Label positioning system, label positioning method and label positioning device

Abstract

The invention relates to the technical field of positioning systems, and provides a label positioning system, a label positioning method and a label positioning device. The label positioning system comprises a target label and a positioning base station, and the target label sends an ultra-wideband signal to scan the surrounding environment; when the positioning base station enters the sleep state, the timer is reset and starts counting, and when the count exceeds a first set threshold value, the positioning base station quits the sleep state and enters the working state; the current first set threshold value is obtained according to the moving speed prediction information of the target label carried by the ultra-wideband signal monitored recently before the current working state is carried out; when the positioning base station monitors the ultra-wideband signal in the current working state, the positioning information of the positioning base station itself is sent to the target label; and the target label obtains the current position of the target label according to the positioning information sent by the positioning base station. By adopting the system, the sleep time of the positioning base station can be prolonged and the power consumption of the positioning base station can be reduced when the target label moves slowly.

Description

Technical Field

[0001] The present application relates to the technical field of positioning systems, and in particular to a tag positioning system, a tag positioning method, a tag positioning device, a tag, a positioning base station, a computer-readable storage medium, and a computer program product. Background Art

[0002] Ultra-wideband technology can provide better positioning performance in complex indoor environments and can realize the positioning of various targets such as personnel, equipment, and vehicles. In a tag positioning system based on ultra-wideband signals, the ultra-wideband signal can be used to calculate the position of the tag relative to the base station.

[0003] However, when the tag positioning system based on ultra-wideband signals is powered by batteries, it has a short battery life and requires frequent battery replacement, which brings additional labor input and maintenance costs. Summary of the invention

[0004] Based on this, it is necessary to provide a tag positioning system, a tag positioning method, a tag positioning device, a tag, a positioning base station, a computer-readable storage medium and a computer program product to address the above technical problems.

[0005] In a first aspect, the present application provides a tag positioning system, comprising:

[0006] A target tag is used to: send an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the target tag's own estimated moving speed information;

[0007] The positioning base station is used to: when entering the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold value, the sleep state is exited and the working state is entered; the first set threshold value is obtained according to the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state; the estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold value;

[0008] The positioning base station is further used to: in the current working state, continuously monitor the ultra-wideband signal in the surrounding environment, and when the ultra-wideband signal is monitored, send the positioning information of the positioning base station itself to the target tag; the positioning information includes the location information of the positioning base station itself and the time information of monitoring the ultra-wideband signal;

[0009] The target tag is also used to obtain its own current location according to the positioning information sent by the positioning base station.

[0010] In one of the embodiments, the target tag is further used to: after determining its own current position according to the positioning information, feed back an ultra-wideband signal including its own current position information to the positioning base station at a frequency lower than a frequency threshold.

[0011] In one of the embodiments, the positioning base station is also used to: when receiving an ultra-wideband signal including the current location information of the target tag, send the ultra-wideband signal including the current location information of the target tag to the surrounding environment, so that the adjacent positioning base station performs the following steps: when the information of the ultra-wideband signal including the current location information of the target tag indicates that the target tag has moved to the vicinity of this end, the timer is reset and stops counting to keep it in a working state.

[0012] In one of the embodiments, the positioning base station is further used for: in the current working state, when the positioning base station monitors that the signal strength of the ultra-wideband signal emitted by the target tag exceeds a set strength threshold, the timer is reset and stops counting to maintain the current working state.

[0013] In one of the embodiments, the positioning base station is further used to: in the current working state, when the ultra-wideband signal in the surrounding environment is not monitored for a set time, the timer is reset and starts counting, and when the count exceeds a second set threshold, the current working state is exited and the next sleep state is entered;

[0014] Alternatively, in this working state, when the ultra-wideband signal strength in the surrounding environment is monitored for a set time period and is lower than a set strength threshold, the timer is reset and starts counting. When the count exceeds a second set threshold, the working state is exited and the next sleep state is entered.

[0015] In one embodiment, the plurality of positioning base stations are arranged in a rectangular manner, and the plurality of positioning base stations are arranged in two columns. In any two adjacent rows, the shape of the line connecting two adjacent positioning base stations in the first column and two adjacent positioning base stations in the second column is a rectangle.

[0016] In a second aspect, the present application further provides a tag positioning method, which is applied to a target tag in a tag positioning system, comprising:

[0017] An ultra-wideband signal is sent at a frequency higher than a frequency threshold to scan the surrounding environment; so that the positioning base station performs the following steps: when entering the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold this time, the current sleep state is exited and the current working state is entered; in the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored, and when the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag; the first set threshold this time is obtained by the target tag's own moving speed estimated information carried by the ultra-wideband signal most recently monitored before the current working state; the moving speed estimated information indicates that the smaller the estimated moving speed, the larger the first set threshold this time; the positioning information includes the location information of the positioning base station itself and the time information of the ultra-wideband signal being monitored;

[0018] The current position of the device is obtained according to the positioning information sent by the positioning base station.

[0019] In a third aspect, the present application further provides a tag positioning device, which is applied to a target tag in a tag positioning system, comprising:

[0020] The signal sending module is used to send ultra-wideband signals at a frequency higher than the frequency threshold to scan the surrounding environment; so that the positioning base station executes the following steps: when entering the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold this time, the current sleep state is exited and the current working state is entered; in the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored, and when the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag; the first set threshold this time is obtained by the target tag's own moving speed estimated information carried by the ultra-wideband signal most recently monitored before the current working state; the moving speed estimated information indicates that the smaller the estimated moving speed, the larger the first set threshold this time; the positioning information includes the location information of the positioning base station itself and the time information positioning base station when the ultra-wideband signal is monitored;

[0021] The location determination module is used to obtain its own current location according to the location information sent by the positioning base station.

[0022] In a fourth aspect, the present application further provides a tag positioning method, which is applied to a positioning base station in a tag positioning system, wherein the tag positioning system further includes a target tag, wherein the target tag sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the estimated moving speed information of the target tag itself; the method includes:

[0023] When entering the current sleep state, the timer is reset and starts counting. When the count exceeds the first set threshold value, the sleep state is exited and the working state is entered. The first set threshold value is obtained according to the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold value.

[0024] In the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored. When the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag, so that the target tag can obtain its current position according to the positioning information sent by the positioning base station; the positioning information includes the positioning base station's own position information and the time information of monitoring the ultra-wideband signal.

[0025] In a fifth aspect, the present application further provides a tag positioning device, which is applied to a positioning base station in a tag positioning system, wherein the tag positioning system further includes a target tag, wherein the target tag sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the estimated moving speed information of the target tag itself; the device includes:

[0026] The current sleep state operation module is used to reset the timer and start counting when entering the current sleep state, and when the count exceeds the first set threshold value, exit the current sleep state and enter the current working state; the first set threshold value is obtained according to the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state; the estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold value;

[0027] The current working state operation module is used to continuously monitor the ultra-wideband signal in the surrounding environment in the current working state. When the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag, so that the target tag can obtain its current position according to the positioning information sent by the positioning base station; the positioning information includes the positioning base station's own position information and the time information of monitoring the ultra-wideband signal.

[0028] In a sixth aspect, the present application further provides a tag, wherein the tag comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the above method applied to a target tag.

[0029] In a seventh aspect, the present application further provides a positioning base station. The positioning base station includes a memory and a processor, the memory stores a computer program, and the processor executes the above method applied to the positioning base station.

[0030] In an eighth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to execute the above method.

[0031] In a ninth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and the computer program is executed by a processor to execute the above method.

[0032] The above-mentioned tag positioning system includes a target tag and a positioning base station, wherein the target tag sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the target tag's own estimated moving speed information; when the positioning base station enters the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold this time, the current sleep state is exited and the current working state is entered; the first set threshold this time is obtained based on the target tag's own estimated moving speed information carried by the ultra-wideband signal most recently monitored before the current working state; the moving speed prediction information indicates that the smaller the expected moving speed, the larger the first set threshold this time; in the current working state, the positioning base station continuously monitors the ultra-wideband signal in the surrounding environment, and when the ultra-wideband signal is monitored, the positioning base station sends its own positioning information to the target tag; the positioning information includes the positioning base station's own position information and the time information of the ultra-wideband signal being monitored; the target tag also obtains its own current position based on the positioning information sent by the positioning base station. The first set threshold value of the positioning base station in this sleep state of the present application is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. When the estimated moving speed is smaller, the first set threshold value is larger, and the period of this sleep state is longer. The positioning base station can be put into a long sleep period when the target tag moves slowly. When the tag positioning system is battery-powered, the power consumption of the positioning base station can be reduced, and the endurance of the positioning base station can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A diagram of an application environment of a tag positioning system method in an embodiment;

[0035] Figure 2 A schematic diagram of a rectangular arrangement of positioning base stations in an embodiment;

[0036] Figure 3 A schematic diagram of a scanning range of a target tag in one embodiment;

[0037] Figure 4 A schematic diagram of the association between the estimated moving speed of a target tag and a sleep cycle in one embodiment;

[0038] Figure 5 A schematic diagram of a positioning base station sending its own positioning information to a target tag in an embodiment;

[0039] Figure 6 A schematic diagram of a positioning base station extension process in one embodiment;

[0040] Figure 7 A schematic diagram of a flow chart of a tag positioning method in one embodiment;

[0041] Figure 8 is a structural block diagram of a label positioning device in one embodiment;

[0042] Fig. 9 is a flow chart of another tag positioning method in one embodiment;

[0043] Fig.10 It is a structural block diagram of another label positioning device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] The label positioning system provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. The above-mentioned tag positioning system includes a target tag and a positioning base station, wherein the target tag sends an ultra-wideband signal at a frequency higher than the frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the target tag's own estimated moving speed information. When the positioning base station enters the current sleep state, the timer is reset and starts counting. When the count exceeds the first set threshold, it exits the current sleep state and enters the current working state; the first set threshold is obtained based on the target tag's own estimated moving speed information carried by the ultra-wideband signal most recently monitored before the current working state; the estimated moving speed information indicates that the smaller the expected moving speed, the larger the first set threshold. In this working state, the positioning base station continuously monitors the ultra-wideband signal in the surrounding environment, and when the ultra-wideband signal is monitored, the positioning base station sends its own positioning information to the target tag; the positioning information includes the positioning base station's own location information and the time information of the ultra-wideband signal being monitored. The target tag also obtains its current position based on the positioning information sent by the positioning base station.

[0046] The tag positioning system includes a target tag and multiple positioning base stations, wherein the multiple positioning base stations are arranged in a rectangular manner, and the multiple positioning base stations are arranged in two columns. In any two adjacent rows, the shape of the line connecting the two adjacent positioning base stations in the first column and the two adjacent positioning base stations in the second column is a rectangle. Figure 2 As shown in the figure, the positioning base stations are arranged in a rectangular manner and extend according to the direction of the positioning area (positioning space). When the target tag moves, the nearest positioning base station can be dynamically selected for positioning. There are always 4 positioning base stations to locate the target tag, thereby ensuring that the positioning result of the target tag has sufficient accuracy.

[0047] The positioning base station may include a circuit board, an external antenna, a battery and a casing. The circuit board includes an ultra-wideband chip, a power supply circuit, an antenna connection circuit and a debugging interface.

[0048] In order to reduce the power consumption of the positioning base station, a timer can be built into the positioning base station, and the built-in timer can be used to trigger the positioning base station to enter / exit the sleep state according to a set period. When the positioning base station triggers itself to enter / exit the sleep state periodically through the built-in timer, the positioning base station can be said to be in a low power consumption mode.

[0049] When the target tag enters the positioning area for the first time, the positioning base station is triggered to work. Since all positioning base stations are in low power mode at this time, they can only intermittently monitor the ultra-wideband signal in the environment. In order to trigger the positioning base station to enter the working state, the target tag needs to send ultra-wideband signals (ultra-wideband broadcast signals) at a high frequency to scan the surrounding environment. The ultra-wideband signal carries the target tag's own estimated moving speed information. Figure 3As shown, the circle indicates that the signal strength of the ultra-wideband signal sent by the target tag within this range exceeds the trigger threshold set by the positioning base station, which is the scanning range of the target tag.

[0050] When the positioning base station enters the current sleep state, the timer is reset and starts counting. When the count exceeds the first set threshold, it exits the current sleep state and enters the current working state. The first set threshold is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The positioning base station can reset the first set threshold of the current sleep state based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The smaller the estimated moving speed, the larger the first set threshold. Figure 4 As shown, if the target tag is stationary, the first set threshold of the current sleep state is set to the maximum value. If the target tag is expected to move faster, the first set threshold is gradually increased, that is, the sleep cycle time (Tsleep) is reduced.

[0051] The ultra-wideband signal most recently monitored before the current working state includes two situations: the ultra-wideband signal emitted by the target tag monitored in the last working state or the ultra-wideband signal including the moving speed of the target tag emitted by the adjacent positioning base station; the ultra-wideband signal including the moving speed of the target tag emitted by the adjacent positioning base station is emitted after receiving the feedback signal including the current position information of the target tag.

[0052] In this working state, the positioning base station continuously monitors the ultra-wideband signal in the surrounding environment. When the ultra-wideband signal is detected, the positioning base station sends its own positioning information to the target tag, such as Figure 5 As shown in the figure, Sm-1 is the ultra-wideband signal sent by the target tag, and S1-1, S2-1 and S3-1 are the positioning information sent by positioning base station 1, positioning base station 2 and positioning base station 3 when they monitor the ultra-wideband signal Sm-1. The ultra-wideband signal including positioning information can be called a synchronization signal or a positioning signal, and the positioning information can include the location information of the positioning base station itself and the time information of monitoring the ultra-wideband signal. The location information of the positioning base station itself can include the number and coordinates of the positioning base station itself.

[0053] The target tag can also obtain the delay time between the positioning base station receiving the signal and the target tag sending the signal based on its own position information in the positioning information sent by the positioning base station and the time information of the ultra-wideband signal monitored. Based on the delay time and the position information of the positioning base station itself, the current position of the target tag can be calculated through triangulation or positioning algorithm.

[0054] In this embodiment, the first set threshold value of the positioning base station in this sleep state is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. When the estimated moving speed is smaller, the first set threshold value is larger, and the period of this sleep state is longer. The positioning base station can be put into a long sleep period during the slow movement of the target tag. When the tag positioning system is battery-powered, the power consumption of the positioning base station can be reduced and the endurance of the positioning base station can be improved; the time interval for replacing the battery of the positioning base station can be extended to reduce the use cost of the tag positioning system; the deployment of the tag positioning system can be made more flexible, expanding the use scenarios of the tag positioning system.

[0055] In one of the embodiments, the target tag is further used to: after determining its current position according to the positioning information, feed back an ultra-wideband signal including its current position information to the positioning base station at a frequency lower than the frequency threshold.

[0056] After the target tag determines its current location based on the positioning information, it has completed the discovery of the positioning base station. At this time, the target tag enters the positioning state and no longer sends ultra-wideband signals at a frequency higher than the frequency threshold. Only after receiving the positioning information sent by the positioning base station, it feeds back the ultra-wideband signal including its current location information to the positioning base station at a frequency lower than the frequency threshold.

[0057] In this embodiment, after the target tag determines its current location according to the positioning information, the target tag feeds back an ultra-wideband signal including its current location information to the positioning base station at a frequency lower than the frequency threshold, which can reduce the power consumption of the target tag.

[0058] In one of the embodiments, the positioning base station is further used to send the ultra-wideband signal including the current location information of the target tag to the surrounding environment when the ultra-wideband signal including the current location information of the target tag is received, so that the neighboring positioning base stations perform the following steps: when the information of the ultra-wideband signal including the current location information of the target tag indicates that the target tag has moved to the vicinity of this end, the timer is reset and stops counting to keep it in a working state.

[0059] After the target tag determines its current position according to the positioning information, the target tag completes the discovery of the positioning base station. At this time, the target tag enters the positioning state and no longer sends the ultra-wideband signal at a frequency higher than the frequency threshold. Only after receiving the positioning information sent by the positioning base station, the ultra-wideband signal including its current position information is fed back to the positioning base station at a frequency lower than the frequency threshold. The ultra-wideband signal including its current position information may not be monitored by the positioning base station in the low power consumption mode. At this time, when the positioning base station receives the ultra-wideband signal including the current position information of the target tag, it sends the ultra-wideband signal including the current position information of the target tag to the surrounding environment, so that the neighboring positioning base station receives the ultra-wideband signal including the current position information of the target tag. When the information of the ultra-wideband signal including the current position information of the target tag indicates that the target tag moves to the vicinity of the neighboring positioning base station, the timer of the neighboring positioning base station is reset and stops counting to keep the neighboring positioning base station in the working state, so that the positioning base station in front of the target tag is continuously activated during the process of the target tag moving forward. This process can be called a positioning base station extension process.

[0060] When the information of the ultra-wideband signal including the current location information of the target tag indicates that the target tag has moved away from the positioning base station, the positioning base station will stop the positioning interaction with the target tag, thus realizing the exit process of the positioning base station.

[0061] like Figure 6 As shown, positioning base station 1, positioning base station 2, positioning base station 3 and positioning base station 4 send positioning information to the target tag, so that the target tag can obtain its current position, and feed back the ultra-wideband signal including its current position information to positioning base station 1, positioning base station 2, positioning base station 3 and positioning base station 4 at a frequency lower than the frequency threshold. When positioning base station 1, positioning base station 2, positioning base station 3 and positioning base station 4 receive the ultra-wideband signal including the current position information of the target tag, they send the ultra-wideband signal including the current position information of the target tag to the surrounding environment.

[0062] Since the ultra-wideband signals including the current location information of the target tag sent by positioning base station 1, positioning base station 2, positioning base station 3 and positioning base station 4 are distributed in various time slots, it can be ensured with a high probability that positioning base station 5 and positioning base station 6 can monitor a certain ultra-wideband signal including the current location information of the target tag sent by positioning base station 1, positioning base station 2, positioning base station 3 and positioning base station 4 in low power consumption mode, so that positioning base station 5 and positioning base station 6 can obtain the current location information of the target tag. When the information of the ultra-wideband signal including the current location information of the target tag indicates that the target tag moves to the vicinity of positioning base station 5 and positioning base station 6, the timers of positioning base station 5 and positioning base station 6 are reset and stop counting to keep positioning base station 5 and positioning base station 6 in working state, so that in the process of the target tag moving toward positioning base station 5 and positioning base station 6, positioning base station 5 and positioning base station 6 can be kept in working state, thereby realizing the base station extension process.

[0063] In this embodiment, when the information of the ultra-wideband signal including the current location information of the target tag indicates that the target tag moves to the vicinity of the adjacent positioning base station, the timer of the adjacent positioning base station is reset and stops counting to keep the adjacent positioning base station in a working state, thereby realizing the base station extension process. During the movement of the target tag, the target tag can continuously update its current location according to the positioning information sent by the positioning base station, thereby realizing the positioning of the target tag.

[0064] In one of the embodiments, the positioning base station is further used to reset the timer and stop counting in the current working state when the positioning base station monitors that the signal strength of the ultra-wideband signal emitted by the target tag exceeds a set strength threshold, thus ending the current working state.

[0065] When the positioning base station detects that the signal strength of the ultra-wideband signal emitted by the target tag exceeds the set strength threshold, the timer is reset and stops counting to keep the positioning base station in the current working state, thereby ensuring that when the target tag is near the positioning base station, the positioning base station can remain in the current working state so that the target tag can be positioned.

[0066] In one of the embodiments, the positioning base station is also used to reset the timer and start counting when the ultra-wideband signal in the surrounding environment is not monitored for a set period of time in the current working state, and when the count exceeds a second set threshold, exit the current working state and enter the next sleep state; or, in the current working state, when the ultra-wideband signal strength in the surrounding environment is monitored for a set period of time and is lower than a set strength threshold, the timer is reset and starts counting, and when the count exceeds the second set threshold, exit the current working state and enter the next sleep state.

[0067] When the positioning base station fails to monitor the ultra-wideband signal in the surrounding environment for a set period of time in the current working state, it indicates that the target tag is not near the positioning base station. At this time, the timer of the positioning base station is reset and starts counting. When the count exceeds the second set threshold, the current working state is exited and the next sleep state is entered. The positioning base station is not allowed to remain in the current working state all the time, but enters the sleep state according to the set period, which can reduce the power consumption of the positioning base station.

[0068] When the positioning base station continuously monitors the ultra-wideband signal strength in the surrounding environment for a set period of time lower than the set strength threshold in the current working state, it indicates that the target tag is not near the positioning base station. At this time, the timer of the positioning base station is reset and starts counting. When the count exceeds the second set threshold, the current working state is exited and the next sleep state is entered. The positioning base station is not allowed to remain in the current working state all the time, but enters the sleep state according to the set period, which can reduce the power consumption of the positioning base station.

[0069] The present application provides a tag positioning method, which can be executed by a target tag in a tag positioning system. The target tag sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment, and then obtains its current position based on the positioning information sent by the positioning base station. In this embodiment, the method includes Figure 7 The steps shown are:

[0070] Step S701, sending an ultra-wideband signal at a frequency higher than the frequency threshold to scan the surrounding environment; so that the positioning base station executes the following steps: when entering the current sleep state, the timer is reset and starts counting, when the count exceeds the first set threshold this time, exit the current sleep state and enter the current working state; in the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored, and when the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag; the first set threshold this time is obtained by the target tag's own moving speed estimated information carried by the ultra-wideband signal most recently monitored before the current working state; the moving speed estimated information indicates that the smaller the estimated moving speed, the larger the first set threshold this time; the positioning information includes the location information of the positioning base station itself and the time information positioning base station when the ultra-wideband signal is monitored.

[0071] In order to reduce the power consumption of the positioning base station, a timer can be built into the positioning base station, and the built-in timer can be used to trigger the positioning base station to enter / exit the sleep state according to a set period. When the positioning base station triggers itself to enter / exit the sleep state periodically through the built-in timer, the positioning base station can be said to be in a low power consumption mode.

[0072] When the target tag enters the positioning area for the first time, the positioning base station is triggered to work. Since all positioning base stations are in low power mode at this time, they can only intermittently monitor the ultra-wideband signal in the environment. In order to trigger the positioning base station to enter the working state, the target tag needs to send ultra-wideband signals (ultra-wideband broadcast signals) at a high frequency to scan the surrounding environment. The ultra-wideband signal carries the target tag's own estimated moving speed information. Figure 3 As shown, the blue circle indicates that the signal strength of the ultra-wideband signal sent by the target tag within this range exceeds the trigger threshold set by the positioning base station.

[0073] When the positioning base station enters the current sleep state, the timer is reset and starts counting. When the count exceeds the first set threshold, it exits the current sleep state and enters the current working state. The first set threshold is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The positioning base station can reset the first set threshold of the current sleep state based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The smaller the estimated moving speed, the larger the first set threshold. Figure 4 As shown, if the target tag is stationary, the first set threshold of the current sleep state is set to the maximum value. If the target tag is expected to move faster, the first set threshold is gradually increased, that is, the sleep cycle time is reduced.

[0074] The ultra-wideband signal most recently monitored before the current working state includes two situations: the ultra-wideband signal emitted by the target tag monitored in the last working state or the ultra-wideband signal including the moving speed of the target tag emitted by the adjacent positioning base station; the ultra-wideband signal including the moving speed of the target tag emitted by the adjacent positioning base station is emitted after receiving the feedback signal including the current position information of the target tag.

[0075] In this working state, the positioning base station continuously monitors the ultra-wideband signal in the surrounding environment. When the ultra-wideband signal is detected, the positioning base station sends its own positioning information to the target tag, such as Figure 5 The ultra-wideband signal including positioning information may be referred to as a synchronization signal or a positioning signal, and the positioning information may include the location information of the positioning base station itself and the time information when the ultra-wideband signal is monitored. The location information of the positioning base station itself may include the number and coordinates of the positioning base station itself.

[0076] Step 702: Obtain the current location of the device according to the positioning information sent by the positioning base station.

[0077] The target tag can obtain the delay time between the positioning base station receiving the signal and the target tag sending the signal based on its own position information in the positioning information sent by the positioning base station and the time information of the ultra-wideband signal monitored. Based on the delay time and the position information of the positioning base station itself, the current position of the target tag can be calculated through triangulation or positioning algorithm.

[0078] In the above tag positioning method, the first set threshold value of the positioning base station in this sleep state is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. When the estimated moving speed is smaller, the first set threshold value is larger, and the period of this sleep state is longer. The positioning base station can be put into a long sleep period during the slow movement of the target tag. When the tag positioning system is battery-powered, the power consumption of the positioning base station can be reduced and the endurance of the positioning base station can be improved. The time interval for replacing the battery of the positioning base station can be extended to reduce the use cost of the tag positioning system. The deployment of the tag positioning system can be made more flexible, expanding the use scenarios of the tag positioning system.

[0079] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0080] Based on the same inventive concept, the embodiment of the present application also provides a label positioning device for implementing the label positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the label positioning device provided below can refer to the limitations of the label positioning method above, and will not be repeated here.

[0081] In an exemplary embodiment, Figure 8 As shown, a label positioning device is provided, which is applied to a target label in a label positioning system, wherein:

[0082] The signal sending module 801 is used to send an ultra-wideband signal at a frequency higher than the frequency threshold to scan the surrounding environment; so that the positioning base station executes the following steps: when entering the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold this time, the current sleep state is exited and the current working state is entered; in the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored, and when the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag; the first set threshold this time is obtained by the target tag's own moving speed estimated information carried by the ultra-wideband signal most recently monitored before the current working state; the moving speed estimated information indicates that the smaller the estimated moving speed, the larger the first set threshold this time; the positioning information includes the location information of the positioning base station itself and the time information positioning base station when the ultra-wideband signal is monitored;

[0083] The location determination module 802 is used to obtain its own current location according to the positioning information sent by the positioning base station.

[0084] Each module in the above-mentioned tag positioning device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0085] The present application also provides another tag positioning method, which can be performed by a positioning base station in a tag positioning system. The tag positioning system also includes a target tag, which sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the target tag's own estimated moving speed information. In this embodiment, the method includes Fig. 9 The steps shown are:

[0086] Step S901, when entering the current sleep state, the timer is reset and starts counting. When the count exceeds the first set threshold, the sleep state is exited and the working state is entered. The first set threshold is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold.

[0087] The positioning base station may include a circuit board, an external antenna, a battery and a casing. The circuit board includes an ultra-wideband chip, a power supply circuit, an antenna connection circuit and a debugging interface.

[0088] In order to reduce the power consumption of the positioning base station, a timer can be built into the positioning base station, and the built-in timer can be used to trigger the positioning base station to enter / exit the sleep state according to a set period. When the positioning base station triggers itself to enter / exit the sleep state periodically through the built-in timer, the positioning base station can be said to be in a low power consumption mode.

[0089] When the target tag enters the positioning area for the first time, the positioning base station is triggered to work. Since all positioning base stations are in low power mode at this time, they can only intermittently monitor the ultra-wideband signal in the environment. In order to trigger the positioning base station to enter the working state, the target tag needs to send ultra-wideband signals (ultra-wideband broadcast signals) at a high frequency to scan the surrounding environment. The ultra-wideband signal carries the target tag's own estimated moving speed information. Figure 3 As shown, the blue circle indicates that the signal strength of the ultra-wideband signal sent by the target tag within this range exceeds the trigger threshold set by the positioning base station.

[0090] When the positioning base station enters the current sleep state, the timer is reset and starts counting. When the count exceeds the first set threshold, it exits the current sleep state and enters the current working state. The first set threshold is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The positioning base station can reset the first set threshold of the current sleep state based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The smaller the estimated moving speed, the larger the first set threshold. Figure 4 As shown, if the target tag is stationary, the first set threshold of the current sleep state is set to the maximum value. If the target tag is expected to move faster, the first set threshold is gradually increased, that is, the sleep cycle time is reduced.

[0091] The ultra-wideband signal most recently monitored before the current working state includes two situations: the ultra-wideband signal emitted by the target tag monitored in the last working state or the ultra-wideband signal including the moving speed of the target tag emitted by the adjacent positioning base station; the ultra-wideband signal including the moving speed of the target tag emitted by the adjacent positioning base station is emitted after receiving the feedback signal including the current position information of the target tag.

[0092] Step 902, in this working state, the ultra-wideband signal in the surrounding environment is continuously monitored. When the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag, so that the target tag can obtain its current position according to the positioning information sent by the positioning base station; the positioning information includes the positioning base station's own position information and the time information when the ultra-wideband signal is monitored.

[0093] In this working state, the positioning base station continuously monitors the ultra-wideband signal in the surrounding environment. When the ultra-wideband signal is detected, the positioning base station sends its own positioning information to the target tag, such as Figure 5 The ultra-wideband signal including positioning information may be referred to as a synchronization signal or a positioning signal, and the positioning information may include the location information of the positioning base station itself and the time information when the ultra-wideband signal is monitored. The location information of the positioning base station itself may include the number and coordinates of the positioning base station itself.

[0094] The target tag can also obtain the delay time between the positioning base station receiving the signal and the target tag sending the signal based on its own position information in the positioning information sent by the positioning base station and the time information of the ultra-wideband signal monitored. Based on the delay time and the position information of the positioning base station itself, the current position of the target tag can be calculated through triangulation or positioning algorithm.

[0095] In the above tag positioning method, the first set threshold value of the positioning base station in this sleep state is obtained based on the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. When the estimated moving speed is smaller, the first set threshold value is larger, and the period of this sleep state is longer. The positioning base station can be put into a long sleep period during the slow movement of the target tag. When the tag positioning system is battery-powered, the power consumption of the positioning base station can be reduced and the endurance of the positioning base station can be improved. The time interval for replacing the battery of the positioning base station can be extended to reduce the use cost of the tag positioning system. The deployment of the tag positioning system can be made more flexible, expanding the use scenarios of the tag positioning system.

[0096] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0097] Based on the same inventive concept, the embodiment of the present application also provides a label positioning device for implementing the label positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the label positioning device provided below can refer to the limitations of the label positioning method above, and will not be repeated here.

[0098] In an exemplary embodiment, Fig.10 As shown, a tag positioning device is provided, which is applied to a positioning base station in a tag positioning system. The tag positioning system also includes a target tag. The target tag sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the target tag's own estimated moving speed information, wherein:

[0099] The current sleep state operation module 1001 is used to reset the timer and start counting when entering the current sleep state, and when the count exceeds the first set threshold value, exit the current sleep state and enter the current working state; the first set threshold value is obtained according to the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state; the estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold value;

[0100] The current working state operation module 1002 is used to continuously monitor the ultra-wideband signal in the surrounding environment in the current working state, and when the ultra-wideband signal is monitored, send the positioning information of the positioning base station itself to the target tag, so that the target tag can obtain its current position according to the positioning information sent by the positioning base station; the positioning information includes the position information of the positioning base station itself and the time information of monitoring the ultra-wideband signal.

[0101] Each module in the above-mentioned tag positioning device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0102] In one embodiment, a tag is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiment applied to the target tag are implemented.

[0103] In one embodiment, a positioning base station is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned method embodiment applied to the positioning base station are implemented.

[0104] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0105] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0106] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0107] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0108] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0109] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A label positioning system, characterized in that: The system comprises: A target tag is used to: send an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; the ultra-wideband signal carries the target tag's own estimated moving speed information; The positioning base station is used to: when entering the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold value, the sleep state is exited and the working state is entered; the first set threshold value is obtained according to the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state; the estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold value; The positioning base station is further used to: in the current working state, continuously monitor the ultra-wideband signal in the surrounding environment, and when the ultra-wideband signal is monitored, send the positioning information of the positioning base station itself to the target tag; the positioning information includes the location information of the positioning base station itself and the time information of monitoring the ultra-wideband signal; The target tag is also used to obtain its own current location according to the positioning information sent by the positioning base station.

2. The system according to claim 1, characterized in that The target tag is further configured to: after determining its own current position according to the positioning information, feed back an ultra-wideband signal including its own current position information to the positioning base station at a frequency lower than a frequency threshold.

3. The system according to claim 2, characterized in that The positioning base station is also used to: when receiving an ultra-wideband signal including the current location information of the target tag, send the ultra-wideband signal including the current location information of the target tag to the surrounding environment, so that the adjacent positioning base station performs the following steps: when the information of the ultra-wideband signal including the current location information of the target tag indicates that the target tag has moved to the vicinity of this end, the timer is reset and stops counting to keep it in a working state.

4. The system according to claim 1, characterized in that The positioning base station is further used for: in this working state, when the positioning base station monitors that the signal strength of the ultra-wideband signal sent by the target tag exceeds a set strength threshold, resetting the timer and stopping counting to maintain the current working state.

5. The system according to claim 1, characterized in that The positioning base station is also used for: In the current working state, when the ultra-wideband signal in the surrounding environment is not monitored for a set period of time, the timer is reset and starts counting. When the count exceeds a second set threshold, the current working state is exited and the next sleep state is entered; Alternatively, in this working state, when the ultra-wideband signal strength in the surrounding environment is monitored for a set time period and is lower than a set strength threshold, the timer is reset and starts counting. When the count exceeds a second set threshold, the working state is exited and the next sleep state is entered.

6. The system according to claim 1, characterized in that The plurality of positioning base stations are arranged in a rectangular manner, and are arranged in two columns. In any two adjacent rows, the shape of the line connecting two adjacent positioning base stations in the first column and two adjacent positioning base stations in the second column is a rectangle.

7. A tag positioning method, characterized in that: The method is applied to a target tag in a tag positioning system, and includes: An ultra-wideband signal is sent at a frequency higher than a frequency threshold to scan the surrounding environment; so that the positioning base station performs the following steps: when entering the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold this time, the current sleep state is exited and the current working state is entered; in the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored, and when the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag; the first set threshold this time is obtained by the target tag's own moving speed estimated information carried by the ultra-wideband signal most recently monitored before the current working state; the moving speed estimated information indicates that the smaller the estimated moving speed, the larger the first set threshold this time; the positioning information includes the location information of the positioning base station itself and the time information of the ultra-wideband signal being monitored; The current position of the device is obtained according to the positioning information sent by the positioning base station.

8. A label positioning device, characterized in that: The device is applied to a target tag in a tag positioning system, and the device comprises: The signal sending module is used to send ultra-wideband signals at a frequency higher than the frequency threshold to scan the surrounding environment; so that the positioning base station executes the following steps: when entering the current sleep state, the timer is reset and starts counting, and when the count exceeds the first set threshold this time, the current sleep state is exited and the current working state is entered; in the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored, and when the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag; the first set threshold this time is obtained by the target tag's own moving speed estimated information carried by the ultra-wideband signal most recently monitored before the current working state; the moving speed estimated information indicates that the smaller the estimated moving speed, the larger the first set threshold this time; the positioning information includes the location information of the positioning base station itself and the time information positioning base station when the ultra-wideband signal is monitored; The location determination module is used to obtain its own current location according to the location information sent by the positioning base station.

9. A tag positioning method, characterized in that: The method is applied to a positioning base station in a tag positioning system, wherein the tag positioning system further comprises a target tag, wherein the target tag sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; The ultra-wideband signal carries the estimated moving speed information of the target tag itself; the method comprises: When entering the current sleep state, the timer is reset and starts counting. When the count exceeds the first set threshold value, the sleep state is exited and the working state is entered. The first set threshold value is obtained according to the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state. The estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold value. In the current working state, the ultra-wideband signal in the surrounding environment is continuously monitored. When the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag, so that the target tag can obtain its current position according to the positioning information sent by the positioning base station; the positioning information includes the positioning base station's own position information and the time information of monitoring the ultra-wideband signal.

10. A label positioning device, characterized in that: The device is applied to a positioning base station in a tag positioning system, wherein the tag positioning system further comprises a target tag, wherein the target tag sends an ultra-wideband signal at a frequency higher than a frequency threshold to scan the surrounding environment; The ultra-wideband signal carries the estimated moving speed information of the target tag itself; the device comprises: The current sleep state operation module is used to reset the timer and start counting when entering the current sleep state, and when the count exceeds the first set threshold value, exit the current sleep state and enter the current working state; the first set threshold value is obtained according to the estimated moving speed information of the target tag itself carried by the ultra-wideband signal most recently monitored before the current working state; the estimated moving speed information indicates that the smaller the estimated moving speed, the larger the first set threshold value; The current working state operation module is used to continuously monitor the ultra-wideband signal in the surrounding environment in the current working state. When the ultra-wideband signal is monitored, the positioning base station's own positioning information is sent to the target tag, so that the target tag can obtain its current position according to the positioning information sent by the positioning base station; the positioning information includes the positioning base station's own position information and the time information of monitoring the ultra-wideband signal.

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