Working Method, Device, UWB Tag and Storage Medium of UWB Tag

Abstract

The embodiments of the present application disclose a working method, device, UWB tag and storage medium of a UWB tag, which belongs to the field of UWB technology. The method includes: in response to the UWB tag being in a first state, controlling the UWB transceiver to be in a first transceiver state, the first state belonging to a target state set; in response to a state transition event, switching the UWB tag from the first state to the second state, and controlling the UWB transceiver to be in a second transceiver state, the second state belonging to the target state set. Since the working state of the UWB tag is periodic, the controller is used to control the UWB transceiver based on the state and state transition events. While ensuring the normal operation of the UWB tag, the control process is simplified, the cost of the UWB tag can be reduced, the power consumption of the UWB tag can be reduced, and the service life of the UWB tag can be increased.

Description

[0001] This application claims priority to Chinese patent application No. 202110296068.9 filed on March 19, 2021, entitled “UWB tag working method, device, UWB tag and storage medium,” the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of UWB technology, and more particularly to a method and device for operating an ultra-wideband (UWB) tag, a UWB tag, and a storage medium. Background Art

[0003] UWB technology is a wireless carrier communication technology that does not use a sinusoidal carrier, but instead uses nanosecond-level non-sinusoidal narrow pulses to transmit data. Therefore, it occupies a wide spectrum range and the data transmission rate can reach hundreds of megabits per second.

[0004] In application scenarios, UWB technology has the advantages of low system complexity, low transmitted signal power spectrum density, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is especially suitable for high-speed wireless access in dense multipath places such as indoors. Summary of the Invention

[0005] The present application provides a method, device, UWB tag, and storage medium for operating a UWB tag. The technical solution is as follows:

[0006] In one aspect, an embodiment of the present application provides a method for operating a UWB tag, wherein the UWB tag is provided with a UWB transceiver, and the method includes:

[0007] In response to the UWB tag being in a first state, controlling the UWB transceiver to be in a first transceiver state, the first state belonging to a target state set;

[0008] In response to a state transition event, the UWB tag is switched from the first state to a second state, and the UWB transceiver is controlled to be in a second transceiving state, where the second state belongs to the target state set.

[0009] On the other hand, an embodiment of the present application provides a UWB tag operating device, the device comprising:

[0010] a first control module, configured to, in response to the UWB tag being in a first state, place the UWB transceiver in a first transceiving state, the first state belonging to a target state set;

[0011] The second control module is configured to switch the UWB tag from the first state to a second state in response to a state transition event, and control the UWB transceiver to be in a second transceiving state, where the second state belongs to the target state set.

[0012] On the other hand, an embodiment of the present application provides a UWB tag, the UWB tag comprising: a UWB transceiver and a controller;

[0013] The UWB transceiver is electrically connected to the controller;

[0014] The UWB transceiver is used to send and receive data frames on the channel;

[0015] The controller is used to:

[0016] In response to the UWB tag being in a first state, controlling the UWB transceiver to be in a first transceiver state, the first state belonging to a target state set;

[0017] In response to a state transition event, the UWB tag is switched from the first state to a second state, and the UWB transceiver is controlled to be in a second transceiving state, where the second state belongs to the target state set.

[0018] On the other hand, an embodiment of the present application provides a computer-readable storage medium, in which at least one program code is stored. The program code is loaded and executed by a processor or a finite state machine to implement the working method of the UWB tag as described in the above aspects.

[0019] In another aspect, embodiments of the present application provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A controller of a UWB tag reads the computer instructions from the computer-readable storage medium, and a processor executes the computer instructions, causing the UWB tag to perform the UWB tag operating method provided in various optional implementations of the aforementioned aspects.

[0020] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0021] In an embodiment of the present application, a controller is set in the UWB tag, and the controller controls the transmitting and receiving state of the UWB transceiver based on the state of the UWB tag, and switches the state of the UWB tag and adjusts the transmitting and receiving state of the UWB transceiver when a state transition event is triggered; because the working state of the UWB tag is periodic, the controller is used to control the transmitting and receiving of the UWB transceiver based on the state and state transition events, which simplifies the control process while ensuring the normal operation of the UWB tag, can reduce the cost of the UWB tag, reduce the power consumption of the UWB tag, and increase the service life of the UWB tag. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A schematic diagram showing an implementation environment of an exemplary embodiment of the present application is shown;

[0024] Figure 2 is a flowchart of a working method of a UWB tag provided by an exemplary embodiment of the present application;

[0025] Figure 3 It is the state transition diagram when the UWB tag realizes the spatial perception function;

[0026] Figure 4 This is a schematic diagram of the changes in the working state of the UWB tag when it realizes the spatial perception function;

[0027] Figure 5 It is a schematic diagram of the implementation process of the terminal device receiving data frames when realizing the spatial perception function;

[0028] Figure 6 This is the state transition diagram when the UWB tag realizes the object positioning function;

[0029] Figure 7 This is a schematic diagram of the changes in the working state of the UWB tag when it realizes the object positioning function;

[0030] Figure 8 and Figure 9 It is a timing diagram of the interaction process between the terminal device and the UWB tag under different conditions;

[0031] Figure 10 This is a schematic diagram illustrating the working process of a UWB tag according to an exemplary embodiment of the present application;

[0032] Figure 11 A structural block diagram of a UWB tag working device provided by an embodiment of the present application is shown;

[0033] Figure 12 The figure shows a structural block diagram of a UWB tag provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0035] As a controlled (slave) end, UWB tags are usually used to assist terminal devices in achieving specific functions. For example, in order to enable terminal devices to have spatial location perception capabilities, UWB tags can be bound to Internet of Things (IoT) devices, thereby representing IoT devices through UWB tags. In the working state, the UWB tag sends a data frame on the channel. The terminal device receives the data frame and determines the relative position relationship between the UWB tag and the terminal device, thereby determining the UWB tag facing the terminal device, and then controlling the IoT device represented by the UWB tag.

[0036] For example, in order to enable users to locate easily lost items (such as keys, wallets, etc.) through terminal devices, users can place UWB tags together with the easily lost items in advance. When locating easily lost items, the terminal device exchanges data frames with the UWB tag, and then determines the distance and angle between the UWB tag and the terminal device based on the exchanged data frames. The determined distance and angle are then displayed on the terminal device, allowing users to quickly locate the easily lost items based on the displayed position.

[0037] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment of an exemplary embodiment of the present application, wherein the implementation environment includes a terminal device 110, at least one IoT device 120 and a UWB tag 130.

[0038] The terminal device 110 is a device with spatial location awareness capability. Spatial location awareness capability means that the terminal device 110 can perceive the spatial location relationship of other devices. The terminal device 110 can be a portable electronic device such as a smartphone, tablet computer, smart remote control, smart watch, etc.

[0039] In the embodiment of the present application, the spatial position perception capability of the terminal device 110 is achieved by means of a UWB component and a UWB tag 130 representing an IoT device. The terminal device 110 can perform UWB communication with the UWB tag 130 through the UWB component. In other words, the terminal device 110 can receive data frames sent by the UWB tag 130 on the target channel through the UWB component and determine the spatial position relationship between the terminal device 110 and the UWB tag 130 based on the data frames sent by the UWB tag 130.

[0040] Optionally, the UWB component can be separated from the terminal device 130, or the UWB component can be independent of the terminal device 130. That is, when the terminal device 110 is equipped with the UWB component, it has the function of performing UWB communication with the UWB tag 130; when the terminal device 110 is not equipped with the UWB component, the terminal device 110 may not be able to perform UWB communication with the UWB tag 130. In this application scenario, the UWB component can be packaged as a terminal accessory, for example, a mobile phone case, a mobile phone protective cover, a mobile phone pendant, or other terminal accessories.

[0041] Optionally, the UWB component may also be provided inside the terminal device 110 , that is, the terminal device 110 may have a built-in UWB component, so that the terminal device 110 may perform UWB communication with the UWB tag 130 through the UWB component.

[0042] The IoT device 120 is an electronic device that can establish a data communication connection with the terminal device 110. It can be a smart TV 122, a smart speaker 121, a smart door lock 123, a smart refrigerator, a smart air conditioner, a smart lamp, a car air conditioner, or the like. The data communication connection mentioned above means that the IoT device 120 and the terminal device 110 can exchange information via the data communication connection. The data communication connection can be a WiFi connection, a Bluetooth connection, an infrared connection, or the like, and is not limited to this in the present embodiment.

[0043] In the embodiment of the present application, the UWB tag 130 is used to represent the IoT device 120, and the UWB tag 130 is independent of the IoT device 120. Independent means that the UWB tag 130 is a device independent of the IoT device 120 and can be sold as a product alone, rather than being integrated into the IoT device 120 as a part of the IoT device 120, nor is it a necessary component module of the IoT device 120. And when the UWB tag 130 and the IoT device 120 are bound, the UWB tag 130 and the IoT device 120 do not have a data communication connection relationship, but only a mapping relationship. The mapping relationship means that the IoT device 120 represented by the UWB tag 130 can be determined. Figure 1As shown, UWB tag 131 is used to characterize IoT device 121 , UWB tag 132 is used to characterize IoT device 122 , and UWB tag 132 is used to characterize IoT device 123 .

[0044] Regarding the power supply method of the UWB tag 130, in one possible design, the UWB tag 130 is provided with an independent power supply, which is a replaceable power supply, a non-replaceable power supply or a rechargeable power supply; in another possible design, the UWB tag 130 is powered by the IoT device 120 (but does not perform data communication), and the power supply method of the IoT device 120 includes wired power supply (such as through a charging cable) or wireless power supply (such as through a wireless charging coil).

[0045] In the embodiment of the present application, in the working state, the UWB tag 130 sends a data frame on the target channel to the terminal device 110. After receiving the data frame on the target channel, the terminal device 110 determines the IoT device 120 represented by the UWB tag 130 and establishes a data communication connection with the IoT device 120, thereby controlling the IoT device 120 through the data communication connection.

[0046] In another possible application scenario, the UWB tag 134 is placed together with an object (such as a key, wallet, umbrella, or other non-intelligent object) ( Figure 1 The UWB tag 134 is placed with the key in the center of the device (the key is placed in the center of the device) to locate the item. In operation, the UWB tag 134 transmits data frames on the target channel. When the terminal 110 activates the item location function, it transmits data frames to the UWB tag 134 on the target channel. Upon receiving a data frame on the target channel, the UWB tag 134 transmits another data frame to the terminal 110. The terminal 110 then determines the distance and angle between the UWB tag 134 and itself based on the two received data frames and displays them, allowing the user to quickly locate the item.

[0047] It should be noted that the above-mentioned UWB tag can be used only for object positioning, or only for device spatial perception, or it can have the functions of realizing object positioning and device spatial perception at the same time (and can switch between the two functions). This embodiment does not limit this.

[0048] Please refer to Figure 2 , which shows a flowchart of a working method of a UWB tag provided by an exemplary embodiment of the present application. The embodiment of the present application is applied to Figure 1 Taking the UWB tag shown in FIG. 1 as an example, the method includes:

[0049] Step 201: In response to a UWB tag being in a first state, controlling a UWB transceiver to be in a first transceiver state, where the first state belongs to a target state set.

[0050] In the embodiment of the present application, a UWB tag is provided with a UWB transceiver and a controller, and the controller is electrically connected to the UWB transceiver to control the transceiver state of the UWB transceiver. The UWB transceiver includes a receiver (RX) and a transmitter (TX), and the transceiver state of the UWB transceiver includes a receive-on state (receiver on, transmitter off), a transmit-on state (transmitter on, receiver off), and an off state (both receiver and transmitter off).

[0051] In one possible implementation, the controller corresponds to a target state set, which is a set of states in which the UWB tag is operating, and the states contained in the target state set support state transitions. Accordingly, during operation, the state of the UWB tag transitions between the states in the target state set. Because the UWB tag requires different transceiver functions when in different states, the UWB tag controls the transceiver state of the UWB transceiver through the controller. The first transceiver state of the UWB transceiver is determined based on the first state of the UWB tag.

[0052] In one possible design, the controller is a microcontroller unit (MCU), which controls a UWB transceiver in a UWB tag to transmit and receive data frames.

[0053] However, since UWB tags are usually powered by built-in batteries and the built-in batteries cannot be replaced, how to reduce the power consumption of UWB tags in the working state and thus extend the service life of UWB tags has become an urgent problem to be solved. Since the working state of UWB tags is periodic when they work as controlled terminals, in another possible design, the control device in the UWB tag is a finite state machine (FSM), that is, the UWB transceiver is controlled by a finite state machine (the target state set is the finite state set of the finite state machine). In the working state, the finite state machine can control the transceiver state of the UWB transceiver based on the state of the UWB tag, and can respond to triggered state transition events, switch the state of the UWB tag, adjust the transceiver state of the UWB transceiver, and realize the function of the UWB tag.

[0054] In some embodiments, the finite state machine is composed of registers and combinational logic circuits, wherein the registers are used to store parameters required to implement state transitions, and the combinational logic circuits are used to implement state transitions and control the transmitting and receiving states of the UWB transceiver.

[0055] Optionally, when the UWB tag is used to implement only a single function, only a single finite state machine is set in the UWB tag; when the UWB tag is used to implement at least two functions, at least two finite state machines are set in the UWB tag, at least two finite state machines are electrically connected to the UWB transceiver, and only one finite state machine is in working state at the same time.

[0056] Step 202 : In response to a state transition event, the UWB tag is switched from a first state to a second state, and the UWB transceiver is controlled to be in the second transceiver state, where the second state belongs to a target state set.

[0057] In one possible implementation, in the first state, if a state transition instruction corresponding to a state transition event is received, the controller controls the UWB tag to switch the state from the first state to the second state (also belonging to the target state set). The second state can be a state different from the first state, or a state the same as the first state, and the state transition instruction can be sent by the UWB transceiver, such as a completion instruction sent by the UWB transceiver when the UWB transceiver completes data frame transmission, a listening result instruction sent by the UWB transceiver when the UWB transceiver completes channel listening (indicating whether the channel is idle), or the state transition instruction can also be sent by a timer, such as an expiration instruction sent when the timer reaches the timing duration.

[0058] Since the transceiver functions that the UWB tag needs to implement in the second state may be the same as the transceiver functions that the UWB tag needs to implement in the first state, when switching to the second state, the UWB tag needs to adjust the transceiver state of the UWB transceiver through the controller so that the UWB transceiver is in the second transceiver state corresponding to the second state.

[0059] In the subsequent process, when a state transition event occurs, the working state of the UWB tag further changes, and the controller further adjusts the transmitting and receiving state of the UWB transceiver, which will not be described in detail in this embodiment.

[0060] Because the UWB tag has different states after switching for different state transition events in the same state, in a possible implementation, the state switching process of the UWB tag may include the following steps.

[0061] 1. In response to a state transition event, a second state corresponding to the state transition event is determined based on a first state and a state transition relationship, where the state transition relationship is used to represent a transition relationship between states in a target state set.

[0062] The transition relationship between states in the target state set is called a state transition relationship. This state transition relationship can be represented as a table (state transition table) or a graph (state transition graph) and implemented by a controller. For example, when the controller is a finite state machine, state transitions can be implemented using the combinational logic circuits within the finite state machine.

[0063] In one possible implementation, the state transition relationship includes states and state transition events, wherein the state transition event is used to trigger switching between different states (for example, the state transition event triggers switching from state A to state B), or to trigger its own state switching (that is, the state transition event triggers maintaining state A).

[0064] Since the same state may switch to different states under different state transition events, the controller takes the first state as the starting point and the state transition event as the path in the state transition relationship, and determines the state corresponding to the end point as the second state.

[0065] In an illustrative example, the state transition relationship is shown in Table 1.

[0066] Table 1

[0067] Starting state State transition events Transfer Status State 1 Event A State 2 State 1 Event B State 3

[0068] When the first state is state 1 and the state transition event is event A, the controller determines the second state to be state 2 based on the state transition relationship; and when the state transition event is event B, the controller determines the second state to be state 3 based on the state transition relationship.

[0069] 2. Switch the UWB tag from the first state to the second state.

[0070] Furthermore, the controller switches the UWB tag from the first state to the second state, and adjusts the transmitting and receiving state of the UWB transceiver accordingly.

[0071] To summarize, in the embodiments of the present application, a controller is set in the UWB tag, and the controller controls the transmitting and receiving state of the UWB transceiver based on the state of the UWB tag, and switches the state of the UWB tag to adjust the transmitting and receiving state of the UWB transceiver when a state transition event is triggered; since the working state of the UWB tag is periodic, the controller is used to control the transmitting and receiving of the UWB transceiver based on the state and state transition events, which simplifies the control process while ensuring the normal operation of the UWB tag, can reduce the cost of the UWB tag, reduce the power consumption of the UWB tag, and increase the service life of the UWB tag.

[0072] In addition, by adopting the solution provided in the embodiment of the present application, the use of "UWB transceiver + FSM" can realize the normal operation of the UWB tag, without setting an MCU in the UWB tag. On the one hand, it can reduce the manufacturing cost of the UWB tag. On the other hand, since the power consumption of the finite state machine is much lower than the power consumption of the MCU, it can further reduce the power consumption of the UWB tag and extend the service life of the UWB tag.

[0073] In the working state, UWB tags with different functions perform different sending and receiving operations. For example, Figure 1 The UWB tag used to realize spatial perception only needs to send data frames when in working state, but does not need to receive data frames (only sending but not receiving); Figure 1 When operating, UWB tags used for object location must both transmit and receive data frames from terminal devices. Therefore, different UWB tags with different functions have controllers that correspond to different target state sets and corresponding state transition relationships. The following uses exemplary embodiments to illustrate the operating processes of different UWB tags.

[0074] In a possible implementation, when the UWB tag is used to implement the spatial perception function, the target state set corresponding to the controller includes the sleep state, the sending state, the waiting state, and the listening state. Accordingly, the state transition relationship is as follows: Figure 3 shown.

[0075] When implementing the spatial perception function, the UWB tag needs to periodically send data frames on the target channel (sending state) and sleep for a period of time after the data frame is sent (sleeping state). In addition, since the UWB tag only sends and does not receive, and there may be other UWB tags that implement spatial perception in the same space, in order to avoid multiple UWB tags sending data frames on the target channel at the same time and causing mutual influence, the UWB tag needs to listen to the target channel (listening state) before sending the data frame to determine the channel state of the target channel. When the channel state of the target channel is idle, the UWB tag sends the data frame; when the channel state of the target channel is occupied, the UWB tag needs to wait for a period of time (waiting state) and re-listen to the channel after the waiting period.

[0076] Based on the current state of the UWB tag, the controller controls the transmitting and receiving state of the UWB transceiver in the following possible situations.

[0077] 1. In response to the UWB tag being in a dormant state or a waiting state, controlling the UWB transceiver to be in a turned-off state.

[0078] In order to reduce the power consumption of UWB tags, the UWB tags enter a sleep state after completing the data frame transmission. In the sleep state, the controller controls the UWB transceiver to be in a closed state, that is, the UWB tag neither sends data frames on the target channel nor receives data frames on the target channel.

[0079] Indicative, such as Figure 4 As shown in FIG, after completing the data frame transmission, the UWB tag enters the sleep state, and both the RX and TX of the UWB transceiver are in the off state.

[0080] Moreover, in the waiting state, in order to avoid interfering with data frames sent by other UWB tags on the target channel and reduce the power consumption of the UWB tags, after entering the waiting state, the controller also controls the UWB transceiver to be in the off state.

[0081] Indicative, such as Figure 4 As shown in FIG, after the UWB tag enters the waiting state, both the RX and TX of the UWB transceiver are in the closed state.

[0082] 2. In response to the UWB tag being in the transmitting state, controlling the UWB transceiver to be in the transmitting-on state.

[0083] In the transmit state, in order for the terminal device to receive the data frame sent by the UWB tag on the target channel and determine the spatial position relationship between the terminal device and the UWB tag based on the data frame, when the UWB tag is in the transmit state, the controller needs to control the transmitter in the UWB transceiver to be in the on state, so that the transmitter can broadcast the data frame on the target channel. Optionally, when in the transmit-on state, the receiver in the UWB transceiver is in the off state.

[0084] Indicative, such as Figure 4 As shown in FIG, in the transmitting state, the TX of the UWB transceiver is turned on and the RX is turned off.

[0085] 3. In response to the UWB tag being in the listening state, controlling the UWB transceiver to be in the receiving-on state.

[0086] In the listening state, the controller needs to control the receiver in the UWB transceiver to be turned on to determine whether there are other UWB tags sending data frames on the target channel, thereby achieving the target channel listening through the receiver. It should be noted that channel listening is only a monitoring and evaluation of the channel status and does not require the reception and interpretation of data frames sent by other UWB tags on the target channel. In other words, the UWB tag can maintain extremely low power consumption during the channel listening process.

[0087] Optionally, when in the receive-on state, the transmitter in the UWB transceiver is in the off state.

[0088] Indicative, such as Figure 4 As shown in FIG, in the listening state, the RX of the UWB transceiver is turned on and the TX is turned off.

[0089] In some embodiments, the UWB tag listens to the target channel within a backoff period (eg, 320 μs) via a receiver, or listens to the target channel at a point in time.

[0090] In one possible implementation, the UWB tag uses at least one of energy detection and carrier detection to monitor the target channel. Optionally, if energy detection is used to monitor the target channel, the target channel is determined to be occupied when the target channel's energy is greater than an energy threshold, and is determined to be idle when the target channel's energy is less than the energy threshold.

[0091] If the target channel is monitored using a carrier detection method, when a carrier signal of a preset frequency exists on the target channel, the target channel is determined to be in an occupied state; when no carrier signal of the preset frequency exists on the target channel, the target channel is determined to be in an idle state.

[0092] In the embodiments of the present application, the data frame contains information that can indicate the IoT device represented by the UWB tag. Accordingly, the terminal device receives the data frame sent by the UWB tag on the target channel and further determines the IoT device represented by the UWB tag based on the information contained in the data frame, thereby achieving control over the IoT device.

[0093] Accordingly, corresponding to different first states and state transition events, the controller determines that the second state includes the following possible situations.

[0094] 1. In response to the first state being the sleep state and reaching the sleep time, the listening state is determined to be the second state based on the state transition relationship.

[0095] In the active state, the UWB tag periodically transmits data frames and goes into sleep mode. When the sleep duration reaches the sleep duration, the UWB tag needs to wake up again and transmit data frames. Before sending data frames, it needs to listen to the channel. Therefore, in the state transition relationship, the state transition event that triggers the switch from the sleep state to the listening state is the reaching of the sleep duration.

[0096] Indicative, such as Figure 3 As shown, in the sleep state, when the time-out instruction sent by the timer is received (the timing duration of the timer is the sleep duration), the controller determines the listening state as the second state and switches the UWB tag to the listening state, thereby controlling the receiver of the UWB transceiver to turn on and realize target channel listening.

[0097] The sleep time is a preset fixed time.

[0098] 2. In response to the first state being the transmitting state and the UWB transceiver completing the data frame transmission, the dormant state is determined as the second state based on the state transition relationship.

[0099] In order to reduce the power consumption of UWB tags, the UWB tags in the working state are made to be in the sleep state most of the time. In the state transition relationship, the state transition event that triggers the switch from the sending state to the sleep state is the completion of data frame sending.

[0100] Indicative, such as Figure 3 As shown, in the sending state, when receiving the sending completion instruction sent by the UWB transceiver, the controller determines the sleep state as the second state and switches the UWB tag to the sleep state, thereby controlling the UWB transceiver to turn off and reducing the power consumption of the UWB tag.

[0101] 3. In response to the first state being the waiting state and the waiting time being reached, the listening state is determined to be the second state based on the state transition relationship.

[0102] In one possible implementation, when a UWB tag detects that the target channel is occupied, it enters a waiting state, where the waiting duration is a random delay. To ensure that the UWB tag can properly transmit data frames and be detected by the terminal device, the UWB tag must exit the waiting state and retransmit data frames. Furthermore, it must listen to the channel before sending data frames. Therefore, in the state transition relationship, the state transition event that triggers the switch from the waiting state to the listening state is the expiration of the waiting duration.

[0103] Optionally, the UWB tag performs random delay based on the ALOHA protocol.

[0104] Indicative, such as Figure 3 As shown, in the waiting state, when the time-out instruction sent by the timer is received (the timing duration of the timer is the waiting duration), the controller determines the listening state as the second state and switches the UWB tag to the listening state, thereby controlling the receiver of the UWB transceiver to turn on and realize target channel listening.

[0105] 4. In response to the first state being the listening state and the target channel being idle within the listening time, the sending state is determined to be the second state based on the state transition relationship.

[0106] In the listening state, the UWB tag switches to different states based on different channel listening results. That is, the second state determined by different state transition events in the listening state is different. If the target channel is idle within the listening duration, this indicates that the UWB tag's target channel is not occupied by other UWB tags and can transmit data frames. Therefore, in the state transition relationship, the state transition event that triggers the switch from the listening state to the transmitting state is the idleness of the target channel within the listening duration.

[0107] In a possible implementation, the UWB transceiver feeds back the channel sensing result to the controller, and the controller determines the second state based on the channel sensing result and the state transition relationship.

[0108] Indicative, such as Figure 3 As shown, in the listening state, when the UWB transceiver detects that the target channel is idle within the listening time, the UWB transceiver sends a listening result instruction indicating that the channel is idle to the controller. Accordingly, the controller determines the sending state to the second state based on the instruction, and switches the UWB tag to the sending state, thereby controlling the transmitter of the UWB transceiver to turn on and realize data frame transmission.

[0109] 5. In response to the first state being the listening state and the target channel being occupied within the listening time, the waiting state is determined to be the second state based on the state transition relationship.

[0110] If the target channel is occupied within the listening time, it indicates that another UWB tag is sending data frames on the target channel. The current UWB tag cannot send data frames and needs to wait for a period of time before listening to the channel again. Therefore, in the state transition relationship, the state transition event that triggers the switch from the listening state to the waiting state is the target channel being occupied within the listening time.

[0111] Indicative, such as Figure 3 As shown, in the listening state, when the UWB transceiver detects that the target channel is occupied within the listening time, the UWB transceiver sends a listening result instruction indicating that the channel is occupied to the controller. Accordingly, the controller determines the waiting state as the second state based on the instruction, and switches the UWB tag to the waiting state, thereby controlling the UWB transceiver to shut down and reducing the power consumption of the UWB tag.

[0112] Indicative, such as Figure 5 As shown in the figure, when four UWB tags are set up in an environment, each UWB tag enters a sleep state immediately after completing data frame transmission. After the sleep period, each UWB tag wakes up again and transmits the next data frame (the figure only shows the data frame transmission process, not the channel listening process).

[0113] It should be noted that in the initial working stage of the UWB tag, the UWB tag will often detect that the target channel is occupied; however, under the influence of the channel monitoring and random delay mechanism, if the UWB tags in the environment remain unchanged, as the working time increases, the data frame transmission frequency of each UWB tag will tend to be stable, that is, the number of UWB tags detecting that the target channel is occupied will decrease until it disappears, and each UWB tag will send data frames on the target channel in an orderly manner without conflict. Figure 5 As shown, after working for a period of time, the four UWB tags periodically send data frames in order.

[0114] In order to enable the terminal device to determine the spatial position relationship between UWB tags, the terminal device alternately receives data frames sent by each UWB tag on the target channel through the first antenna group and the second antenna group, that is, receives data frames sent by the same UWB tag through different antenna groups.

[0115] In a possible implementation, the terminal device first receives data frames on the target channel through the first antenna group. When the data frame reception duration of the first antenna group reaches a preset duration, the second antenna group is switched to receive data frames on the target channel.

[0116] Indicative, such as Figure 5 As shown, the terminal device first receives the data frames sent by UWB tags 1-4 on the target channel through the first antenna group, and then switches to receive the data frames sent by UWB tags 1-4 on the target channel through the second antenna group.

[0117] Optionally, when performing spatial positioning based on data frames, the following technologies can be used: Angle of Arrival (AOA) measurement: determining the spatial position of an object based on the angle of arrival of a data frame; Phase Difference of Arrival (PDoA) measurement: determining the spatial position of an object based on the phase difference of arrival of a data frame. The embodiments of this application do not limit the specific method used to determine the spatial position relationship.

[0118] Furthermore, based on the spatial position relationship, the terminal device determines the pointed UWB tag as the target UWB tag (for example, the horizontal angle between the terminal device and the terminal device is within the horizontal angle range, and the vertical angle between the terminal device and the terminal device is within the vertical angle range), and determines the IoT device represented by the target UWB tag as the target IoT device, and then controls the target IoT device.

[0119] Optionally, to prevent user misoperation from causing an invalid data communication connection between the terminal device and the target IoT device, thereby occupying the target IoT device's device resources, a possible implementation includes setting connection conditions. That is, the terminal device must allow the establishment of a data communication connection with the target IoT device and control of the target IoT device only if the connection conditions are met. The connection conditions include at least one of a pointing duration condition, a gesture condition, a touch condition, a sensor condition, and a voice control condition.

[0120] In one possible design, when a finite state machine is used as a controller, in order to implement the above-mentioned spatial perception function, the registers of the finite state machine need to store necessary parameters. In one possible implementation, the memory provided in the finite state machine includes:

[0121] 1. The first register for storing the sleep duration.

[0122] The finite state machine reads the sleep duration stored in the first register and switches the UWB tag to the listening state when the UWB tag enters the sleep state for a duration equal to the sleep duration. The sleep duration may be 500ms or 1s, which is not limited in this embodiment.

[0123] 2. A second register for storing the listening duration.

[0124] The finite state machine reads the listening time stored in the second register to control the UWB transceiver to be in the listening state within the listening time to listen to the target channel.

[0125] 3. A third register for storing a waiting unit time length, wherein the waiting unit time length is determined by a random number generated by a combinational logic circuit and the waiting unit time length.

[0126] In one possible implementation, in the wait state, the combinational logic circuit generates a random number and multiplies the random number by the unit wait time in the third register as the wait time for the current wait state. The unit wait time may be a backoff period (320 μs), and the random number generated by the combinational logic circuit is within a preset random number range, such as 1-8.

[0127] 4. A fourth register for transceiver parameters, the transceiver parameters including at least one of a target channel, a rate, and a data frame format.

[0128] The transceiver parameters include transmitter parameters and receiver parameters, which are used to indicate a target channel for listening and sending data frames, a rate for sending data frames on the target channel, and a frame format of the sent data frames.

[0129] In this embodiment, the controller controls the transmitting and receiving status of the UWB transceiver, so that the UWB tag is in a periodic transmitting and sleeping state, which helps to reduce the power consumption of the UWB tag; at the same time, the terminal device can determine the spatial position relationship between the UWB tags based on the data frames sent by the UWB tags, and then control the IoT device represented by the target UWB tag, thereby improving the control efficiency of the IoT device.

[0130] In another possible implementation, when the UWB tag is used to implement the object positioning function, the target state set corresponding to the controller includes a first sending state, a receiving state, a second sending state, a first sleep state, and a second sleep state. Accordingly, the state transition relationship is as follows: Figure 6 shown.

[0131] When implementing the object positioning function, the UWB tag sends a data frame on the target channel (first sending state), and then receives a data frame fed back by the terminal device on the target channel (receiving). If a data frame fed back by the terminal device is received (the terminal device feeds back a data frame when there is a need for object positioning), the UWB tag will send the data frame again on the target channel (second sending state), and sleep for a period of time after the sending is completed (second sleep state). Accordingly, the terminal device locates the UWB tag based on the two received data frames; if no data frame is received from the terminal device (the terminal device will not feed back a data frame when there is no need for object positioning), the UWB tag will sleep for a period of time (first sleep state) and send the data frame again after the sleep.

[0132] Based on the current state of the UWB tag, the controller controls the transmitting and receiving state of the UWB transceiver in the following possible situations.

[0133] 1. In response to the UWB tag being in the first transmitting state or the second transmitting state, controlling the UWB transceiver to be in the transmitting-on state.

[0134] The first sending state refers to the state in which the UWB tag sends a data frame after being awakened or initialized, and the second sending state refers to the state in which the UWB tag receives a data frame sent by a terminal device and sends the data frame again.

[0135] In the transmitting state, in order for the terminal device to receive the data frame sent by the UWB tag on the target channel and determine the distance and direction to the UWB tag based on the data frame, when the UWB tag is in the transmitting state, the controller needs to control the transmitter in the UWB transceiver to be in the on state, so that the transmitter can broadcast the data frame on the target channel. Optionally, when in the transmitting-on state, the receiver in the UWB transceiver is in the off state.

[0136] Indicative, such as Figure 7 As shown, in the first / second transmission state, the TX of the UWB transceiver is turned on and the RX is turned off.

[0137] 2. In response to the UWB tag being in a receiving state, controlling the UWB transceiver to be in a receiving-on state.

[0138] In one possible implementation, the terminal device uses Double-Sided Two-Way Ranging (DS-TWR) to determine the distance to the UWB tag. During the ranging process, the UWB tag first sends a data frame to the terminal device. After receiving the data frame, the terminal device sends the data frame back to the UWB tag. After receiving the feedback data frame, the UWB tag sends the data frame back to the terminal device.

[0139] Among them, when the terminal device has the need to locate the UWB tag, it will feedback the data frame sent by the UWB tag. When the terminal device does not have the need to locate the UWB tag, it will not feedback the data frame sent by the UWB tag.

[0140] Therefore, when the UWB tag is in the receiving state, the controller controls the receiver of the UWB transceiver to be in the on state, and determines whether it is necessary to further send data frames to the terminal device based on whether the receiver receives the data frame fed back by the terminal device.

[0141] Indicative, such as Figure 7 As shown, after the first sending state, the UWB tag enters the receiving state, the RX of the UWB transceiver is turned on, and the TX is turned off.

[0142] 3. In response to the UWB tag being in the first sleep state or the second sleep state, controlling the UWB transceiver to be in the off state.

[0143] To reduce UWB tag power consumption, the tag enters a first sleep state when it is sending data frames and has not received any data frames from the terminal device. After sending data frames, receiving data frames from the terminal device, and then sending data frames again, the tag enters a second sleep state. In this sleep state, the controller shuts down the UWB transceiver, meaning the tag neither sends nor receives data frames on the target channel.

[0144] Indicative, such as Figure 7 As shown, after completing the "data frame sending, data frame receiving, data frame sending" transmission, the UWB tag enters the second sleep state, and the RX and TX of the UWB transceiver are both in the off state; when the data frame sending is completed but no data frame is received, the UWB tag enters the first sleep state, and the RX and TX of the UWB transceiver are both in the off state.

[0145] Accordingly, corresponding to different first states and state transition events, the controller determines that the second state includes the following possible situations.

[0146] 1. In response to the first state being the first sending state and the UWB transceiver completing data frame transmission, the receiving state is determined to be the second state based on the state transition relationship.

[0147] In the first transmitting state, after the UWB tag sends a data frame on the target channel, in order to determine whether the terminal device has positioning requirements, the UWB tag needs to enter the receiving state to determine whether there is a data frame feedback from the terminal device on the target channel. Therefore, in the state transition relationship, the state transition event that triggers the switch from the first transmitting state to the receiving state is the completion of data frame transmission.

[0148] Indicative, such as Figure 6 As shown, in the first sending state, when the data frame is sent successfully, the controller determines the receiving state to be the second state, thereby controlling the receiver of the UWB transceiver to turn on and receive the data frame sent by the terminal device on the target channel.

[0149] 2. In response to the first state being the receiving state and the UWB transceiver receiving a data frame sent by the terminal device, the second sending state is determined as the second state based on the state transition relationship.

[0150] In the receiving state, the UWB tag switches to different states based on different data frame reception results. That is, in the receiving state, the second state determined by different state transition events is different. When a data frame sent by a terminal device is received in the receiving state, it indicates that the terminal device has a positioning requirement, and the UWB tag needs to send a data frame to the terminal device again. Therefore, in the state transition relationship, the state transition event that triggers the switch from the receiving state to the second transmitting state is the UWB transceiver receiving a data frame sent by the terminal device.

[0151] In a possible implementation, the UWB transceiver feeds back a data frame reception result to the controller, and the controller determines the second state based on the result and the state transition relationship.

[0152] Indicative, such as Figure 6 As shown, in the receiving state, when the UWB transceiver receives a data frame sent by the terminal device (ie, the reception is successful), the controller determines the second sending state as the second state, thereby controlling the transmitter of the UWB transceiver to turn on and realize data frame sending.

[0153] 3. In response to the first state being the receiving state and the UWB transceiver not receiving a data frame sent by the terminal device within a timeout period, the first sleep state is determined to be the second state based on the state transition relationship.

[0154] In the receiving state, if no data frames are received from the terminal device within the timeout period, it indicates that the terminal device no longer needs to locate the device, and the UWB tag does not need to send data frames to the terminal device again. To reduce power consumption, the UWB tag needs to enter the first dormant state. Therefore, in the state transition relationship, the state transition event that triggers the switch from the receiving state to the first dormant state is the UWB transceiver not receiving a data frame from the terminal device within the timeout period. The timeout period is a preset fixed duration.

[0155] Indicative, such as Figure 6 As shown, in the receiving state, when the UWB transceiver does not receive the data frame sent by the terminal device (ie, reception fails), the controller determines the first sleep state as the second state, thereby controlling the UWB transceiver to shut down and reduce the power consumption of the UWB tag.

[0156] 4. In response to the first state being the second sending state and the UWB transceiver completing data frame transmission, the second dormant state is determined as the second state based on the state transition relationship.

[0157] In the second transmission state, after the UWB tag sends a data frame to the terminal device, the terminal device can determine the distance between it and the UWB tag based on the data frame transmission and reception. Furthermore, to reduce the UWB tag's power consumption, the UWB tag enters a sleep state after completing data frame transmission. Therefore, in the state transition relationship, the state transition event that triggers the switch from the second transmission state to the second sleep state is the completion of data frame transmission.

[0158] Indicative, such as Figure 6 As shown, in the second sending state, when the UWB transceiver completes sending the data frame (ie, the sending is successful), the controller determines the second sleep state as the second state, thereby controlling the UWB transceiver to shut down and reducing the power consumption of the UWB tag.

[0159] 5. In response to the first state being the first sleep state and reaching the first sleep duration, the first sending state is determined to be the second state based on the state transition relationship.

[0160] In order to prevent the UWB tag from being in a dormant state for a long time, resulting in the terminal device with positioning requirements being unable to be positioned based on the data frame, the UWB tag will be awakened periodically after entering the first dormant state and send data frames again to determine whether there is a terminal device with positioning requirements. Therefore, in the state transition relationship, the state transition event that triggers the switch from the first dormant state to the first sending state is the reaching of the first dormant duration. The first dormant duration can be a preset fixed duration, or an increased dynamic duration (with an upper limit).

[0161] Optionally, since entering the first sleep state indicates that there is no terminal device with positioning requirements at present, the first sleep duration can be set to a longer duration to further reduce the power consumption of the UWB tag.

[0162] Indicative, such as Figure 6 As shown, in the first sleep state, when the time-out instruction sent by the timer is received (the timing duration of the timer is the first sleep duration), the controller determines the first sending state as the second state, thereby controlling the transmitter of the UWB transceiver to turn on and realize data frame transmission.

[0163] 6. In response to the first state being the second sleep state and reaching the second sleep duration, the first sending state is determined to be the second state based on the state transition relationship, and the first sleep duration is greater than the second sleep duration.

[0164] In the second sleep state, since there is currently a terminal device with positioning requirements, in order to enable the terminal device to perform the next ranging as soon as possible, the state transition event that triggers the switch from the second sleep state to the first transmission state is the second sleep duration, and the second sleep duration is less than the first sleep duration. For example, the first sleep duration is 900ms, and the second sleep duration is 40ms.

[0165] Indicative, such as Figure 6 As shown, in the second sleep state, when the time-out instruction sent by the timer is received (the timing duration of the timer is the second sleep duration), the controller determines the first sending state as the second state, thereby controlling the transmitter of the UWB transceiver to turn on and realize data frame transmission.

[0166] In some embodiments, the UWB tag will enter a periodic state whether or not there is a terminal device with positioning requirements. Figure 8 As shown in the figure, when there is a terminal device with positioning requirements, the UWB tag first sends a data frame on the target channel through TX (taking 150us), and after a period of idleness (2.5ms), turns on RX (earlier than the terminal device turns on TX). After the terminal device receives the data frame through RX, it switches RX to TX (taking 3ms) and feeds back the data frame to the UWB tag through TX (taking 150us). After the terminal device feeds back the data frame, it switches TX to RX (taking 2.5ms, earlier than the UWB tag turns on TX). After receiving the feedback data frame, the UWB tag turns on TX after a period of idleness (3ms) and sends a data frame to the terminal device (taking 150us), which is received by the terminal device through RX. After the UWB tag sends the data frame, and the terminal device receives the data frame, it enters a sleep state (40ms) and waits for the next wake-up measurement.

[0167] like Figure 9 As shown in the figure, when there is no terminal device with positioning requirements, the UWB tag first transmits a data frame on the target channel via TX (taking 150us), and after a period of idle time (2.5ms), it turns on RX (earlier than the terminal device turns on TX). If no data frame is received from the terminal device within the timeout period (timout: 10ms), the UWB tag enters sleep (900ms) and waits for the next wake-up to transmit data frames again.

[0168] In one possible design, when a finite state machine is used as a controller, in order to implement the above-mentioned object positioning function, the registers of the finite state machine need to store necessary parameters. In one possible implementation, the memory provided in the finite state machine includes:

[0169] 1. A fifth register for storing a first sleep duration.

[0170] The finite state machine reads the first sleep duration stored in the fifth register and switches the UWB tag to the first transmit state when the UWB tag has been in the first sleep state for a period of time equal to the first sleep duration, thereby determining whether a terminal device requiring positioning exists. The first sleep duration may be 900 ms, which is not limited in this embodiment.

[0171] 2. A sixth register for storing the second sleep time length.

[0172] The finite state machine reads the second sleep duration stored in the sixth register and switches the UWB tag to the first transmitting state when the UWB tag has been in the second sleep state for a period of time equal to the second sleep duration, so that the terminal device can perform the next ranging. The second sleep duration can be 40 ms (less than the first sleep duration), which is not limited in this embodiment.

[0173] 3. A seventh register for storing a first idle time duration, where the first idle time duration is the time duration for waiting for the terminal device to switch from the receiver to the transmitter in the first sending state.

[0174] After receiving the data frame via RX, the terminal device needs to feed back the data frame via TX, and it takes a certain amount of time for the terminal device to switch from RX to TX. Therefore, after the UWB tag completes sending the data frame, it needs to wait for the first idle time (switching to RX before the terminal device). During the first idle time, the UWB tag will also switch its own TX to RX. Figure 8 As shown, the first idle time is 2.5ms.

[0175] 4. An eighth register for storing a second idle time length, where the second idle time length is the time length for waiting for the terminal device to switch from a transmitter to a receiver in a receiving state.

[0176] After the terminal device feeds back the data frame via TX, it needs to receive the data frame sent by the UWB tag again via RX. It takes a certain amount of time for the terminal device to switch from TX to RX. Therefore, after receiving the data frame sent by the terminal device, the UWB tag needs to wait for the second idle time (to ensure that the terminal device switches to RX first). During the second idle time, the UWB tag will also switch its own RX to TX. Figure 8 As shown, the second idle time is 3ms.

[0177] 5. A ninth register for storing the timeout period.

[0178] Optionally, in the first sending state, after completing the data frame transmission, the finite state machine reads the timeout duration stored in the ninth register. If no data frame feedback from the terminal device is received within the timeout duration, the finite state machine enters the first dormant state. The timeout duration may be 10ms, which is not limited in this embodiment.

[0179] 6. A tenth register for transceiver parameters, the transceiver parameters including at least one of a target channel, a rate, and a data frame format.

[0180] The transceiver parameters include transmitter parameters and receiver parameters, which are used to indicate a target channel for receiving / sending data frames, a rate for sending data frames on the target channel, and a frame format of the sent data frames.

[0181] In this embodiment, the controller controls the transmitting and receiving status of the UWB transceiver, so that the UWB tag can interact with the terminal device with positioning requirements multiple times, so that the terminal device can locate the UWB tag based on the interacted data frames, which helps to reduce the power consumption of the UWB tag.

[0182] In a possible implementation, the UWB tag is also provided with a Bluetooth component. Before realizing the positioning of the object, the terminal device first configures the parameters of the UWB tag via Bluetooth. After completing the parameter configuration, the UWB tag enters the periodic working state. Figure 10 As shown, after the UWB tag is awakened through Bluetooth low energy (tagINIT), it receives the parameters (tagBLERecvPar) sent by the terminal device through Bluetooth, initializes the UWB based on the parameters (tagUWBInitialize), and after the initialization is completed, sends a parameter confirmation message (tagBLESendPar) to the terminal through Bluetooth to inform the terminal device to complete the initialization.

[0183] In the working state (G_INIT), the UWB tag sends a data frame (G_Send_Horizon) on the target channel. After the terminal device receives the data frame, it performs horizontal direction measurement. When receiving the data frame fed back by the terminal device (G_Recv_Vertical), the UWB tag sends the data frame again (G_Send_Vertical) so that the terminal device can perform vertical direction measurement based on the data frame. After the UWB tag completes sending the data frame, it enters sleep (G_Sleep) and wakes up through the real-time clock (RTC) RTC to re-measure the distance and angle. When the data frame fed back by the terminal device is not received (G_Fail), the UWB tag resends the data frame after a period of sleep. When the data frame fed back by the terminal device is not received and the UWB tag restarts, the UWB tag re-initializes the parameters through Bluetooth.

[0184] In the above embodiment, the UWB tag has only a single function. In a possible implementation, in order to enable the UWB tag to have multiple functions, the user can switch the function of the UWB tag according to needs, and different working modes correspond to different target state sets.

[0185] In one possible implementation, the UWB tag is provided with at least two finite state machines, different finite state machines correspond to different working modes of the UWB tag (implementing different functions), and different finite state machines correspond to different finite state sets. When the working mode is switched, the finite state machine is switched.

[0186] In another possible implementation, the UWB tag is provided with an MCU and at least two working programs. Different control programs correspond to different working modes. When the working mode is switched, the working program read by the MCU is switched.

[0187] Accordingly, before entering the working state, the UWB tag switches its working mode in response to a working mode switching instruction, wherein the working mode switching instruction is triggered by a physical button on the UWB tag.

[0188] For example, if a UWB tag is provided with an operating mode switch button, the user can trigger the UWB tag to switch operating modes by pressing the switch button. When the switch button is pressed, the General-Purpose Input / Output (GPIO) port is pulled low, the first finite state machine is activated, and the UWB tag is in the first operating mode. When the switch button is pressed again, the GPIO port is pulled high, the second finite state machine is activated, and the UWB tag is in the second operating mode.

[0189] In a possible implementation, the UWB tag is provided with a first operating mode and a second operating mode;

[0190] In the first working mode, the UWB tag periodically sends data frames, so that the terminal device determines the IoT device represented by the UWB tag based on the data frames and controls the IoT device (for realizing spatial perception function);

[0191] In the second working mode, the UWB tag exchanges data frames with the terminal device, so that the terminal device determines the distance and angle between the UWB tag and the terminal device based on the exchanged data frames (for implementing the object positioning function). The specific implementation method can be referred to the above embodiment, and this embodiment will not be repeated here.

[0192] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0193] Please refer to Figure 11 , which shows a structural block diagram of a UWB tag working device provided by an embodiment of the present application. The device has the function of implementing the above method embodiment performed by the UWB tag side, and the function can be implemented by hardware or by hardware executing the corresponding software. Figure 11 As shown, the device may include:

[0194] A first control module 1101 is configured to control the UWB transceiver to be in a first transceiver state in response to the UWB tag being in a first state, where the first state belongs to a target state set;

[0195] The second control module 1102 is configured to switch the UWB tag from the first state to a second state in response to a state transition event, and control the UWB transceiver to be in a second transceiving state, where the second state belongs to the target state set.

[0196] Optionally, the second control module 1102 is configured to:

[0197] In response to the state transition event, determining the second state corresponding to the state transition event based on the first state and a state transition relationship, where the state transition relationship is used to represent a transition relationship between states in the target state set;

[0198] The UWB tag is switched from the first state to the second state.

[0199] Optionally, the target state set includes a sleeping state, a sending state, a waiting state, and a listening state;

[0200] The first control module 1101 is configured to:

[0201] In response to the UWB tag being in a dormant state or a waiting state, controlling the UWB transceiver to be in a closed state; or,

[0202] In response to the UWB tag being in a transmitting state, controlling the UWB transceiver to be in a transmitting-on state; or,

[0203] In response to the UWB tag being in the listening state, the UWB transceiver is controlled to be in the receiving-on state.

[0204] Optionally, the second control module 1102 is specifically configured to:

[0205] In response to the first state being a sleep state and reaching a sleep duration, determining the listening state to be the second state based on the state transition relationship; or,

[0206] In response to the first state being the sending state and the UWB transceiver completing data frame transmission, determining the sleep state as the second state based on the state transition relationship; or,

[0207] In response to the first state being a waiting state and reaching a waiting time, determining the listening state to be the second state based on the state transition relationship; or,

[0208] In response to the first state being the listening state and the target channel being idle within the listening time, determining the sending state to be the second state based on the state transition relationship; or,

[0209] In response to the first state being the listening state and the target channel being occupied within the listening time, the waiting state is determined to be the second state based on the state transition relationship.

[0210] Optionally, the UWB transceiver is controlled by a finite state machine, the target state set is a finite state set corresponding to the finite state machine, and the finite state machine is composed of a register and a combinational logic circuit;

[0211] The registers include:

[0212] A first register for storing the sleep duration;

[0213] A second register for storing the listening duration;

[0214] a third register for storing a waiting unit time length, wherein the waiting unit time length is determined by a random number generated by the combinational logic circuit and the waiting unit time length;

[0215] A fourth register for the transceiver parameters, the transceiver parameters including at least one of the target channel, rate, and data frame format.

[0216] Optionally, the target state set includes a first sending state, a receiving state, a second sending state, a first sleeping state, and a second sleeping state;

[0217] The first control module 1101 is configured to:

[0218] In response to the UWB tag being in the first transmitting state or the second transmitting state, controlling the UWB transceiver to be in a transmitting-on state; or,

[0219] In response to the UWB tag being in a receiving state, controlling the UWB transceiver to be in a receiving-on state; or,

[0220] In response to the UWB tag being in the first sleep state or the second sleep state, the UWB transceiver is controlled to be in a shutdown state.

[0221] Optionally, the second control module 1102 is specifically configured to:

[0222] In response to the first state being the first sending state and the UWB transceiver completing data frame transmission, determining the receiving state to be the second state based on the state transition relationship; or,

[0223] In response to the first state being a receiving state and the UWB transceiver receiving a data frame sent by a terminal device, determining the second sending state as the second state based on the state transition relationship; or

[0224] In response to the first state being a receiving state and the UWB transceiver not receiving a data frame sent by the terminal device within a timeout period, determining the first sleep state as the second state based on the state transition relationship; or,

[0225] In response to the first state being the second sending state and the UWB transceiver completing data frame transmission, determining the second sleep state as the second state based on the state transition relationship; or,

[0226] In response to the first state being a first dormant state and reaching a first dormant duration, determining the first sending state to be the second state based on the state transition relationship;

[0227] In response to the first state being the second sleep state and reaching a second sleep duration, the first sending state is determined to be the second state based on the state transition relationship, and the first sleep duration is greater than the second sleep duration.

[0228] Optionally, the UWB transceiver is controlled by a finite state machine, the target state set is a finite state set corresponding to the finite state machine, and the finite state machine is composed of a register and a combinational logic circuit;

[0229] The registers include:

[0230] a fifth register for storing the first sleep duration;

[0231] a sixth register for storing the second sleep duration;

[0232] a seventh register for storing a first idle duration, wherein the first idle duration is a duration for waiting for the terminal device to switch from a receiver to a transmitter in the first transmitting state;

[0233] an eighth register for storing a second idle time duration, wherein the second idle time duration is a time duration for waiting for the terminal device to switch from a transmitter to a receiver in a receiving state;

[0234] A ninth register for storing the timeout duration;

[0235] A tenth register for the transceiver parameters, the transceiver parameters including at least one of the target channel, rate, and data frame format.

[0236] Optionally, the UWB transceiver is controlled by a microcontroller unit MCU or a finite state machine.

[0237] Optionally, the UWB tag has at least two operating modes, and different operating modes correspond to different target state sets;

[0238] The device further comprises:

[0239] The mode switching module is used to switch the working mode in response to a working mode switching instruction, where the working mode switching instruction is triggered by a physical button on the UWB tag.

[0240] Optionally, the UWB transceiver is controlled by a finite state machine, the target state set is a finite state set corresponding to the finite state machine, the UWB tag is provided with at least two finite state machines, different finite state machines correspond to different operating modes of the UWB tag, and different finite state machines correspond to different finite state sets;

[0241] described

[0242] The mode switching module is used to perform finite state machine switching in response to the working mode switching instruction.

[0243] Optionally, the UWB tag is provided with a first operating mode and a second operating mode;

[0244] In the first working mode, the UWB tag periodically sends data frames, so that the terminal device determines the IoT device represented by the UWB tag according to the data frames and controls the IoT device;

[0245] In the second working mode, the UWB tag interacts with the terminal device through data frames, so that the terminal device determines the distance and angle between the terminal device and the UWB tag according to the interacted data frames.

[0246] To summarize, in the embodiments of the present application, a controller is set in the UWB tag, and the controller controls the transmitting and receiving state of the UWB transceiver based on the state of the UWB tag, and switches the state of the UWB tag to adjust the transmitting and receiving state of the UWB transceiver when a state transition event is triggered; since the working state of the UWB tag is periodic, the controller is used to control the transmitting and receiving of the UWB transceiver based on the state and state transition events, which simplifies the control process while ensuring the normal operation of the UWB tag, can reduce the cost of the UWB tag, reduce the power consumption of the UWB tag, and increase the service life of the UWB tag.

[0247] It should be noted that the above embodiments provide devices that implement their functions using only the division of the above functional modules as examples. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0248] Please refer to Figure 12 , which shows a block diagram of a UWB tag provided by an exemplary embodiment of the present application. The UWB tag 1200 includes: at least one controller 1210 and a UWB transceiver 1220 .

[0249] The UWB transceiver 1220 is electrically connected to the controller 1210;

[0250] The UWB transceiver 1220 is used to send and receive data frames on the channel;

[0251] The controller 1210 is used to:

[0252] In response to the UWB tag being in a first state, controlling the UWB transceiver 1220 to be in a first transceiving state, the first state belonging to the target state set;

[0253] In response to the state transition event, the UWB tag is switched from the first state to the second state, and the UWB transceiver 1220 is controlled to be in the second transceiving state, and the second state belongs to the target state set.

[0254] Optionally, the controller 1210 is an MCU or a finite state machine, wherein the finite state machine includes at least one register and a combinational logic circuit, so that the above control function is implemented through the register and the combinational logic circuit.

[0255] In addition, those skilled in the art will appreciate that the structures shown in the above figures do not limit the UWB tag. A UWB tag may include more or fewer components than shown, or may combine certain components or arrange the components differently. For example, a UWB tag may also include physical buttons, indicator lights, a power supply, a speaker, a Bluetooth component, etc., which will not be further described in this embodiment.

[0256] An embodiment of the present application further provides a computer-readable storage medium storing at least one program code, which is loaded and executed by a controller of a UWB tag to implement the UWB tag working method described in the above embodiments.

[0257] According to one aspect of the present application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A controller of a UWB tag reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the UWB tag to perform the UWB tag operating method provided in various optional implementations of the above aspects.

[0258] It should be understood that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. In addition, the step numbers described in this article only illustrate a possible execution sequence between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order to the diagram. The embodiments of the present application do not limit this.

[0259] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A UWB tag working method, characterized in that: The UWB tag is provided with a UWB transceiver, and the UWB transceiver is controlled by a controller. The controller is used to control the transceiver state of the UWB transceiver, and the transceiver state includes a receiving-on state, a transmitting-on state, and an off state. In the receiving-on state, the UWB transceiver is used to perform channel listening or receive data frames sent by a terminal device. The method includes: In response to the UWB tag being in a first state, controlling the UWB transceiver to be in a first transceiver state, the first state belonging to a target state set, wherein different operating modes correspond to different target state sets, and the UWB tag is provided with a first operating mode and a second operating mode. In the first operating mode, the UWB tag is used to periodically send data frames when it detects that the target channel is idle, so that the terminal device determines the IoT device represented by the UWB tag according to the data frame and controls the IoT device. In the second operating mode, the UWB tag interacts with the terminal device through data frames, so that the terminal device determines the distance and angle between the UWB tag and the terminal device according to the interacted data frames, and the terminal device feeds back data frames when there is a positioning requirement; In response to a state transition event, the UWB tag is switched from the first state to a second state, and the UWB transceiver is controlled to be in a second transceiving state, where the second state belongs to the target state set.

2. The method according to claim 1, characterized in that The step of switching the UWB tag from the first state to the second state in response to a state transition event includes: In response to the state transition event, determining the second state corresponding to the state transition event based on the first state and a state transition relationship, where the state transition relationship is used to represent a transition relationship between states in the target state set; The UWB tag is switched from the first state to the second state.

3. The method according to claim 2, characterized in that The target state set includes a dormant state, a sending state, a waiting state, and a listening state; In response to the UWB tag being in the first state, controlling the UWB transceiver to be in the first transceiver state includes: In response to the UWB tag being in a dormant state or a waiting state, controlling the UWB transceiver to be in a closed state; or, In response to the UWB tag being in a transmitting state, controlling the UWB transceiver to be in a transmitting-on state; or, In response to the UWB tag being in the listening state, the UWB transceiver is controlled to be in the receiving-on state.

4. The method according to claim 3, characterized in that The determining, in response to the state transition event, the second state corresponding to the state transition event based on the first state and the state transition relationship includes: In response to the first state being a sleep state and reaching a sleep duration, determining the listening state to be the second state based on the state transition relationship; or, In response to the first state being the sending state and the UWB transceiver completing data frame transmission, determining the sleep state as the second state based on the state transition relationship; or, In response to the first state being a waiting state and reaching a waiting time, determining the listening state to be the second state based on the state transition relationship; or, In response to the first state being the listening state and the target channel being idle within the listening time, determining the sending state to be the second state based on the state transition relationship; or, In response to the first state being the listening state and the target channel being occupied within the listening time, the waiting state is determined to be the second state based on the state transition relationship.

5. The method according to claim 4, characterized in that The UWB transceiver is controlled by a finite state machine, the target state set is a finite state set corresponding to the finite state machine, and the finite state machine is composed of a register and a combinational logic circuit; The registers include: A first register for storing the sleep duration; A second register for storing the listening duration; a third register for storing a waiting unit time length, wherein the waiting unit time length is determined by a random number generated by the combinational logic circuit and the waiting unit time length; A fourth register for the transceiver parameters, the transceiver parameters including at least one of the target channel, rate, and data frame format.

6. The method according to claim 2, characterized in that The target state set includes a first sending state, a receiving state, a second sending state, a first sleeping state, and a second sleeping state; In response to the UWB tag being in the first state, controlling the UWB transceiver to be in the first transceiver state includes: In response to the UWB tag being in the first transmitting state or the second transmitting state, controlling the UWB transceiver to be in a transmitting-on state; or, In response to the UWB tag being in a receiving state, controlling the UWB transceiver to be in a receiving-on state; or, In response to the UWB tag being in the first sleep state or the second sleep state, the UWB transceiver is controlled to be in a shutdown state.

7. The method according to claim 6, characterized in that The determining, in response to the state transition event, the second state corresponding to the state transition event based on the first state and the state transition relationship includes: In response to the first state being the first sending state and the UWB transceiver completing data frame transmission, determining the receiving state to be the second state based on the state transition relationship; or, In response to the first state being a receiving state and the UWB transceiver receiving a data frame sent by a terminal device, determining the second sending state as the second state based on the state transition relationship; or In response to the first state being a receiving state and the UWB transceiver not receiving a data frame sent by the terminal device within a timeout period, determining the first sleep state as the second state based on the state transition relationship; or, In response to the first state being the second sending state and the UWB transceiver completing data frame transmission, determining the second sleep state as the second state based on the state transition relationship; or, In response to the first state being a first dormant state and reaching a first dormant duration, determining the first sending state to be the second state based on the state transition relationship; In response to the first state being the second sleep state and reaching a second sleep duration, the first sending state is determined to be the second state based on the state transition relationship, and the first sleep duration is greater than the second sleep duration.

8. The method according to claim 7, characterized in that The UWB transceiver is controlled by a finite state machine, the target state set is a finite state set corresponding to the finite state machine, and the finite state machine is composed of a register and a combinational logic circuit; The registers include: a fifth register for storing the first sleep duration; a sixth register for storing the second sleep duration; a seventh register for storing a first idle duration, wherein the first idle duration is a duration for waiting for the terminal device to switch from a receiver to a transmitter in the first transmitting state; an eighth register for storing a second idle time duration, wherein the second idle time duration is a time duration for waiting for the terminal device to switch from a transmitter to a receiver in a receiving state; A ninth register for storing the timeout duration; A tenth register for the transceiver parameters, the transceiver parameters including at least one of the target channel, rate, and data frame format.

9. The method according to any one of claims 1, 2, 3, 4, 6 and 7, characterized in that: The UWB transceiver is controlled by a microcontroller unit MCU or a finite state machine.

10. The method according to any one of claims 1 to 8, characterized in that: The UWB tag has at least two operating modes, and different operating modes correspond to different target state sets; The method further comprises: In response to an operating mode switching instruction, the operating mode is switched, and the operating mode switching instruction is triggered by a physical button on the UWB tag.

11. The method according to claim 10, characterized in that The UWB transceiver is controlled by a finite state machine, the target state set is a finite state set corresponding to the finite state machine, the UWB tag is provided with at least two finite state machines, different finite state machines correspond to different operating modes of the UWB tag, and different finite state machines correspond to different finite state sets; The step of switching the working mode in response to the working mode switching instruction includes: In response to the working mode switching instruction, the finite state machine is switched.

12. A UWB tag working device, characterized in that: The device comprises: a first control module, configured to control the UWB transceiver to be in a first transceiver state in response to the UWB tag being in a first state, the first state belonging to a target state set, wherein different operating modes correspond to different target state sets, the UWB transceiver is controlled by a controller, the controller being configured to control the transceiver state of the UWB transceiver, the transceiver state including a receive-on state, a transmit-on state, and an off state, and in the receive-on state, the UWB transceiver is configured to perform channel sensing or receive data frames sent by a terminal device, the UWB tag being provided with a first operating mode and a second operating mode, in the first operating mode, the UWB tag is configured to periodically transmit data frames when a target channel is sensed to be idle, so that the terminal device determines the IoT device represented by the UWB tag based on the data frames and controls the IoT device, in the second operating mode, the UWB tag and the terminal device exchange data frames, so that the terminal device determines the distance and angle between the UWB tag and the terminal device based on the interacted data frames, and the terminal device feeds back data frames when there is a positioning requirement; The second control module is configured to switch the UWB tag from the first state to a second state in response to a state transition event, and control the UWB transceiver to be in a second transceiving state, where the second state belongs to the target state set.

13. A UWB tag, characterized in that: The UWB tag includes: a UWB transceiver and a controller; The UWB transceiver is electrically connected to the controller; The UWB transceiver is used to send and receive data frames on the channel; The controller is used to control the transceiver state of the UWB transceiver, and the transceiver state includes a receive-on state, a transmit-on state, and an off state. In the receive-on state, the UWB transceiver is used to perform channel sensing or receive data frames sent by a terminal device; The controller is used to: In response to the UWB tag being in a first state, controlling the UWB transceiver to be in a first transceiver state, the first state belonging to a target state set, wherein different operating modes correspond to different target state sets, and the UWB tag is provided with a first operating mode and a second operating mode. In the first operating mode, the UWB tag is used to periodically send data frames when it detects that the target channel is idle, so that the terminal device determines the IoT device represented by the UWB tag according to the data frame and controls the IoT device. In the second operating mode, the UWB tag interacts with the terminal device through data frames, so that the terminal device determines the distance and angle between the UWB tag and the terminal device according to the interacted data frames, and the terminal device feeds back data frames when there is a positioning requirement; In response to a state transition event, the UWB tag is switched from the first state to a second state, and the UWB transceiver is controlled to be in a second transceiving state, where the second state belongs to the target state set.

14. The UWB tag according to claim 13, characterized in that: The controller is a micro control unit MCU or a finite state machine.

15. A computer-readable storage medium, characterized in that At least one program code is stored in the computer-readable storage medium, and the program code is loaded and executed by the finite state machine to implement the working method of the UWB tag according to any one of claims 1 to 11.

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