pre-bound to the mobile robot; An adding unit is used to add the location information to the environmental map pre-scanned and generated by the mobile robot to generate an item location map; The sending unit is used to send the location map of the items to the corresponding terminal.

4. A storage medium, characterized in that, It is a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, it implements the article positioning method based on ultra-wideband technology as described in any one of claims 1 to 2.

5. A computer device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the article positioning method based on ultra-wideband technology as described in any one of claims 1 to 2.

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