An automatic following method and system based on hybrid positioning

Abstract

The application discloses a kind of automatic following method and system based on hybrid positioning comprising, set up ultra-wideband signal label on the surface of the followed object, set up ultra-wideband signal anchor on the upper surface of the follower, and range-finding module is set up on the surface of the follower in the following direction;According to the data of ultra-wideband signal label, ultra-wideband signal anchor and range-finding module, three base stations are positioned, and the following angle is obtained;According to the following angle, determine the following state, and the follower is controlled in combination with the following state.The application uses hybrid positioning scheme to make the following effect more stable, more reliable, improve the user's use experience, reduce the risk of collision of following robot.

Description

Technical Field

[0001] This invention relates to the field of hybrid positioning technology, and in particular to an automatic following method and system based on hybrid positioning. Background Technology

[0002] Automatic following systems refer to robots that maintain a certain distance and speed to follow pedestrians and assist them in completing related social production activities. Currently, following technologies mainly employ ultrasonic positioning, Bluetooth positioning, and ultra-wideband (UWB) positioning. However, ultrasonic waves suffer from diffraction, resulting in unstable positioning and failing to provide precise following services. Bluetooth positioning relies on triangulation using Bluetooth signals, but this method has positioning errors reaching the meter level, also failing to provide accurate following services. Ultra-wideband (UWB) positioning, on the other hand, theoretically achieves positioning accuracy at the decimeter or even centimeter level, and its hardware cost is moderate, making it a more suitable positioning technology. UWB technology is a signal-based positioning technology that can provide reliable positioning data in good environments, but in complex indoor environments, non-line-of-sight noise and multipath effects can reduce positioning accuracy.

[0003] Currently, many optimization algorithms are based on the strength of UWB signals and compensate for errors caused by multipath effects through algorithms. However, this leads to an increase in computational load and the positioning accuracy cannot meet the needs of following, which brings difficulties to the indoor application of following robots. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the aforementioned existing problems, the present invention is proposed.

[0006] Therefore, the present invention provides an automatic following method and system based on hybrid positioning, which can solve the problems mentioned in the background art above.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an automatic following method based on hybrid positioning, comprising:

[0008] Set an ultra-wideband signal tag on the surface of the object being followed, set an ultra-wideband signal anchor point on the upper surface of the object being followed, and set the ranging module on the surface of the object in the following direction.

[0009] Based on the data from the ultra-wideband signal tag, ultra-wideband signal anchor point, and ranging module, three-base station positioning is performed, and the following angle is obtained;

[0010] The following state is determined based on the following angle, and the following object is controlled based on the following state.

[0011] As a preferred embodiment of the automatic following method based on hybrid positioning described in this invention, the ultra-wideband signal anchor points include three anchor points arranged in an equilateral triangle on the upper surface of the object being followed, with one vertex of the equilateral triangle pointing towards the object being followed in a straight line; the ultra-wideband signal tag includes one tag; and the sum of the recognition range of the ranging module can cover the entire width of the object being followed.

[0012] As a preferred embodiment of the automatic following method based on hybrid positioning described in this invention, it further includes:

[0013] Determine whether the following angle is within the threshold range for straight-line following;

[0014] If the following angle is not within the threshold range, then horizontal and vertical control is performed based on the positioning information of the three base stations until the following angle is within the threshold range for straight-line following.

[0015] If the following angle is within the threshold range, the presence of an obstacle within the ranging range is determined by the ranging module data.

[0016] If there is an obstacle, obstacle avoidance or stopping will be performed based on the information returned by the ranging module.

[0017] If there are no obstacles, longitudinal control is performed based on the distance information returned by the ranging module, and lateral control is not performed at this time.

[0018] As a preferred embodiment of the automatic following method based on hybrid positioning described in this invention, the three-base station positioning includes:

[0019] Let A, B and C be the three anchor points, and anchor point C be the fixed point of the equilateral triangle of the object being followed when the line is pointing. Let E be the location of the label on the object being followed, D be the projection of E onto the plane of triangle ABC, H be the center of triangle ABC, and O be the midpoint of side AB. Establish a spatial rectangular coordinate system with O as the origin, the plane of triangle ABC as the xoy plane, the xoz plane containing side AB, OD be the following distance, and ∠DHC be the following angle.

[0020]

[0021]

[0022] When the values ​​of AE and BE are equal, the value of the following angle ∠DHC is 0 or 2π.

[0023] As a preferred embodiment of the automatic following method based on hybrid positioning described in this invention, the following states include a linear following state and a non-linear following state.

[0024] The straight-line following state includes a following angle between a first threshold and a second threshold, wherein the threshold range is between the first threshold and the second threshold.

[0025] The non-linear following state includes a following angle that is outside the range of a first threshold and a second threshold.

[0026] In a preferred embodiment of the automatic following method based on hybrid positioning described in this invention, the threshold includes:

[0027] OD is the following distance, and the width of the object being followed is d. The first threshold is 2*arctan(d / 2OD). min The second threshold is 2*arctan(d / 2OD). max ), the OD min OD is the perpendicular distance from the origin O to the surface of the object following in the following direction. max This is the maximum value that the ranging module can measure.

[0028] As a preferred embodiment of the automatic following method based on hybrid positioning described in this invention, it further includes:

[0029] N similar ranging modules are set on the surface in the following direction of the object, where N is a positive integer. Each ranging module has a fixed detection area, denoted as the Nth detection area.

[0030] If there are no abrupt changes in any of the N detection areas, the location of the object being followed is determined based on the returned tracking angle, and longitudinal control is performed based on the distance value returned from that area. At this time, lateral control is not performed.

[0031] If there is a sudden change in one of the N detection areas, the location of the followed object is determined based on the return tracking angle. If the sudden change area and the location of the followed object are not in the same area, longitudinal control is performed based on the return distance value of the pedestrian's location area, and lateral control is not performed at this time.

[0032] If the mutation region and the region where the followed object is located are in the same region, then there is an obstacle between the followed object and the followed object. Therefore, the object enters the obstacle stop. Once the obstacle leaves the following range or is removed by human intervention, the followed object continues to run.

[0033] If the mutation area changes in the forward or reverse order of the detection area position, and the minimum number of changed areas is two, it is determined that there is a moving obstacle crossing the area, and the obstacle has not left the following range. Then, based on the dynamic distance value returned by the ranging module, the movement trajectory of the obstacle is established, and obstacle avoidance is performed according to this movement trajectory. After obstacle avoidance is completed, the following is resumed.

[0034] The movement trajectory of the obstacle includes treating the distance value at each moment as a discrete point, fitting the discrete points into a curve, and the curve is the movement trajectory of the obstacle.

[0035] An automatic following system based on hybrid positioning, characterized in that it includes a preset module, a positioning and acquisition module, and a control module.

[0036] The preset module is used to set an ultra-wideband signal tag on the surface of the object being followed, set an ultra-wideband signal anchor point on the upper surface of the object being followed, and set a ranging module on the surface of the object being followed in the following direction.

[0037] The positioning and acquisition module is used to perform three-base station positioning based on the data from the ultra-wideband signal tag, ultra-wideband signal anchor point and ranging module, and to acquire the following angle.

[0038] The control module is used to determine the following state based on the following angle, and to control the following object based on the following state.

[0039] A computer device includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method described above.

[0040] A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method described above.

[0041] The beneficial effects of this invention are as follows: This invention proposes an automatic following method and system based on hybrid positioning. By using a hybrid positioning scheme, this patent makes the following effect more stable and reliable, improves the user experience, and reduces the risk of collisions with the following robot. In some complex indoor environments, this patent increases the reliability of positioning by using a ranging sensor to assist UWB signal positioning. Compared with traditional compensation algorithms, it reduces the computational load and response time of the system, and improves the real-time performance of the system. The ranging sensor installed at the front end of the robot can not only be used for hybrid positioning, but also for obstacle avoidance or obstacle stopping, reducing the manufacturing cost of the robot, effectively reducing the number of obstacle avoidance sensors, and increasing the stability and reliability of following. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0043] Figure 1 A flowchart of an automatic following method and system based on hybrid positioning, provided as an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of a three-base station positioning method and system based on hybrid positioning provided in an embodiment of the present invention;

[0045] Figure 3 A threshold calculation diagram for linear following in an automatic following method and system based on hybrid positioning, provided as an embodiment of the present invention;

[0046] Figure 4 This is an internal structural diagram of a computer device for an automatic following method and system based on hybrid positioning, provided as an embodiment of the present invention. Detailed Implementation

[0047] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0048] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0049] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0050] This invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of this invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not adhering to the usual scale. Furthermore, the schematic diagrams are merely examples and should not be construed as limiting the scope of protection of this invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0051] Furthermore, in the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In addition, the terms "first," "second," or "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" in this invention should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; similarly, they can refer to mechanical connections, electrical connections, or direct connections, or indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] Example 1

[0054] Reference Figure 1-4 This is the first embodiment of the present invention, which provides an automatic following method and system based on hybrid positioning, including:

[0055] Step 102: Set an ultra-wideband signal tag on the surface of the object being followed, set an ultra-wideband signal anchor point on the upper surface of the object being followed, and set the ranging module on the surface of the object in the following direction.

[0056] The ultra-wideband signal anchor points include three anchor points arranged in an equilateral triangle on the upper surface of the object being followed, with one vertex of the equilateral triangle pointing towards the object being followed in a straight line. The ultra-wideband signal tag includes one tag, and the sum of the range of the ranging module can cover the entire width of the object being followed.

[0057] Step 104: Perform three-base station positioning based on the data from the ultra-wideband signal tag, ultra-wideband signal anchor point, and ranging module, and obtain the following angle;

[0058] Furthermore, determine whether the following angle is within the threshold range for linear following;

[0059] It should be noted that if the following angle is not within the threshold range, then horizontal and vertical control will be performed based on the positioning information of the three base stations until the following angle is within the threshold range for straight-line following.

[0060] Furthermore, if the following angle is within the threshold range, the system uses the ranging module data to determine whether there are obstacles within the ranging range.

[0061] It should be noted that if there is an obstacle, obstacle avoidance or stopping will be performed based on the information returned by the ranging module.

[0062] Furthermore, if there are no obstacles, longitudinal control is performed based on the distance information returned by the ranging module, and lateral control is not performed at this time.

[0063] It should be noted that the three-base station positioning includes: denoted as three anchor points A, B and C, where anchor point C is the fixed point of the equilateral triangle of the object being followed when following a straight line; denoted as E, the location of the label on the object being followed; denoted as D, the projection of E onto the plane of triangle ABC; denoted as H, the center of triangle ABC; denoted as O, the midpoint of side AB; a spatial rectangular coordinate system is established with O as the origin; the plane of triangle ABC is the xoy plane; the xoz plane contains side AB; OD is the following distance; and ∠DHC is the following angle.

[0064]

[0065]

[0066] When the values ​​of AE and BE are equal, the value of the following angle ∠DHC is 0 or 2π.

[0067] Furthermore, the following state includes linear following state and non-linear following state.

[0068] It should be noted that the straight-line following state includes a following angle between a first threshold and a second threshold, where the threshold range is between the first threshold and the second threshold.

[0069] Non-linear following states include following angles outside the range of the first and second thresholds.

[0070] Furthermore, the threshold includes OD as the following distance, d as the width of the object being followed, and the first threshold as 2*arctan(d / 2OD). min The second threshold is 2*arctan(d / 2OD). max ), OD min OD is the perpendicular distance from the origin O to the surface of the object following in the following direction. max This is the maximum value that the ranging module can measure.

[0071] Step 106: Determine the following state based on the following angle, and control the following object based on the following state.

[0072] Furthermore, N similar ranging modules are set on the surface in the following direction of the object, where N is a positive integer. Each ranging module has a fixed detection area, denoted as the Nth detection area.

[0073] It should be noted that if there are no abrupt changes in any of the N detection areas, the location of the object being followed is determined based on the return tracking angle, and longitudinal control is performed based on the distance value returned from that area. In this case, lateral control is not performed.

[0074] It should be noted that if there is a sudden change in one of the N detection areas, the location of the object being followed is determined based on the return tracking angle. If the area of ​​the sudden change and the location of the object being followed are not in the same area, longitudinal control is performed based on the return distance value of the pedestrian's location, and lateral control is not performed at this time.

[0075] Furthermore, if the mutation area and the area where the followed object is located belong to the same area, then there is an obstacle between the followed object and the followed object, so it enters the obstacle stop. After the obstacle leaves the following range or is removed by human intervention, the followed object continues to run.

[0076] Furthermore, if the mutation area changes in the forward or reverse order of the detection area position, and the minimum number of changed areas is two, it is determined that there is a moving obstacle crossing the area, and the obstacle has not left the following range. Then, based on the dynamic distance value returned by the ranging module, the movement trajectory of the obstacle is established, and obstacle avoidance is performed according to this movement trajectory. After obstacle avoidance is completed, the following is resumed.

[0077] It should be noted that the trajectory of the obstacle's movement involves treating the distance value at each moment as a discrete point, fitting the discrete points into a curve, and that curve is the trajectory of the obstacle's movement.

[0078] An automatic following system based on hybrid positioning, characterized in that it includes a preset module, a positioning and acquisition module, and a control module.

[0079] The preset module is used to set the ultra-wideband signal tag on the surface of the object being followed, set the ultra-wideband signal anchor point on the upper surface of the object being followed, and set the ranging module on the surface of the object in the following direction.

[0080] The positioning and acquisition module is used to perform three-base station positioning based on data from the ultra-wideband signal tag, ultra-wideband signal anchor point, and ranging module, and to acquire the following angle.

[0081] The control module is used to determine the following state based on the following angle, and to control the following object based on the following state.

[0082] The above-mentioned unit modules can be embedded in the processor of the computer device in hardware form or independent of it, or they can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of the above modules.

[0083] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements an automatic following method based on hybrid positioning. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0084] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0085] Set an ultra-wideband signal tag on the surface of the object being followed, set an ultra-wideband signal anchor point on the upper surface of the object being followed, and set the ranging module on the surface of the object in the following direction.

[0086] Three-base station positioning is performed based on data from ultra-wideband signal tags, ultra-wideband signal anchor points, and ranging modules, and the following angle is obtained.

[0087] The following state is determined based on the following angle, and the following control is performed on the object being followed based on the following state.

[0088] Example 2

[0089] Reference Figure 1-4 As an embodiment of the present invention, an automatic following method and system based on hybrid positioning is provided. In order to verify the beneficial effects of the present invention, comparative experiments are conducted for scientific demonstration.

[0090] Table 1 shows partial data from a hybrid positioning and automatic following test in a certain month of 2022.

[0091]

[0092] This invention proposes an automatic following method and system based on hybrid positioning. This patent utilizes a hybrid positioning scheme to make the following effect more stable and reliable, improving the user experience and reducing the risk of collisions with the robot. In complex indoor environments, this patent uses a ranging sensor to assist UWB signal positioning, increasing positioning reliability. Compared to traditional compensation algorithms, it reduces the system's computational load, response time, and real-time performance. The ranging sensor installed at the robot's front end can not only be used for hybrid positioning but also for obstacle avoidance or stopping, reducing robot manufacturing costs, effectively reducing the number of obstacle avoidance sensors, and increasing the stability and reliability of following.

[0093] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

[0094] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0095] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0096] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0098] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0099] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An automatic following method based on hybrid positioning, characterized in that: include, Set an ultra-wideband signal tag on the surface of the object being followed, set an ultra-wideband signal anchor point on the upper surface of the object being followed, and set the ranging module on the surface of the object in the following direction. Based on the data from the ultra-wideband signal tag, ultra-wideband signal anchor point, and ranging module, three-base station positioning is performed, and the following angle is obtained; The following state is determined based on the following angle, and the following object is controlled based on the following state. The following state includes a linear following state and a non-linear following state. The linear following state includes a following angle between a first threshold and a second threshold, where the threshold range is between the first threshold and the second threshold. The non-linear following state includes a following angle outside the range between the first threshold and the second threshold. The thresholds include... OD is the following distance, denoted as d for the width of the object being followed, and the first threshold is 2. arctan(d / 2ODmin), the second threshold is 2 arctan(d / 2ODmax), where ODmin is the perpendicular distance from the origin O to the surface of the object in the following direction, and ODmax is the maximum value that the ranging module can measure; also include, N similar ranging modules are set on the surface in the following direction of the object, where N is a positive integer. Each ranging module has a fixed detection area, denoted as the Nth detection area. If there are no abrupt changes in any of the N detection areas, the location of the object being followed is determined based on the returned tracking angle, and longitudinal control is performed based on the distance value returned from that area. In this case, lateral control is not performed. If there is a sudden change in one of the N detection areas, the location of the followed object is determined based on the return tracking angle. If the sudden change area and the location of the followed object are not in the same area, longitudinal control is performed based on the return distance value of the pedestrian's location area, and lateral control is not performed at this time. If the mutation region and the region where the followed object is located are in the same region, then there is an obstacle between the followed object and the followed object. Therefore, the object enters the obstacle stop. Once the obstacle leaves the following range or is removed by human intervention, the followed object continues to run. If the mutation area changes in the forward or reverse order of the detection area position, and the minimum number of changed areas is two, it is determined that there is a moving obstacle crossing the area, and the obstacle has not left the following range. Then, based on the dynamic distance value returned by the ranging module, the movement trajectory of the obstacle is established, and obstacle avoidance is performed according to this movement trajectory. After obstacle avoidance is completed, the following is resumed. The movement trajectory of the obstacle includes treating the distance value at each moment as a discrete point, fitting the discrete points into a curve, and the curve is the movement trajectory of the obstacle.

2. The automatic following method based on hybrid positioning as described in claim 1, characterized in that: The ultra-wideband signal anchor point includes three anchor points arranged in an equilateral triangle on the upper surface of the object being followed, with one vertex of the equilateral triangle pointing to the object being followed in a straight line. The ultra-wideband signal tag includes one tag, and the sum of the recognition range of the ranging module can cover the entire width of the object being followed.

3. The automatic following method based on hybrid positioning as described in claim 2, characterized in that: It also includes, Determine whether the following angle is within the threshold range for linear following; If the following angle is not within the threshold range, then horizontal and vertical control is performed based on the positioning information of the three base stations until the following angle is within the threshold range for straight-line following. If the following angle is within the threshold range, the presence of an obstacle within the ranging range is determined by the ranging module data. If there is an obstacle, obstacle avoidance or stopping will be performed based on the information returned by the ranging module. If there are no obstacles, longitudinal control is performed based on the distance information returned by the ranging module, and lateral control is not performed at this time.

4. The automatic following method based on hybrid positioning as described in claim 3, characterized in that: The three-base station positioning includes, Let A, B, and C be the three anchor points, with anchor C being the fixed point of the equilateral triangle of the object being followed when the line is pointing straight. Let E be the location of the label on the object being followed, D be the projection of E onto the plane containing triangle ABC, H be the center of triangle ABC, and O be the midpoint of side AB. Establish a spatial rectangular coordinate system with O as the origin, the plane containing triangle ABC as the xoy plane, the xoz plane containing side AB, and OD be the following distance. To follow the angle; ; ; When the values ​​of AE and BE are equal, the following angle... The value is 0 or 2π.

5. An automatic following system based on hybrid positioning, applied to the method described in any one of claims 1-4, characterized in that: It includes a preset module, a positioning and acquisition module, and a control module. The preset module is used to set an ultra-wideband signal tag on the surface of the object being followed, set an ultra-wideband signal anchor point on the upper surface of the object being followed, and set a ranging module on the surface of the object being followed in the following direction. The positioning and acquisition module is used to perform three-base station positioning based on the data from the ultra-wideband signal tag, ultra-wideband signal anchor point and ranging module, and to acquire the following angle. The control module is used to determine the following state based on the following angle, and to control the following object based on the following state.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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