Positioning method and system, and computer storage medium

Abstract

The embodiments of the present application disclose a positioning method and system, and a computer storage medium. The method is applied to a positioning device, wherein the positioning device is configured with an acquisition module, an UWB module, and a voice module. The method includes: acquiring real-time scene information corresponding to a current scene through the acquisition module, and determining the real-time position and real-time azimuth of a UWB tag through the UWB module; wherein the UWB tag is in the current scene; generating a reminder message based on the real-time scene information, real-time position, and real-time azimuth; wherein the reminder message is used to locate the UWB tag; and playing the reminder message through the voice module.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a positioning method and system, and a computer storage medium. Background Art

[0002] Generally, distance measurement is required to locate targets such as people or objects. However, common distance measurement solutions, including ultrasonic and infrared ranging technologies, are susceptible to environmental influences. For example, the infrared light can misalign when there are changes in light intensity or when the target object is too small. Ultrasonic distance measurement is also susceptible to changes in ambient temperature and air density, making it less adaptable to the environment and prone to measurement errors.

[0003] It can be seen that when positioning processing is performed based on ranging technology, if the distance measurement result is inaccurate, the accuracy of positioning processing will be greatly reduced. At the same time, common ranging technologies such as ultrasonic or infrared can only provide the distance parameters of the measured object, and cannot provide the accurate direction angle of the measured object. Therefore, they cannot be used for precise positioning processing of the measured object. Summary of the Invention

[0004] The embodiments of the present application provide a positioning method and system, and a computer storage medium, which can greatly improve the accuracy of positioning and can be widely used in various scenarios, effectively improving flexibility.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a positioning device, wherein the positioning device is configured with a collection module, a UWB module, and a voice module, and the method includes:

[0007] Acquiring real-time scene information corresponding to the current scene through the acquisition module, and determining the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene;

[0008] Generate reminder information based on the real-time scene information, the real-time position, and the real-time azimuth; wherein the reminder information is used to locate the UWB tag;

[0009] The reminder information is played through the voice module.

[0010] In a second aspect, an embodiment of the present application provides a positioning device, wherein the positioning device is configured with a collection module, a UWB module, and a voice module, and the positioning device includes an acquisition unit, a determination unit, a generation unit, and a playback unit;

[0011] The acquisition unit is configured to acquire real-time scene information corresponding to the current scene through the acquisition module;

[0012] The determining unit is configured to determine the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene;

[0013] The generating unit is configured to generate reminder information based on the real-time scene information, the real-time position, and the real-time azimuth; wherein the reminder information is used to locate the UWB tag;

[0014] The playing unit is used to play the reminder information through the voice module.

[0015] In a third aspect, an embodiment of the present application provides a positioning device, which is configured with an acquisition module, a UWB module, and a voice module. The positioning device includes a processor and a memory storing instructions executable by the processor. When the instructions are executed by the processor, the positioning method described above is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium on which a program is stored, which is applied to a positioning device. The positioning device is configured with an acquisition module, a UWB module and a voice module. When the program is executed by a processor, the positioning method as described above is implemented.

[0017] The embodiment of the present application provides a positioning method and system, and a computer storage medium. The positioning method is applied to a positioning device, which is configured with an acquisition module, a UWB module, and a voice module. The positioning device acquires real-time scene information corresponding to the current scene through the acquisition module, and determines the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene; based on the real-time scene information, the real-time position, and the real-time azimuth, a reminder message is generated; wherein the reminder message is used to locate the UWB tag; and the reminder message is played through the voice module. That is, in the embodiment of the present application, the positioning device can use the UWB module to determine the position and azimuth of the UWB tag to be located in the same scene in real time, and then can combine the real-time scene information of the scene to timely generate a reminder message corresponding to the UWB tag to be located, which is used to locate the UWB tag in the scene. This can greatly improve the accuracy of positioning, and can be widely applied to a variety of scenarios, effectively improving flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the positioning device structure Figure 1 ;

[0019] Figure 2 Schematic diagram of the positioning device structure Figure 2 ;

[0020] Figure 3 Schematic diagram of the positioning device structure Figure 3 ;

[0021] Figure 4 Schematic diagram of the implementation process of the positioning method Figure 1 ;

[0022] Figure 5 Schematic diagram of the implementation process of the positioning method Figure 2 ;

[0023] Figure 6 Schematic diagram of the implementation process of the positioning method Figure 3 ;

[0024] Figure 7 Schematic diagram of the generation scenario of reminder information Figure 1 ;

[0025] Figure 8 Schematic diagram of the generation scenario of reminder information Figure 2 ;

[0026] Figure 9 Schematic diagram of the generation scenario of reminder information Figure 3 ;

[0027] Figure 10 Schematic diagram of the generation scenario of reminder information Figure 4 ;

[0028] Figure 11 Schematic diagram of the generation scenario of reminder information Figure 5 ;

[0029] Figure 12 Schematic diagram of the generation scenario of reminder information Figure 6 ;

[0030] Figure 13 Schematic diagram of the generation scenario of reminder information Figure 7 ;

[0031] Figure 14 Schematic diagram of the implementation process of the positioning method Figure 4 ;

[0032] Figure 15 Schematic diagram of the positioning device structure Figure 4 ;

[0033] Figure 16 Schematic diagram of positioning processing;

[0034] Figure 17 Schematic diagram of the implementation process of the positioning method Figure 5 ;

[0035] Figure 18 Schematic diagram of the implementation process of the positioning method Figure 6 ;

[0036] Figure 19 Schematic diagram of the positioning device structure Figure 5 ;

[0037] Figure 20 Schematic diagram of the positioning device structure Figure 6 . DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain the related applications and are not intended to limit the applications. It should also be noted that for ease of description, only the portions relevant to the related applications are shown in the drawings.

[0039] Ultrasonic ranging uses the known speed of ultrasonic waves in air to measure the time it takes for the transmitted sound wave to reflect off an obstacle. The actual distance from the transmitting point to the obstacle is calculated based on the time difference between transmission and reception. However, ultrasonic ranging often suffers from temperature and time errors, resulting in low accuracy.

[0040] Infrared ranging technology utilizes an infrared ranging sensor that emits a beam of infrared light. This light then reflects off an object, generating a signal that reaches the sensor. Image processing then processes the signal to calculate the time difference between transmission and reception. The signal processor then calculates the distance to the object. However, infrared ranging often suffers from low accuracy due to factors such as ambient light intensity or the presence of reflectors.

[0041] In other words, existing ranging technologies, whether ultrasonic or infrared, which aims to improve ranging accuracy, are susceptible to external environmental influences. For example, infrared light is easily affected by factors such as ambient light intensity and the small size of the target object, making it difficult to aim at. Ultrasonic waves are easily affected by ambient temperature and air density, making them poorly adaptable to the environment and prone to measurement errors.

[0042] Accordingly, when performing positioning processing based on ranging technology, if the distance measurement result is inaccurate, the accuracy of the positioning processing will be greatly reduced. At the same time, common ranging technologies such as ultrasonic or infrared can only provide the distance parameters of the measured object, and cannot provide the accurate direction angle of the measured object. Therefore, they cannot be used for precise positioning processing of the measured object.

[0043] To address the above technical issues, in an embodiment of the present application, a positioning device can use a UWB (UltraWide Band) module to determine the position and azimuth of a UWB tag to be located in the same scene in real time. Then, combined with the real-time scene information of the scene, it can promptly generate reminder information corresponding to the UWB tag to be located, used to locate the UWB tag in the scene. This can greatly improve positioning accuracy and can be widely applied in a variety of scenarios, effectively enhancing flexibility.

[0044] Before further explaining the embodiments of the present invention in detail, the nouns and terms involved in the embodiments of the present invention are explained. The nouns and terms involved in the embodiments of the present invention are subject to the following interpretations.

[0045] 1. Ultra-wideband technology (UWB technology): A wireless carrier communication technology that does not use a sinusoidal carrier but instead uses nanosecond-level non-sinusoidal narrow pulses to transmit data. It has the advantages of simple system structure, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. UWB technology uses ultra-wide baseband pulses with an extremely wide spectrum for communication, so it is also called baseband communication technology. It is mainly used in military radar, positioning and low interception rate / low detection rate communication systems.

[0046] 2. Time Difference of Arrival (TDOA) positioning is a positioning method that uses time difference. By measuring the time it takes for a signal to reach a monitoring station, the distance to the signal source can be determined. Using the distance from the signal source to each monitoring station (using a circle with the monitoring station as the center and the distance as the radius), the signal's location can be determined. However, absolute time is generally difficult to measure. By comparing the absolute time difference between the signal's arrival at each monitoring station, a hyperbola can be constructed with the monitoring station as the focus and the distance difference as the major axis. The intersection of the hyperbolas indicates the signal's location.

[0047] 3. Time of flight (TOF) technology can be broadly understood as a technology that further understands certain properties of ions or media by measuring the time it takes for an object, particle, or wave to fly a certain distance in a fixed medium (the medium / distance / time are all known or measurable).

[0048] The TOF ranging method is a two-way ranging technology that primarily uses the time it takes for a signal to travel back and forth between two asynchronous transceivers (or reflected surfaces) to measure the distance between nodes. The TOF ranging method has two key constraints: first, the transmitting and receiving devices must always be synchronized; second, the length of the signal transmission time provided by the receiving device. To achieve clock synchronization, the TOF ranging method uses clock offset to solve the clock synchronization problem.

[0049] 4. Angle-of-Arrival (AOA) positioning algorithms are a typical ranging-based positioning algorithm. They use hardware to sense the direction of arrival of the transmitting node's signal, calculate the relative direction or angle between the receiving node and the anchor node, and then use triangulation or other methods to calculate the unknown node's position. Angle-of-Arrival (AOA) positioning algorithms are a common self-localization algorithm for wireless sensor networks. They offer low communication overhead and high positioning accuracy.

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0051] An embodiment of the present application provides a positioning method, which can be applied to a positioning device, wherein the positioning device may include a positioning device and a UWB tag, wherein the UWB tag is bound to an object to be positioned.

[0052] Figure 1 Schematic diagram of the positioning device structure Figure 1 ,like Figure 1 As shown, the positioning device 10 may include an acquisition module 11, a UWB module 12, and a voice module 13, wherein the UWB module 12 in the positioning device 10 may establish UWB communication with at least one UWB tag in the current scene, and the at least one UWB tag may be bound to at least one object to be positioned. For example, if the object to be positioned is an elderly person, then the UWB tag may be integrated into a smartwatch worn by the elderly person to achieve the binding setting of the UWB tag and the object to be positioned; if the object to be positioned is a long-distance runner, then the UWB tag may be integrated into a sports bracelet worn by the athlete to achieve the binding setting of the UWB tag and the object to be positioned; if the object to be positioned is a football, then the UWB tag may be integrated into the football to achieve the binding setting of the UWB tag and the object to be positioned.

[0053] Furthermore, in an embodiment of the present application, the positioning device may also include a memory, wherein the memory can be used to store the position and azimuth of the UWB tag obtained by the UWB module. The positioning device may also include a processor, which can be used to perform subsequent processing based on the obtained position and azimuth of the UWB tag.

[0054] It is understandable that in the embodiments of the present application, the positioning device can be a device set at a fixed position, a device that can be moved arbitrarily, or a portable device that can be worn by the user. This application does not make a specific predetermination on this.

[0055] For example, in this application, Figure 2 Schematic diagram of the positioning device structure Figure 2 ,like Figure 2 As shown, the positioning device may be smart glasses that can be worn by a user, wherein the positioning device 10 may include a body 14 , wherein the body 14 may include a frame 141 , a lens 142 , a touch portion 143 , and a control panel 144 .

[0056] Specifically, in the present application, the touch portion 143 may be provided on the frame 141 so that different touch gestures may be generated by touch.

[0057] It can be understood that in the present application, the control board 144 can be provided with various functional units such as detection devices and control modules. For example, the control board 144 can be provided with a control unit, an air pressure and temperature sensor, a geomagnetic sensor, a light intensity sensor, a nine-axis sensor, a global positioning system (GPS) device, a microphone, an audio module, a display module, a camera module and a communication module.

[0058] Furthermore, in the embodiment of the present application, the control board 144 can detect different types of data and information of the surrounding environment through the above-mentioned multiple functional units. For example, the positioning device 10 can periodically / according to the control signal collect the altitude, air pressure and temperature information of the user's environment through the air pressure and temperature sensor; the positioning device 10 can periodically detect the direction of the user's direction through the geomagnetic sensor; the positioning device 10 can periodically collect, or collect according to the control signal, the lighting information of the user's environment through the light intensity sensor; the positioning device 10 can periodically detect, or obtain according to the control signal, the lighting information of the user's environment through the nine-axis sensor. Human body motion information; the positioning device 10 can periodically detect or obtain the user's location information based on the control signal through the GPS device; the positioning device 10 can periodically collect or collect the user's voice information based on the control signal through the microphone; the positioning device 10 can collect scene information based on the control signal through the camera module; the positioning device 10 can play audio data or recognize voice based on the control signal through the audio module; the positioning device 10 can display accordingly based on the control signal through the display module; the positioning device 10 can interact with the outside world based on the control signal through the communication module.

[0059] Furthermore, in the embodiments of the present application, Figure 3 Schematic diagram of the positioning device structure Figure 3 ,like Figure 3As shown, the acquisition module 11, UWB module 12, and voice module 13 in the positioning device can also be set in the body 14. For example, the acquisition module 11 can be an artificial intelligence (AI) camera or a virtual reality (VR) camera, and the AI camera or VR camera is set in front of the frame 141; the acquisition module 11 can be used to capture images of the current scene, recognize the images in the current scene, obtain image recognition results, and transmit the image recognition results to the processor for subsequent processing; the UWB module 12 can also be set in front of the frame 141, or inside the lens 142; the UWB module 12 can be used to detect the distance and angle of the UWB tag, and then transmit the detected distance and angle to the processor for subsequent processing; the voice module 13 can be a speaker or a loudspeaker, which can be set on the frame 141 above the user's ear, wherein the voice module 13 can be used to play the reminder information by voice.

[0060] Figure 4 Schematic diagram of the implementation process of the positioning method Figure 1 ,like Figure 4 As shown, in an embodiment of the present application, the method for positioning by a positioning device may include the following steps:

[0061] Step 101: Real-time scene information corresponding to the current scene is acquired through an acquisition module, and the real-time position and real-time azimuth of a UWB tag are determined through a UWB module; wherein the UWB tag is in the current scene.

[0062] In an embodiment of the present application, the positioning device can first collect the current scene in real time through the configured collection module to obtain real-time scene information corresponding to the current scene. At the same time, the positioning device can also determine the real-time position and real-time azimuth of the UWB tag through the configured UWB module.

[0063] It can be understood that in the embodiments of the present application, the current scene can be any scene where there is a UWB tag that needs to be located. For example, the current scene can be a football scene, a long-distance running scene, or a swimming scene. This application does not make a specific determination on this.

[0064] It should be noted that in the embodiments of the present application, the UWB tag can be in the current scene, that is, the UWB tag can be the target to be located in the current scene. For example, the UWB tag can be configured on the football in the football scene, or the UWB tag can be configured on the wristband of the athlete in the long-distance running scene, or the UWB tag can be configured on the lifebuoy in the swimming scene. This application does not make specific limitations on this.

[0065] It can be understood that in the embodiments of the present application, the positioning device and the UWB tag can be any terminal device integrated with a UWB module. Specifically, the positioning device and the UWB tag may not be limited to various types of terminal devices such as laptops, tablet computers, desktop computers, mobile devices (for example, mobile phones, portable music players, personal digital assistants, dedicated messaging devices, portable gaming devices, vehicle-mounted devices, and wearable devices).

[0066] Preferably, in the embodiments of the present application, for positioning purposes, the UWB tag can be a portable terminal device integrated with a UWB module, such as a smart watch, smart bracelet, smart glasses, mobile phone, etc. Furthermore, the UWB tag can also be installed as a module in an item worn by the person to be located, such as placing the UWB tag in the running shoes of a long-distance runner, or placing the UWB tag in the wristband of a badminton player, or placing the UWB tag in the crutches of an elderly person.

[0067] Furthermore, in the embodiment of the present application, the acquisition module may be a sensor configured in the positioning device and capable of performing image acquisition. For example, the acquisition module may be an RGB image sensor or an infrared sensor.

[0068] It should be noted that in the embodiments of the present application, when the positioning device collects real-time scene information through the acquisition module, it can also use augmented reality (AR) technology or virtual reality (VR) technology to simulate the current scene as a three-dimensional physical scene, that is, the real-time scene information can be a three-dimensional simulated scene of the current scene.

[0069] Augmented reality (AR) technology cleverly integrates virtual information with the real world. It utilizes a wide range of technologies, including multimedia, 3D modeling, real-time tracking and registration, intelligent interaction, and sensing. It simulates computer-generated virtual information such as text, images, 3D models, music, and video, and then applies it to the real world. The two types of information complement each other, thereby "enhancing" the real world. Virtual reality (VR) is a computer simulation system that allows users to create and experience a virtual world. It uses computers to generate a simulated environment and immerse the user in it. VR technology utilizes real-life data, electronic signals generated by computer technology, and various output devices to transform it into perceptible phenomena. These phenomena can be tangible objects or invisible materials, represented through 3D models. Because these phenomena are not directly visible but are simulated through computer technology, they are called virtual reality.

[0070] It can be understood that in the embodiments of the present application, when the positioning device obtains real-time scene information through the acquisition module, the acquisition module can first perform real-time acquisition to obtain at least one frame of image corresponding to the current scene; then, feature recognition processing can be performed based on the at least one frame of image, and finally real-time scene information can be generated.

[0071] That is to say, in this application, the acquisition module in the positioning device can acquire one or more frames of images for the current scene, and then perform feature recognition processing on each target in these images to determine the specific information such as the name, location or dynamic information corresponding to each target in the current scene, thereby generating real-time scene information of the current scene.

[0072] As can be seen, in this application, real-time scene information may include any information corresponding to any target in the current scene. The any target may be a fixed target in the current scene, such as a goal in a football scene, or a moving target in the current scene, such as a football player in a football scene.

[0073] It is understood that in the embodiments of the present application, Figure 5 Schematic diagram of the implementation process of the positioning method Figure 2 ,like Figure 5 As shown, before the positioning device acquires the real-time scene information corresponding to the current scene through the acquisition module and determines the real-time position and real-time azimuth of the UWB tag through the UWB module, that is, before step 101, the positioning method of the positioning device may further include the following steps:

[0074] Step 104: Enable the AR function or the VR function; wherein the AR function or the VR function is used to generate real-time scene information.

[0075] In an embodiment of the present application, the positioning device is an intelligent device with AR function or VR function. Therefore, before generating real-time scene information, the positioning device can first turn on the AR function or VR function by enabling the acquisition module, and then use the AR function or VR function to acquire the real-time scene information.

[0076] It can be understood that in this application, the positioning device can choose to use or not use the AR function or VR function, that is, the real-time scene information can be a two-dimensional image directly collected, or it can be three-dimensional simulation information generated based on the AR function or VR function.

[0077] Furthermore, in an embodiment of the present application, when the positioning device determines the real-time position and real-time azimuth of the UWB tag through the UWB module, the UWB module can receive the UWB signal sent by the UWB tag; then, the UWB module can determine the real-time position and real-time azimuth based on the UWB signal.

[0078] It can be understood that, in the embodiments of the present application, since the UWB tag and the positioning device can be respectively configured with UWB modules, UWB communication can be established through the UWB modules to send and receive UWB signals.

[0079] UWB technology does not use a carrier wave, instead transmitting data signals via narrow, non-sinusoidal nanosecond pulses. The transmitter in a UWB system directly excites a small antenna with pulses, eliminating the need for the upconversion and power amplifiers and mixers required by traditional transceivers. This allows for the use of very low-cost broadband transmitters. Furthermore, on the receiving end, UWB receivers differ from traditional receivers in that they do not require intermediate frequency processing, making the UWB system architecture relatively simple to implement.

[0080] UWB technology easily integrates positioning and communication, a feat difficult to achieve with conventional radio. UWB technology boasts exceptional penetration, enabling precise positioning indoors and underground. Compared to GPS, which operates only within the visible range of GPS positioning satellites, UWB technology can be applied to a wider range of scenarios. Unlike GPS, which provides absolute geographic location, ultra-wideband radio locators provide relative positioning, achieving centimeter-level accuracy.

[0081] Furthermore, in an embodiment of the present application, after receiving the UWB signal sent by the UWB tag, the positioning device can further determine the real-time position and real-time azimuth of the UWB tag according to the UWB signal, that is, perform positioning processing on the UWB tag according to the UWB signal.

[0082] It can be understood that in this application, when positioning is performed through UWB technology, the commonly used positioning methods mainly include TOF ranging positioning, TDOA positioning, AOA positioning and other algorithms. Among them, TOF ranging positioning and TDOA positioning can generally be used alone, and AOA positioning is generally fused with TOF ranging positioning or TDOA positioning.

[0083] TOF positioning is based on ranging. The tag initiates ranging with each base station to be located, and then calculates the position. In zero-dimensional mode, only one base station is required for ranging; in one-dimensional mode, at least one base station is required for ranging; in two-dimensional mode, at least three or more base stations are required for ranging, and in special modes, two base stations can be used for ranging; and in three-dimensional mode, four base stations are required for ranging.

[0084] TDOA positioning is based on time difference of arrival (TDOA), requiring precise time synchronization within the system. There are two types of time synchronization: wired time synchronization, which can achieve precision within 0.1ns and offers very high synchronization accuracy. However, due to the wired nature of the system, all devices must either utilize a centralized network or a cascaded approach, increasing network maintenance complexity and construction costs. Furthermore, the system requires a dedicated wired time synchronizer, which is expensive. Wireless time synchronization generally achieves 0.25ns accuracy, slightly less than wired time synchronization, but the system is relatively simpler. The positioning base station only requires power, and data backhaul can utilize wireless LAN (Wireless Fidelity, WiFi), effectively reducing costs.

[0085] Specifically, after the positioning device is time synchronized, the UWB tag sends a broadcast message. After receiving it, the base station marks the timestamp of receiving this message and sends the content to the calculation server. The calculation server combines the timestamps of the positioning messages of other base stations to calculate the location of the target.

[0086] AOA positioning generally calculates the angle of arrival based on phase difference and is not generally used alone. This is because AOA involves angular resolution issues. If AOA positioning is used alone, the farther away from the base station, the lower the positioning accuracy. Specifically, AOA can be combined with TOF ranging for real-time positioning. In this mode, a single base station can complete positioning.

[0087] That is to say, in this application, the positioning device can further determine the real-time position and real-time azimuth of the UWB tag based on the UWB signal using one or more of the time of flight TOF, time difference of arrival TDOA, and angle of arrival AOA.

[0088] It is understood that in the embodiments of the present application, Figure 6 Schematic diagram of the implementation process of the positioning method Figure 3 ,like Figure 6 As shown, before the positioning device acquires the real-time scene information corresponding to the current scene through the acquisition module and determines the real-time position and real-time azimuth of the UWB tag through the UWB module, that is, before step 101, the positioning method of the positioning device may further include the following steps:

[0089] Step 105: Enable the UWB function.

[0090] In an embodiment of the present application, the positioning device is a device equipped with a UWB module, and the UWB function can be implemented through the UWB module. Therefore, before positioning the UWB tag, the positioning device can first turn on the UWB function by enabling the UWB module, thereby completing the acquisition of the real-time position and real-time azimuth of the UWB tag.

[0091] Step 102: Generate reminder information based on the real-time scene information, real-time position, and real-time azimuth; wherein the reminder information is used to locate the UWB tag.

[0092] In an embodiment of the present application, after the positioning device obtains the real-time scene information corresponding to the current scene through the acquisition module and determines the real-time position and real-time azimuth of the UWB tag through the UWB module, it can further generate reminder information based on the real-time scene information, real-time position and real-time azimuth.

[0093] It should be noted that, in this application, the reminder information can be used to locate the UWB tag. Specifically, the positioning device can use the reminder information to remind the UWB tag of its relative position to other fixed objects and / or mobile objects in the current scene.

[0094] For example, in an embodiment of the present application, if the current scene is a football scene and the UWB tag is a football, then the positioning device can be a portable device equipped by a blind football player, such as smart glasses. Accordingly, when the positioning device generates reminder information based on real-time scene information, real-time position and real-time azimuth, it can first determine the target position based on the real-time scene information, and at the same time, obtain the position of the previous moment corresponding to the UWB tag; then determine the first distance between the target position and the real-time position, and the second distance between the target position and the position at the previous moment; finally, the reminder information can be generated based on the first distance and the second distance; wherein the reminder information includes a distance reminder or a proximity reminder.

[0095] It is understood that in this application, the target position can be the position of other fixed targets in the current scene other than the UWB tag, such as the position of the goal, or the position of a moving target, such as the position of the referee. In other words, the positioning device can determine whether the UWB tag is close to or far away from the target by comparing the first distance between the real-time position of the UWB tag and the target position with the second distance between the position of the UWB tag at the previous moment and the target position, and thus can generate corresponding reminder information. The reminder information can be "The football is close to..." or "The football is far away..."

[0096] For example, Figure 7 Schematic diagram of the generation scenario of reminder information Figure 1 , Figure 8Schematic diagram of the generation scenario of reminder information Figure 2 ,like Figure 7 and 8 As shown, at the previous moment, the first distance between the position of the football (UWB tag) and the position of the goal (target) is d1, and at the current moment, the second distance between the position of the football and the position of the goal is d2. If d1 is greater than d2, the positioning device can generate a reminder message that "the football is getting closer and closer to the goal."

[0097] For example, Figure 9 Schematic diagram of the generation scenario of reminder information Figure 3 , Figure 10 Schematic diagram of the generation scenario of reminder information Figure 4 ,like Figure 9 and 10 As shown, at the previous moment, the first distance between the ball (UWB tag) and the position of player 1 (target 1) was b1, and the first distance between the ball and the position of player 2 (target 2) was c1. At the current moment, the second distance between the ball and the position of player 1 is b2, and the second distance between the ball and the position of player 2 is c2. If b1 is less than b2 and c1 is greater than c2, the positioning device can generate a reminder message that says "The ball is getting farther away from player 1, and closer to player 2."

[0098] Illustratively, in an embodiment of the present application, if the current scene is a football scene and the UWB tag is a football, then the positioning device can be a portable device equipped by a blind football player, such as smart glasses. Accordingly, when the positioning device generates reminder information based on the real-time scene information, real-time position, and real-time azimuth, it can first obtain the position of the UWB tag at the previous n moments and the azimuth of the previous n moments; wherein n is a positive integer; if the real-time position and the position of the previous n moments are the same, and the real-time azimuth and the azimuth of the previous n moments are the same, then the positioning device can generate a reminder message based on the real-time position and the real-time azimuth; wherein the reminder information is used to indicate the movement method, that is, the reminder information can guide the blind football player to move in the direction of the football.

[0099] It is understood that in this application, the positioning device compares the real-time position of the UWB tag with the position of the UWB tag at the previous n moments. If the real-time position is the same as the position at the previous n moments, and the real-time azimuth is the same as the azimuth at the previous n moments, then it can be considered that the football has always stayed in the same position based on the positioning device. At this time, guidance can be provided to approach the UWB tag, that is, based on the real-time position and real-time azimuth of the UWB tag relative to the positioning device, a reminder message is generated to indicate the movement method. The reminder message can be "Move in the direction of..."

[0100] It should be noted that, in the embodiments of the present application, the real-time position and real-time azimuth determined by the positioning device through UWB communication with the UWB tag may be the relative position relationship between the UWB tag and the positioning device. Accordingly, the position of the UWB tag at the previous n moments and the azimuth at the previous n moments may also represent the relative position relationship between the UWB tag and the positioning device. Therefore, regardless of whether the positioning device and the UWB tag move, as long as the real-time position is the same as the position at the previous n moments, and the real-time azimuth is the same as the azimuth at the previous n moments, it can be considered that the UWB tag and the positioning device are relatively stationary.

[0101] For example, Figure 11 Schematic diagram of the generation scenario of reminder information Figure 5 , Figure 12 Schematic diagram of the generation scenario of reminder information Figure 6 ,like Figure 11 and 12 As shown, at the first three moments, the position of the football (UWB tag) is at a distance d from the positioning device, and the azimuth angle of the football relative to the positioning device is a, that is, the football has been staying at point A for the first three moments. Then, the real-time position of the football determined by the positioning device is also at a distance d from the positioning device, and the real-time azimuth angle is also a. The positioning device has not moved, and the football is still staying at point A at the current moment, so the positioning device can generate a reminder message of "moving distance d according to angle a".

[0102] For example, based on the above Figure 11 , Figure 13 Schematic diagram of the generation scenario of reminder information Figure 7 ,like Figure 11 and 13 As shown, at the first three moments, the position of the football (UWB tag) is at a position with a distance d from the positioning device, and the azimuth angle of the football relative to the positioning device is a, that is, the football has been staying at point A for the first three moments. Then, the real-time position of the football determined by the positioning device is also at a position with a distance d from the positioning device, and the real-time azimuth angle is also a. However, compared with the first three moments, the positioning device itself is moving. At the current moment, the football has moved from point A to point B. However, since the relative position and azimuth angle of the football relative to the positioning device have not changed, the positioning device can also generate a reminder message of "moving distance d according to angle a".

[0103] It should be noted that in the embodiments of the present application, when generating reminder information, the positioning device can refer to the real-time scene information of the current scene to more accurately locate the UWB tag, or it can perform positioning processing based solely on the changes in the position and azimuth of the UWB tag itself. This application does not make specific limitations.

[0104] It is understandable that in this application, the reminder information generated by the positioning device is not limited to distance reminders or approach reminders, nor is it limited to instructions on movement methods. It can also be any other reminders and instructions for UWB tags and / or positioning devices. This application does not make specific limitations.

[0105] Step 103: Play the reminder message through the voice module.

[0106] In an embodiment of the present application, after the positioning device generates reminder information based on real-time scene information, real-time location, and real-time azimuth, it can play the reminder information through the voice module. That is, the positioning device can generate a voice signal corresponding to the reminder information through the voice module and play the voice signal.

[0107] It can be understood that in the embodiments of the present application, the current scene may include sports and competitive scenes such as football scenes and running scenes, and may also include any other scenes including moving targets and / or fixed targets, such as dance scenes, sales scenes, etc., and this application does not make specific limitations.

[0108] The embodiment of the present application provides a positioning method, which is applied to a positioning device. The positioning device is configured with an acquisition module, a UWB module, and a voice module. The positioning device acquires real-time scene information corresponding to the current scene through the acquisition module, and determines the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene; based on the real-time scene information, the real-time position, and the real-time azimuth, a reminder message is generated; wherein the reminder message is used to locate the UWB tag; and the reminder message is played through the voice module. That is, in the embodiment of the present application, the positioning device can use the UWB module to determine the position and azimuth of the UWB tag to be located in the same scene in real time, and then can combine the real-time scene information of the scene to timely generate a reminder message corresponding to the UWB tag to be located, which is used to locate the UWB tag in the scene. This can greatly improve the accuracy of positioning, and can be widely applied to a variety of scenarios, effectively improving flexibility.

[0109] Based on the above embodiment, in yet another embodiment of the present application, Figure 14 Schematic diagram of the implementation process of the positioning method Figure 4 ,like Figure 14 As shown, the method for a positioning device to obtain real-time scene information through a collection module may include the following steps:

[0110] Step 201: The acquisition module performs real-time acquisition to obtain at least one frame of image corresponding to the current scene.

[0111] Step 202: Perform feature recognition processing based on at least one frame of image to generate real-time scene information.

[0112] In an embodiment of the present application, the acquisition module in the positioning device can acquire the current scene in real time, thereby obtaining at least one frame of image corresponding to the current scene. Feature recognition processing can then be performed on the at least one frame of image to ultimately generate real-time scene information corresponding to the current scene.

[0113] For example, in the present application, if the acquisition module can be an AI camera or a VR camera, after acquiring at least one frame of image corresponding to the current scene, the acquisition module can compare the at least one frame of image with a preset database when performing feature recognition processing on the at least one frame of image, thereby obtaining specific information corresponding to different targets in the current scene, and then determining the real-time scene information corresponding to the current scene.

[0114] It should be noted that, in the embodiments of the present application, the specific information of any target in the current scene may include shape, size, name, location, dynamic information, behavioral characteristics, etc. Specifically, the acquisition module can determine whether any target in the current scene is a person, a car, or a building, etc. based on its physical characteristics.

[0115] Furthermore, in embodiments of the present application, the acquisition module also performs acquisition over continuous time periods, thereby tracking any target in the current scene and obtaining information such as its dynamic information and behavioral characteristics. Specifically, the acquisition module can track multiple frames of images acquired over continuous time periods to determine the dynamic information or speed of any target within the continuous time period. For example, the acquisition module can obtain information such as the dynamic information and behavioral characteristics of a soccer player by tracking the player over a period of time.

[0116] It is understood that, in this application, the current scene can include people or objects with fixed positions, i.e., fixed targets, and people or objects with moving positions, i.e., mobile targets. Accordingly, when the positioning device acquires real-time scene information, it can determine the corresponding identifier and position for fixed targets. For mobile targets, in addition to the identifier and position, it can also determine the corresponding dynamic information. The dynamic information can include the movement information of the mobile target in space, and can also include the changes in the posture of the mobile target itself.

[0117] Illustratively, in an embodiment of the present application, when the positioning device determines the real-time position and real-time azimuth of the UWB tag through the UWB module, it can first perform feature recognition processing on at least one frame of image, so as to obtain a fixed target in the current scene; then it can further determine the identification and position corresponding to the fixed target; and then it can generate real-time scene information based on the identification and position corresponding to the fixed target.

[0118] Illustratively, in an embodiment of the present application, when the positioning device determines the real-time position and real-time azimuth of the UWB tag through the UWB module, it can also perform feature recognition processing on at least one frame of image, so as to obtain the moving target in the current scene; then it can further determine the identification, position and dynamic information corresponding to the moving target; and then it can generate real-time scene information based on the identification, position and dynamic information corresponding to the moving target.

[0119] Furthermore, in the embodiments of the present application, Figure 15 Schematic diagram of the positioning device structure Figure 4 ,like Figure 15 As shown, the positioning device 10 may include an acquisition module 11, a UWB module 12, a voice module 13 and a processor 15, wherein the UWB module 12 in the positioning device 10 can establish UWB communication with at least one UWB tag in the current scene, and the at least one UWB tag can be bound to at least one object to be located.

[0120] Specifically, in an embodiment of the present application, the processor 15 in the positioning device can establish connections with the acquisition module 11, the UWB module 12, and the voice module 13 respectively. Among them, after the acquisition module 11 completes the real-time acquisition of the current scene and obtains the corresponding real-time scene information, it can send the real-time scene information to the processor 15, and the processor 15 further performs positioning instructions and reminder information generation processing for the UWB tag based on the real-time scene information; after the UWB module 12 determines the position and azimuth corresponding to the UWB tag through UWB communication, it can also send the position and azimuth to the processor 15, and the processor 15 further performs positioning processing and reminder information generation processing for the UWB tag based on the position and azimuth; after the processor generates reminder information based on the real-time scene information, real-time position and real-time azimuth, it can send the reminder information to the voice module 13, and the voice module 13 can perform voice playback processing based on the reminder information. Specifically, the voice module 13 can generate a corresponding voice signal based on the reminder information and then play the voice signal.

[0121] For example, in an embodiment of the present application, if the current scene is a blind football scene, the positioning device is the smart glasses worn by the blind athletes, the acquisition module is the AI camera set on the smart glasses, the UWB module is also set on the smart glasses, and the voice module is the speaker set on the smart glasses. Multiple UWB tags can be set in the current scene, and one of the UWB tags can be a football.

[0122] Based on the above Figure 15 , Figure 16 This is a schematic diagram of positioning processing, such as Figure 16 As shown, specifically, in the embodiment of the present application, the voice module 13 in the positioning device 10 can be used to provide voice prompts for positioning information and reminder information, thereby helping blind athletes to locate any target in the current scene; the acquisition module 11 can simulate a three-dimensional physical scene through common AR / VR smart glasses technology, provide simulated scene information of the stadium, that is, generate real-time scene information of the current scene; the UWB module 12 can utilize the characteristics of electromagnetic waves to communicate data with UWB tags such as footballs through technologies such as TDOA and AOA, thereby obtaining the location information data of the UWB tag (distance information and angle The processor 15 can establish electrical connections with the acquisition module 11, the UWB module 12, and the voice module 13, respectively, and thus can interact with the acquisition module 11, the UWB module 12, and the voice module 13. For example, the processor 15 can send a positioning instruction to the UWB module 12 to obtain the location information (position and direction angle) of the UWB tag. At the same time, it can obtain real-time scene information collected by the acquisition module 11, such as scene map information. Based on the real-time scene information of the current scene and the location information of the UWB tag, the blind athlete's forward direction is determined, and the ball's location information is determined, and finally a reminder message is generated. For example, when it is confirmed that the ball's position has not changed within 0.5 seconds, the voice module 13 can provide a reminder of the ball's location information.

[0123] That is to say, in the embodiment of the present application, the UWB module and the AR / VR smart glasses can be integrated into a wearable terminal device (positioning device), and the positioning device is provided with a processor, so it has a data processing function. The soccer ball in the current scene with the positioning device can be configured with a UWB module, that is, a UWB tag. After the athlete completes wearing the AR / VR smart glasses, he can enable the acquisition module and the UWB module through the physical button, thereby turning on the AR function or VR function, and turning on the UWB function at the same time. The wearable terminal device (positioning device) and the UWB tag send UWB signals to each other, and the wearable terminal device can receive and process the UWB signal; after the data information is processed, the reminder information is played through the voice module, thereby realizing the prompt of information such as the position and angle of the soccer ball.

[0124] Furthermore, in the embodiments of the present application, Figure 17 Schematic diagram of the implementation process of the positioning method Figure 5 ,like Figure 17 As shown, the method for positioning by the positioning device may further include the following steps:

[0125] Step 301: Enable the acquisition module and the UWB module.

[0126] In an embodiment of the present application, the positioning device is an intelligent device with AR function or VR function. Therefore, before generating real-time scene information, the positioning device can first turn on the AR function or VR function by enabling the acquisition module, and then use the AR function or VR function to acquire the real-time scene information.

[0127] In an embodiment of the present application, the positioning device is a device equipped with a UWB module, and the UWB function can be implemented through the UWB module. Therefore, before positioning the UWB tag, the positioning device can first turn on the UWB function by enabling the UWB module, thereby completing the acquisition of the real-time position and real-time azimuth of the UWB tag.

[0128] Step 302: Acquire real-time scene information, real-time position, and real-time azimuth.

[0129] In an embodiment of the present application, the positioning device can first collect the current scene in real time through the configured collection module to obtain real-time scene information corresponding to the current scene. At the same time, the positioning device can also determine the real-time position and real-time azimuth of the UWB tag through the configured UWB module.

[0130] It can be understood that in the embodiments of the present application, the current scene can be any scene where there is a UWB tag that needs to be located. For example, the current scene can be a football scene, a long-distance running scene, or a swimming scene. This application does not make a specific determination on this.

[0131] It should be noted that in the embodiments of the present application, the UWB tag can be in the current scene, that is, the UWB tag can be the target to be located in the current scene. For example, the UWB tag can be configured on the football in the football scene, or the UWB tag can be configured on the wristband of the athlete in the long-distance running scene, or the UWB tag can be configured on the lifebuoy in the swimming scene. This application does not make specific limitations on this.

[0132] It can be understood that in the embodiments of the present application, when the positioning device obtains real-time scene information through the acquisition module, the acquisition module can first perform real-time acquisition to obtain at least one frame of image corresponding to the current scene; then, feature recognition processing can be performed based on the at least one frame of image, and finally real-time scene information can be generated.

[0133] Furthermore, in an embodiment of the present application, when the positioning device determines the real-time position and real-time azimuth of the UWB tag through the UWB module, the UWB module can receive the UWB signal sent by the UWB tag; then, the UWB module can determine the real-time position and real-time azimuth based on the UWB signal.

[0134] Step 303: Generate reminder information.

[0135] In an embodiment of the present application, after the positioning device obtains the real-time scene information corresponding to the current scene through the acquisition module and determines the real-time position and real-time azimuth of the UWB tag through the UWB module, it can further generate reminder information based on the real-time scene information, real-time position and real-time azimuth.

[0136] It should be noted that, in this application, the reminder information can be used to locate the UWB tag. Specifically, the positioning device can use the reminder information to remind the UWB tag of its relative position to other fixed objects and / or mobile objects in the current scene.

[0137] Illustratively, in an embodiment of the present application, when the positioning device generates reminder information based on real-time scene information, real-time position, and real-time azimuth, it can first determine the target position based on the real-time scene information, and at the same time, obtain the position of the UWB tag at the previous moment; then determine the first distance between the target position and the real-time position, and the second distance between the target position and the position at the previous moment; finally, it can generate reminder information based on the first distance and the second distance; wherein the reminder information includes a distance reminder or a proximity reminder.

[0138] Illustratively, in an embodiment of the present application, when the positioning device generates reminder information based on real-time scene information, real-time position, and real-time azimuth, it can first obtain the position of the UWB tag at the previous n moments and the azimuth at the previous n moments; wherein n is a positive integer; if the real-time position and the position at the previous n moments are the same, and the real-time azimuth and the azimuth at the previous n moments are the same, then the positioning device can generate a reminder message based on the real-time position and the real-time azimuth; wherein the reminder information is used to indicate the movement method, that is, the reminder information can guide the blind football player to move in the direction of the football.

[0139] Step 304: Play reminder information.

[0140] In an embodiment of the present application, after the positioning device generates reminder information based on real-time scene information, real-time location, and real-time azimuth, it can play the reminder information through the voice module. That is, the positioning device can generate a voice signal corresponding to the reminder information through the voice module and play the voice signal.

[0141] It is understandable that, in the embodiment of the present application, when the positioning device plays the reminder information through the voice module, the voice module may first generate a voice signal according to the reminder information, and then the voice module may play the voice signal.

[0142] Furthermore, in the embodiments of the present application, Figure 18 Schematic diagram of the implementation process of the positioning method Figure 6 ,like Figure 18 As shown, after obtaining the real-time scene information, real-time position, and real-time azimuth, that is, after step 302, the method for performing positioning by the positioning device may further include the following steps:

[0143] Step 305: Is the preset reminder condition met? If so, proceed to step 303; otherwise, proceed to step 302.

[0144] In an embodiment of the present application, after the positioning device obtains the real-time scene information corresponding to the current scene through the acquisition module and determines the real-time position and real-time azimuth of the UWB tag through the UWB module, it can further determine whether the preset reminder conditions are met based on the real-time scene information, real-time position and real-time azimuth. If so, the reminder information is generated and played, that is, step 303 and step 304 are executed. If not, the current scene continues to be collected in real time through the configured acquisition module to obtain the real-time scene information corresponding to the current scene. At the same time, the real-time position and real-time azimuth of the UWB tag continue to be determined through the configured UWB module, that is, step 302 is continued.

[0145] It is understandable that, in the embodiment of the present application, the preset reminder condition can limit the type of reminder information. That is, for different scenarios, different types of reminders can be selected.

[0146] For example, in the present application, in a football scene, if you choose to generate reminder information only when the football approaches the goal, you can determine the position of the goal based on the real-time scene information, and then calculate the distance based on the position of the goal and the position of the football. If the distance between the two is less than the preset distance threshold, then it can be considered that the football is close to the goal, and it can be determined that the preset reminder conditions are met, and further generate a "suitable for shooting" reminder message and play it through the voice module.

[0147] The present application provides a positioning method, which is applied to a positioning device. The positioning device is configured with an acquisition module, a UWB module, and a voice module. The positioning device acquires real-time scene information corresponding to the current scene through the acquisition module, and determines the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene; based on the real-time scene information, the real-time position, and the real-time azimuth, a reminder message is generated; wherein the reminder message is used to locate the UWB tag; and the reminder message is played through the voice module. That is, in an embodiment of the present application, the positioning device can use the UWB module to determine the position and azimuth of the UWB tag to be located in the same scene in real time, and then can combine the real-time scene information of the scene to timely generate a reminder message corresponding to the UWB tag to be located, which is used to locate the UWB tag in the scene. This can greatly improve the accuracy of positioning, and can be widely used in a variety of scenarios, effectively improving flexibility.

[0148] Based on the above embodiment, in another embodiment of the present application, Figure 19 Schematic diagram of the positioning device structure Figure 5 ,like Figure 19 As shown, the positioning device 10 proposed in the embodiment of the present application may include an acquisition unit 16, a determination unit 17, a generation unit 18, a playback unit 19,

[0149] The acquisition unit 16 is configured to acquire real-time scene information corresponding to the current scene through the acquisition module;

[0150] The determining unit 17 is configured to determine the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene;

[0151] The generating unit 18 is configured to generate reminder information based on the real-time scene information, the real-time position, and the real-time azimuth; wherein the reminder information is used to locate the UWB tag;

[0152] The playing unit 19 is configured to play the reminder information through the voice module.

[0153] In the embodiments of the present application, further, Figure 20 Schematic diagram of the positioning device structure Figure 6 ,like Figure 20 As shown, the positioning device 10 proposed in the embodiment of the present application may further include a processor 15 and a memory 110 storing instructions executable by the processor 15. Furthermore, the positioning device 10 may further include a communication interface 111 and a bus 112 for connecting the processor 15, the memory 110 and the communication interface 111.

[0154] In the embodiment of the present application, the processor 15 can be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic device used to implement the above-mentioned processor function can also be other, and the embodiment of the present application is not specifically limited. The positioning device 10 can also include a memory 110, which can be connected to the processor 15, wherein the memory 110 is used to store executable program code, which includes computer operating instructions. The memory 110 may include a high-speed RAM memory, and may also include a non-volatile memory, for example, at least two disk memories.

[0155] In the embodiment of the present application, the bus 112 is used to connect the communication interface 111, the processor 15 and the memory 110, as well as to facilitate mutual communication between these devices.

[0156] In the embodiment of the present application, the memory 110 is used to store instructions and data.

[0157] Furthermore, in an embodiment of the present application, the above-mentioned processor 15 is used to obtain real-time scene information corresponding to the current scene through the acquisition module, and determine the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene; generate reminder information based on the real-time scene information, the real-time position and the real-time azimuth; wherein the reminder information is used to locate the UWB tag; and play the reminder information through the voice module.

[0158] In practical applications, the memory 110 may be a volatile memory, such as a random-access memory (RAM); or a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processor 15.

[0159] In addition, the functional modules in this embodiment may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional modules.

[0160] If the integrated unit is implemented in the form of a software functional module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method of this embodiment. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0161] The embodiment of the present application provides a positioning device, which is configured with an acquisition module, a UWB module, and a voice module. The positioning device acquires real-time scene information corresponding to the current scene through the acquisition module, and determines the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene; generates reminder information based on the real-time scene information, real-time position, and real-time azimuth; wherein the reminder information is used to locate the UWB tag; and plays the reminder information through the voice module. That is, in the embodiment of the present application, the positioning device can use the UWB module to determine the position and azimuth of the UWB tag to be located in the same scene in real time, and then can combine the real-time scene information of the scene to timely generate reminder information corresponding to the UWB tag to be located, which is used to locate the UWB tag in the scene. This can greatly improve the accuracy of positioning, and can be widely used in a variety of scenarios, effectively improving flexibility.

[0162] An embodiment of the present application provides a computer-readable storage medium having a program stored thereon, which implements the positioning method described above when executed by a processor.

[0163] Specifically, the program instructions corresponding to a positioning method in this embodiment can be stored on a storage medium such as a CD, a hard disk, or a USB flash drive. When the program instructions corresponding to a positioning method in the storage medium are read or executed by an electronic device, the following steps are included:

[0164] Acquiring real-time scene information corresponding to the current scene through the acquisition module, and determining the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene;

[0165] Generate reminder information based on the real-time scene information, the real-time position, and the real-time azimuth; wherein the reminder information is used to locate the UWB tag;

[0166] The reminder information is played through the voice module.

[0167] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0168] The present application is described with reference to the implementation flow charts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flow charts and / or block diagrams, as well as the combination of processes and / or boxes in the flow charts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the implementation flow charts. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0169] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which is implemented in the implementation flow diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0170] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process described in the flowchart. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0171] The above description is merely a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A positioning method, characterized in that: The method is applied to a positioning device, wherein the positioning device is configured with a collection module, a UWB module, and a voice module, and the positioning device is smart glasses worn by blind football players. The method includes: The acquisition module acquires real-time scene information corresponding to the current scene, and the UWB module determines the real-time position and real-time azimuth of the UWB tag; wherein the UWB tag is in the current scene, the current scene is a blind soccer scene, and the UWB tag is a soccer ball; Generate reminder information based on the real-time scene information, the real-time position, and the real-time azimuth; wherein the reminder information is used to locate the UWB tag; Play the reminder information through the voice module; The generating of reminder information according to the real-time scene information, the real-time position, and the real-time azimuth includes: Determining the direction of the blind football player and the position information of the football according to the real-time scene information, the real-time position, and the real-time azimuth; Based on the direction in which the blind football player moves and the position information of the football, a reminder message is generated to remind the blind football player of the distance and direction of movement.

2. The method according to claim 1, characterized in that The acquiring of real-time scene information by the acquisition module includes: The acquisition module performs real-time acquisition to obtain at least one frame of image corresponding to the current scene; Feature recognition processing is performed based on the at least one frame of image to generate the real-time scene information.

3. The method according to claim 2, characterized in that The performing feature recognition processing based on the at least one frame of image to generate the real-time scene information includes: Performing feature recognition processing on the at least one frame of image to obtain a fixed target in the current scene; Determining an identifier and a position corresponding to the fixed target; The real-time scene information is generated according to the identifier and position corresponding to the fixed target.

4. The method according to claim 2, characterized in that The performing feature recognition processing based on the at least one frame of image to generate the real-time scene information includes: Performing feature recognition processing on the at least one frame of image to obtain a moving target in the current scene; Determining the identification, location, and dynamic information corresponding to the mobile target; The real-time scene information is generated according to the identification, position and dynamic information corresponding to the mobile target.

5. The method according to claim 1, wherein Determining the real-time position and real-time azimuth of the UWB tag by the UWB module includes: The UWB module receives the UWB signal sent by the UWB tag; The UWB module determines the real-time position and the real-time azimuth according to the UWB signal.

6. The method according to claim 1, characterized in that If the current scene is a football scene and the UWB tag is a football, generating reminder information according to the real-time scene information, the real-time position, and the real-time azimuth includes: Determine the target location based on the real-time scene information, and simultaneously obtain the location of the UWB tag at the previous moment; Determine a first distance between the target position and the real-time position, and a second distance between the target position and the position at a previous moment; The reminder information is generated according to the first distance and the second distance; wherein the reminder information includes a distance reminder or a distance reminder.

7. The method according to claim 6, characterized in that If the current scene is a football scene and the UWB tag is a football, generating reminder information according to the real-time scene information, the real-time position, and the real-time azimuth includes: Obtaining the position and azimuth of the UWB tag at the previous n moments, wherein n is a positive integer; If the real-time position and the position at the previous n moments are the same, and the real-time azimuth and the azimuth at the previous n moments are the same, then the reminder information is generated based on the real-time position and the real-time azimuth; wherein the reminder information is used to indicate the movement mode.

8. The method according to claim 1, characterized in that Playing the reminder information through the voice module includes: The voice module generates a voice signal according to the reminder information; The voice module plays the voice signal.

9. The method according to claim 1, characterized in that Before acquiring the real-time scene information corresponding to the current scene by the acquisition module and determining the real-time position and real-time azimuth of the UWB tag by the UWB module, the method further includes: Turn on the augmented reality (AR) function or the virtual reality (VR) function; wherein the AR function and the VR function are used to generate real-time scene information.

10. A positioning device, characterized in that: The positioning device is configured with a collection module, a UWB module, and a voice module. The positioning device is a pair of smart glasses for blind football players. The positioning device includes an acquisition unit, a determination unit, a generation unit, and a playback unit. The acquisition unit is configured to acquire real-time scene information corresponding to the current scene through the acquisition module; The determining unit is configured to determine the real-time position and real-time azimuth of the UWB tag through the UWB module; wherein the UWB tag is in the current scene, the current scene is a blind football scene, and the UWB tag is a football; The generating unit is configured to generate reminder information based on the real-time scene information, the real-time position, and the real-time azimuth; wherein the reminder information is used to locate the UWB tag; The playing unit is configured to play the reminder information through the voice module; The generating unit is configured to determine the direction in which the blind football player is moving and the position information of the football according to the real-time scene information, the real-time position, and the real-time azimuth; and based on the direction in which the blind football player is moving and the position information of the football, generate reminder information corresponding to the distance and direction in which the blind football player is moving.

11. A positioning device, characterized in that: The positioning device is configured with a collection module, a UWB module and a voice module. The positioning device includes a processor and a memory storing instructions executable by the processor. When the instructions are executed by the processor, the method according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium having a program stored thereon, characterized in that: Applied to a positioning device, the positioning device is configured with a collection module, a UWB module and a voice module. When the program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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