UWB positioning device fault detection method and UWB positioning device

Abstract

The invention relates to a UWB positioning device fault detection method and a UWB positioning device.The UWB positioning device is arranged on a balcony of a building, and the method comprises the steps that a target positioning device receives a fault detection command; the target positioning device broadcasts and sends a positioning signal according to the fault detection command, so that the multiple auxiliary positioning devices return response signals; the target positioning device obtains a first distance between the target positioning device and each auxiliary positioning device according to the response signal; the target positioning device obtains multiple pieces of second position information of the target positioning device according to the multiple first distances; the target positioning device obtains a difference value between each piece of second position information and the first position information; the target positioning device judges whether each difference value is greater than or equal to a threshold value; and if all the difference values are smaller than or equal to the threshold value, the target positioning device judges that the target positioning device has no fault and keeps the first position information. According to the invention, fault detection of the UWB positioning device arranged on the building can be realized.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and in particular to a UWB positioning device fault detection method and a UWB positioning device. Background Art

[0002] With the development of information technology, the Internet and drone technology, drone delivery has become a hot topic in the industry. Drone delivery is a new form of low-altitude economy that closely combines logistics with low-altitude economy.

[0003] In the existing technology, drone delivery is mainly used to achieve delivery between logistics stations, such as delivery from a logistics center to a logistics substation, etc. However, in actual applications, the pain point of express delivery and logistics transportation is the "last 100 meters" of delivery, that is, the journey from the logistics substation to the hands of consumers / end users.

[0004] To deliver goods directly to the end user, drones can be used to deliver goods to the end user's balcony. Since the end user's balcony space is limited, the first problem to be solved when using drones to deliver goods directly to the end user is how to achieve the take-off and landing of drones in limited space. To achieve the take-off and landing of drones in the limited space of the balcony, a positioning device is required. The commonly used positioning device is the UWB (Ultra Wide Band, wireless carrier communication technology, referred to as UWB) positioning device.

[0005] UWB positioning devices are installed on the buildings where the end users are located, such as on the top of the building, the outer wall or the balcony of the building. These locations are usually exposed to the outdoors, which can easily cause aging and damage to the UWB positioning devices. If the UWB positioning device is damaged, fails or the positioning is deviated after aging, it is easy to cause drone delivery accidents.

[0006] In the prior art, it is still difficult to perform fault detection on a UWB positioning device installed on a building. Summary of the invention

[0007] In order to solve the above technical problem or at least partially solve the above technical problem, the present invention provides a UWB positioning device fault detection method and a UWB positioning device.

[0008] In a first aspect, the present invention provides a method for detecting a fault of a UWB positioning device, wherein the UWB positioning device is arranged on a balcony of a building, and the balcony of the building is used for delivering goods by a drone, and at least one UWB positioning device is arranged on each balcony of the building.

[0009] The UWB positioning device includes a target positioning device and an auxiliary positioning device, and the method includes:

[0010] The target positioning device receives a fault detection command;

[0011] The target positioning device broadcasts and sends a positioning signal according to the fault detection command, so that the plurality of auxiliary positioning devices return a response signal, wherein the positioning signal includes the first position information of the target positioning device;

[0012] The target positioning device acquires a first distance between the target positioning device and each of the auxiliary positioning devices according to the response signal;

[0013] The target positioning device acquires a plurality of second position information of the target positioning device according to the plurality of first distances;

[0014] The target positioning device obtains a difference between each second position information and the first position information;

[0015] The target positioning device determines whether each of the difference values ​​is greater than or equal to a threshold value;

[0016] If all the differences are less than or equal to the threshold, the target positioning device determines that it has no fault and retains the first position information.

[0017] Optionally, the target positioning device acquires a plurality of second position information of the target positioning device according to the plurality of first distances, including:

[0018] The target positioning device uses any four of the first distances as a calculation combination;

[0019] The target positioning device obtains all non-repetitive calculation combinations;

[0020] The target positioning device calculates the second position information according to each of the calculation combinations.

[0021] Optionally, the method further includes:

[0022] If all the differences are greater than the threshold, the target positioning device determines that it has failed;

[0023] If part of the difference values ​​is less than or equal to the threshold value and another part of the difference values ​​is greater than the threshold value, the target positioning device determines whether the auxiliary positioning device fails according to the difference values.

[0024] Optionally, the target positioning device determines whether the auxiliary positioning device fails according to the difference, including:

[0025] The target positioning device obtains second position information corresponding to a difference greater than or equal to a threshold as suspected information;

[0026] The target positioning device obtains the calculated combination of the suspected information as a suspected combination;

[0027] The target positioning device obtains the number of occurrences of each of the auxiliary positioning devices corresponding to all the suspected combinations;

[0028] If the number of occurrences is greater than or equal to 2, the target positioning device determines that the auxiliary positioning device fails.

[0029] Optionally, if the number of occurrences is less than 2, the target positioning device re-acquires the first distance between itself and each of the auxiliary positioning devices based on the response signal.

[0030] Optionally, after the target positioning device determines that it has no fault, the method further includes:

[0031] Using the target positioning device without any fault as the auxiliary positioning device;

[0032] Acquire any one of the auxiliary positioning devices without any fault as the updated target positioning device;

[0033] Determine whether the updated target positioning device fails.

[0034] In a second aspect, a UWB positioning device fault detection method is provided, wherein the UWB positioning device is arranged on a balcony of a target building, the balcony of the target building is used for drone delivery of goods, and at least one UWB positioning device is arranged on each balcony of the target building.

[0035] The UWB positioning device includes a target positioning device and an auxiliary positioning device, and the method includes:

[0036] The auxiliary positioning device receives the first position information broadcasted by the target positioning device;

[0037] The auxiliary positioning device determines whether it needs to respond according to the first position information;

[0038] If a response is required, the auxiliary positioning device sends a response signal to the target positioning device, so that the target positioning device obtains the first distance according to the response signal;

[0039] The first distance is used to determine whether the target positioning device and the auxiliary positioning device fail.

[0040] Optionally, the auxiliary positioning device determines whether it needs to respond according to the first position information, including:

[0041] The auxiliary positioning device determines whether the target positioning device is within its own action space according to the first position information and its own positioning signal;

[0042] If it is within the action space of itself, it is determined that it needs to respond.

[0043] In a third aspect, a UWB positioning device is provided, wherein the UWB positioning device is a target positioning device, and the target positioning device comprises:

[0044] A receiving unit, used for receiving a fault detection command;

[0045] a sending unit, configured to broadcast and send a positioning signal according to the fault detection command, so that the plurality of auxiliary positioning devices return a response signal, wherein the positioning signal includes the first position information of the target positioning device;

[0046] A control unit, configured to obtain a first distance between the control unit and each of the auxiliary positioning devices according to the response signal;

[0047] The control unit is further used to obtain a plurality of second position information of the target positioning device according to the plurality of the first distances;

[0048] The control unit is further used to obtain a difference between each second position information and the first position information;

[0049] The control unit is further used to determine whether each of the difference values ​​is greater than or equal to a threshold;

[0050] If all the differences are less than or equal to the threshold, the control unit is further configured to determine that it has no fault and retain the first position information.

[0051] In a fourth aspect, a UWB positioning device is provided, wherein the UWB positioning device is an auxiliary positioning device, and the auxiliary positioning device includes:

[0052] A receiving unit, configured to receive first location information broadcasted by a target positioning device;

[0053] A control unit, configured for the device to determine whether it needs to respond according to the first location information;

[0054] a sending unit, configured to send a response signal to the target positioning device if a response is required, so that the target positioning device acquires the first distance according to the response signal;

[0055] The first distance is used to determine whether the target positioning device and the auxiliary positioning device fail.

[0056] The present invention provides a method for detecting faults of a UWB positioning device, namely a UWB positioning device, the method comprising: the target positioning device receives a fault detection command; the target positioning device broadcasts and sends a positioning signal according to the fault detection command, so that multiple auxiliary positioning devices return a response signal, wherein the positioning signal includes the first position information of the target positioning device; the target positioning device obtains the first distance between each of the auxiliary positioning devices according to the response signal; the target positioning device obtains multiple second position information of the target positioning device according to multiple first distances; the target positioning device obtains the difference between each second position information and the first position information; the target positioning device determines whether each difference is greater than or equal to a threshold; if all the differences are less than or equal to the threshold, the target positioning device determines that it has no fault and retains the first position information. The method of the embodiment of the present invention obtains the second position information of the target positioning device through the first distance between the auxiliary positioning device and the target positioning device, and determines whether the target positioning device has a fault through the difference between the second position information and the first position information, so as to timely discover the fault of the positioning device and avoid accidents caused by positioning errors of drones. The method of the embodiment of the present invention utilizes the distance measurement data between WUB positioning devices to perform fault determination. The method is simple and easy to implement, and can respond quickly after receiving a fault detection command, which is conducive to timely discovering faults of the positioning device and avoiding accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0058] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0059] Figure 1 The figure shows an application environment diagram of the drone delivery method in an embodiment of the present invention;

[0060] Figure 2 It is a schematic diagram showing a WUB positioning device arranged on a balcony according to an embodiment of the present invention;

[0061] Figure 3 It is a flow chart of a method for detecting a fault of a UWB positioning device according to an embodiment of the present invention;

[0062] Figure 4 FIG. 4 is a schematic diagram of the structure of a UWB positioning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] Figure 1 The figure shows the application environment of the drone delivery method in the embodiment of the present invention. The drone in the embodiment of the present invention delivers to the target balcony.

[0065] In the embodiment of the present invention, the target balcony can be the balcony of the end user's home. The end user can be a consumer who shops online, or can be the recipient of the goods to be delivered, or can be a cohabitant, family member, etc. who is to be delivered, or can be a temporary depositor of the goods to be delivered, etc. The destination of the end user's drone delivery can usually be the balcony of a residential building, or can be the balcony of an office building. In the embodiment of the present invention, the end user can also refer to other users other than the logistics station and the professional logistics receiving yard.

[0066] In the embodiment of the present invention, "balcony" is a broad concept, which can be a balcony in a user's home in a narrow sense, such as Figure 1 As shown; it can also be a semi-open or open area such as a terrace, entrance garden, roof garden, etc.; it can also be an area that is changed from a closed space to a semi-open or open area by opening windows, entrance doors, sun room roof, etc.

[0067] Since the height of balconies in ordinary buildings is limited and there are safety facilities such as railings on the balconies, there are high requirements for the take-off and landing control of drones, so there is a need for more precise positioning of the take-off and landing space of the balcony.

[0068] In the embodiment of the present invention, a UWB positioning device is used to position the UAV.

[0069] In an embodiment of the present invention, the UWB positioning device is arranged on a balcony of a building, and the balcony of the building is used for drone delivery of goods. At least one UWB positioning device is arranged on each balcony of the building.

[0070] The UWB positioning device includes a target positioning device and an auxiliary positioning device.

[0071] Figure 2The figure shows a schematic diagram of a UWB positioning device being arranged on a balcony of an embodiment of the present invention. The cubic space can be a take-off and landing space for a drone, and the UWB positioning device is used to construct the above take-off and landing space. At least one UWB positioning device can be arranged on each balcony, and multiple UWB positioning devices can also be arranged for better positioning. If multiple UWB positioning devices are arranged on a balcony, the positioning accuracy will be higher, and the construction of the take-off and landing space will be more accurate and easier.

[0072] Figure 2 In the illustrated embodiment, black dots are used to schematically represent UWB positioning devices. Figure 2 It is schematically indicated that four positioning devices are arranged on the balcony ceiling, such as positioning device 210; four positioning devices are also arranged on the balcony guardrail, such as positioning device 220; and four positioning devices are also arranged on the balcony floor, such as positioning device 230.

[0073] In the embodiment of the present invention, the target positioning device and the auxiliary positioning device are substantially the same, and are only used to facilitate the distinction during fault detection.

[0074] Figure 3 FIG. 1 is a flow chart of a method for detecting a fault in a UWB positioning device according to an embodiment of the present invention. Figure 3 As shown, the method includes:

[0075] Step 310: the target positioning device receives a fault detection command.

[0076] In an embodiment of the present invention, the fault detection command may be sent by the control center of the drone delivery system according to actual conditions, or may be sent periodically by a control node set in a building, or may be sent by a drone after a certain delivery, which will not be elaborated here.

[0077] Step 320: the target positioning device broadcasts a positioning signal according to the fault detection command, so that the plurality of auxiliary positioning devices return a response signal, wherein the positioning signal includes the first position information of the target positioning device.

[0078] In the embodiment of the present invention, the location information is usually a three-dimensional coordinate, which can be a coordinate in a world coordinate system or a coordinate in a UWB positioning device coordinate system. If all UWB positioning devices use coordinates in a world coordinate system, then other positioning devices can directly use the coordinates for subsequent calculations; if the coordinates are in a UWB positioning device coordinate system, coordinate conversion may be required before subsequent calculations.

[0079] Step 330, the target positioning device acquires a first distance between the target positioning device and each of the auxiliary positioning devices according to the response signal;

[0080] Step 340, the target positioning device acquires a plurality of second position information of the target positioning device according to the plurality of the first distances;

[0081] Step 350, the target positioning device obtains a difference between each second position information and the first position information;

[0082] Step 360, the target positioning device determines whether each of the difference values ​​is greater than or equal to a threshold;

[0083] Step 370: If all the differences are less than or equal to the threshold, the target positioning device determines that it has no fault and retains the first position information.

[0084] The method of the embodiment of the present invention obtains the second position information of the target positioning device through the first distance between the auxiliary positioning device and the target positioning device, and determines whether the target positioning device has a fault through the difference between the second position information and the first position information, so as to timely discover the fault of the positioning device and avoid accidents caused by positioning errors of the UAV. The method of the embodiment of the present invention uses the distance measurement data between the UUB positioning devices to make fault judgments. The method is simple and easy to implement, and can respond quickly after receiving the fault detection command, which is conducive to timely discovering the fault of the positioning device and avoiding accidents.

[0085] In the embodiment of the present invention, in step 340, the target positioning device acquires multiple second position information of the target positioning device according to the multiple first distances, including:

[0086] The target positioning device uses any four of the first distances as a calculation combination;

[0087] The target positioning device obtains all non-repetitive calculation combinations;

[0088] The target positioning device calculates the second position information according to each of the calculation combinations.

[0089] UWB positioning mainly uses the principle of Time of Flight (ToF), which calculates the distance by measuring the round-trip propagation time of the radio signal between the transmitter and the receiver.

[0090] By performing two-way time distance measurement between at least three auxiliary positioning devices with known positions and the target positioning device, the distance between the target positioning device and each auxiliary positioning device can be obtained, which is the first distance mentioned above. According to the principle of triangulation, the two-dimensional plane coordinates of the target positioning device can be calculated using the first distance between the target positioning device and each auxiliary positioning device. If the three-dimensional coordinates of the target positioning device need to be obtained, more than four UWB positioning devices are required to perform distance measurement and calculation.

[0091] In the embodiment of the present invention, the second position information is a three-dimensional coordinate. Therefore, in order to calculate the three-dimensional coordinate of the target positioning device, at least four first distances are required, that is, corresponding to four auxiliary positioning devices.

[0092] In one embodiment of the present invention, the auxiliary positioning devices are respectively denoted as A1, A2...A8, the target positioning device is denoted as B, and the first distances between the auxiliary positioning devices and the target positioning device are respectively denoted as A1B, A2B...A8B.

[0093] The calculation combination can be (A1B, A2B, A3B, A4B), (A1B, A2B, A6B, A8B), (A1B, A2B, A5B, A6B) ... In this embodiment, all non-repeating calculation combinations are calculated according to the combination of 8 out of 4, with a total of That is, there are 70 calculation combinations. Each calculation combination can calculate a second position information, so 70 second position information can be calculated. If there are 3 of these 70 second position information

[0094] In the embodiment of the present invention, in step 370, if all the difference values ​​are less than or equal to the threshold value, the target positioning device determines that it has no fault and retains the first position information.

[0095] In the embodiment of the present invention, if all the differences are greater than the threshold, the target positioning device determines that a fault occurs to itself;

[0096] If part of the difference values ​​is less than or equal to the threshold value and another part of the difference values ​​is greater than the threshold value, the target positioning device determines whether the auxiliary positioning device fails according to the difference values.

[0097] In the embodiment of the present invention, the threshold value can be pre-set according to the positioning accuracy required by the drone, the reserved redundancy, etc.; the threshold value can also be adjusted according to the demand.

[0098] In the embodiment of the present invention, the target positioning device determines whether the auxiliary positioning device fails according to the difference, including:

[0099] The target positioning device obtains second position information corresponding to a difference greater than or equal to a threshold as suspected information;

[0100] The target positioning device obtains the calculated combination of the suspected information as the suspected combination;

[0101] The target positioning device obtains the number of occurrences of each of the auxiliary positioning devices in all the suspected combinations;

[0102] If the number of occurrences is greater than or equal to 2, the target positioning device determines that the auxiliary positioning device fails.

[0103] In the embodiment of the present invention, if the number of occurrences is less than 2, the target positioning device re-acquires the first distance between the target positioning device and each of the auxiliary positioning devices according to the response signal.

[0104] In the above embodiments of the present invention, the auxiliary positioning devices are respectively recorded as A1, A2...A8, the target positioning device is recorded as B, the first distances between the auxiliary positioning devices and the target positioning device are respectively recorded as A1B, A2B...A8B, and 70 second position information are calculated.

[0105] If the differences between the second position information M1, the second position information M2 and the second position information M3 and the first position information are greater than the threshold, and the differences between other second position information and the first position information are less than the threshold, then the second position information M1, the second position information M2 and the second position information M3 can be regarded as suspected information.

[0106] The suspected combination corresponding to M1 is (A1B, A2B, A3B, A4B), the suspected combination corresponding to M2 is (A1B, A2B, A6B, A8B), and the suspected combination corresponding to M3 is (A1B, A2B, A5B, A6B).

[0107] The first distances corresponding to (A1B, A2B, A3B, A4B) are A1B, A2B, A3B, A4B, which correspond to auxiliary positioning devices A1, A2, A3, and A4, respectively. Similarly, (A1B, A2B, A6B, A8B) correspond to auxiliary positioning devices A1, A2, A6, and A8, and (A1B, A2B, A5B, A6B) correspond to auxiliary positioning devices A1, A2, A5, and A6.

[0108] After counting, A1 appears 3 times, A2 appears 3 times, A3 appears 1 time, A4 appears 1 time, A5 appears 1 time, A6 appears 2 times, and A8 appears 1 time. Therefore, it can be determined that A1, A2, and A6 are faulty. A4, A5, A6, and A8 each appear once, indicating that there may be a fault, so recalculation is required.

[0109] The method of the embodiment of the present invention can determine whether a fault occurs in the auxiliary positioning device while determining whether a fault occurs in the target positioning device. That is, the method of the embodiment of the present invention can determine the faults of multiple positioning devices at the same time, and can efficiently and timely discover faults, thereby reducing the incidence of drone delivery accidents.

[0110] In the embodiment of the present invention, after the target positioning device determines that it has no fault, the method further includes:

[0111] Using the target positioning device without any fault as the auxiliary positioning device;

[0112] Acquire any one of the auxiliary positioning devices without any fault as the updated target positioning device;

[0113] Determine whether the updated target positioning device fails.

[0114] In the embodiment of the present invention, the positioning device that has a fault needs to be subsequently processed, such as repaired, restarted, etc., or it can be shielded if it cannot be repaired temporarily.

[0115] In an embodiment of the present invention, the UWB positioning device is arranged on the balcony of the target building, and the balcony of the target building is used for drone delivery of goods. At least one UWB positioning device is arranged on each balcony of the target building.

[0116] The UWB positioning device includes a target positioning device and an auxiliary positioning device, and the method includes:

[0117] The auxiliary positioning device receives the first position information broadcasted by the target positioning device;

[0118] The auxiliary positioning device determines whether it needs to respond according to the first position information;

[0119] If a response is required, the auxiliary positioning device sends a response signal to the target positioning device, so that the target positioning device obtains the first distance according to the response signal;

[0120] The first distance is used to determine whether the target positioning device and the auxiliary positioning device fail.

[0121] In the embodiment of the present invention, the auxiliary positioning device determines whether it needs to respond according to the first position information, including:

[0122] The auxiliary positioning device determines whether the target positioning device is within its own action space according to the first position information and its own positioning signal;

[0123] If it is within the action space of itself, it is determined that it needs to respond.

[0124] Usually, buildings have multiple floors, and each floor has multiple end users. Therefore, each floor has multiple balconies for drone delivery, and multiple UWB positioning devices are installed throughout the building. If all the positioning devices in the entire building are involved in fault detection for each target UWB positioning device, a large amount of data will need to be processed, occupying too much bandwidth and consuming too many system resources. Therefore, in an embodiment of the present invention, after the auxiliary positioning device receives the first location information broadcasted by the target positioning device, it will determine whether it needs to respond.

[0125] Usually, it can be set that all UWB positioning devices on the balcony where the target positioning device is located need to respond.

[0126] If fewer UBW positioning devices are installed on each balcony, it can also be configured that the UWB positioning devices on the upper adjacent balcony and the lower adjacent balcony of the balcony need to respond, or the UWB positioning devices on the balcony on the same floor need to respond.

[0127] In the embodiment of the present invention, the auxiliary positioning device determines whether it needs to respond according to the first positioning information, which can save system resources and enable faster fault detection.

[0128] In an embodiment of the present invention, a UWB positioning device is also provided. Figure 4 As shown, the UWB positioning device is a target positioning device, and the target positioning device includes:

[0129] The receiving unit 410 is used to receive a fault detection command;

[0130] The sending unit 420 is used to broadcast and send a positioning signal according to the fault detection command, so that multiple auxiliary positioning devices return a response signal, wherein the positioning signal includes the first position information of the target positioning device;

[0131] A control unit 430, configured to obtain a first distance between the control unit and each of the auxiliary positioning devices according to the response signal;

[0132] The control unit 430 is further configured to obtain a plurality of second position information of the target positioning device according to the plurality of the first distances;

[0133] The control unit 430 is further configured to obtain a difference between each second position information and the first position information;

[0134] The control unit 430 is further configured to determine whether each of the difference values ​​is greater than or equal to a threshold;

[0135] If all the differences are less than or equal to the threshold, the control unit 430 is further configured to determine that it has no fault and retain the first position information.

[0136] In the embodiment of the present invention, the control unit 430 is further configured to:

[0137] Taking any four of the first distances as a calculation combination;

[0138] Get all non-repeating calculation combinations;

[0139] According to each of the calculation combinations, a second position information is calculated.

[0140] In the embodiment of the present invention, the control unit 430 is further configured to:

[0141] If all of the differences are greater than the threshold, it is determined that the target positioning device fails;

[0142] If part of the difference values ​​is less than or equal to the threshold value and another part of the difference values ​​is greater than the threshold value, it is determined whether the auxiliary positioning device fails based on the difference values.

[0143] In the embodiment of the present invention, the control unit 430 is further configured to:

[0144] Acquire second position information corresponding to a difference value greater than or equal to a threshold as suspected information;

[0145] Obtaining a calculated combination of the suspected information as a suspected combination;

[0146] Obtaining the number of occurrences of each of the auxiliary positioning devices corresponding to all the suspected combinations;

[0147] If the number of occurrences is greater than or equal to 2, it is determined that the auxiliary positioning device fails.

[0148] In the embodiment of the present invention, if the number of occurrences is less than 2, the control unit 430 is further configured to:

[0149] The first distance between the first and second auxiliary positioning devices is obtained again based on the response signal.

[0150] In the embodiment of the present invention, the control device is further used for:

[0151] If the target positioning device has no faults, the system is informed so that the system uses the target positioning device without faults as the auxiliary positioning device;

[0152] Allowing the system to obtain any one of the auxiliary positioning devices without failure as an updated target positioning device;

[0153] The system is enabled to determine whether the updated target positioning device fails.

[0154] The system in the embodiment of the present invention may refer to a drone delivery system, or may be a drone fault detection system.

[0155] In an embodiment of the present invention, a UWB positioning device is further provided. The UWB positioning device is an auxiliary positioning device. The auxiliary positioning device includes:

[0156] The receiving unit 410 is configured to receive the first location information broadcasted by the target positioning device;

[0157] A control unit 430, configured for the device to determine whether it needs to respond according to the first location information;

[0158] The sending unit 420 is configured to send a response signal to the target positioning device if a response is required, so that the target positioning device acquires the first distance according to the response signal;

[0159] The first distance is used to determine whether the target positioning device and the auxiliary positioning device fail.

[0160] In the embodiment of the present invention, although the UWB positioning device is divided into a target positioning device and an auxiliary positioning device, it is actually only to distinguish their roles. The UWB positioning devices that perform fault detection are regarded as target positioning devices, and other UWB positioning devices are regarded as auxiliary positioning devices. When other UWB positioning devices perform fault detection, a certain UWB positioning device is regarded as an auxiliary positioning device, but when the UWB positioning device performs its own fault detection later, it will also be regarded as a target detection device. The internal structure of the target positioning device and the auxiliary positioning device is the same, but the functions and / or processes performed in different roles are different.

[0161] In the embodiment of the present invention, Figure 3 FIG. 1 is a flow chart of a method for detecting a fault of a UWB positioning device in an embodiment. It should be understood that although Figure 3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 3 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0162] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0163] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0164] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A UWB positioning device fault detection method, characterized in that: The UWB positioning device is arranged on the balcony of the building, and the balcony of the building is used for drone delivery of goods. At least one UWB positioning device is arranged on each balcony of the building. The UWB positioning device includes a target positioning device and an auxiliary positioning device, and the method includes: The target positioning device receives a fault detection command; The target positioning device broadcasts and sends a positioning signal according to the fault detection command, so that the plurality of auxiliary positioning devices return a response signal, wherein the positioning signal includes the first position information of the target positioning device; The target positioning device acquires a first distance between the target positioning device and each of the auxiliary positioning devices according to the response signal; The target positioning device acquires a plurality of second position information of the target positioning device according to the plurality of first distances; The target positioning device obtains a difference between each second position information and the first position information; The target positioning device determines whether each of the difference values ​​is greater than or equal to a threshold value; If all the differences are less than or equal to the threshold, the target positioning device determines that it has no fault and retains the first position information.

2. The method according to claim 1, characterized in that The target positioning device acquires a plurality of second position information of the target positioning device according to the plurality of the first distances, including: The target positioning device uses any four of the first distances as a calculation combination; The target positioning device obtains all non-repetitive calculation combinations; The target positioning device calculates the second position information according to each of the calculation combinations.

3. The method according to claim 2, characterized in that The method further comprises: If all the differences are greater than the threshold, the target positioning device determines that it has failed; If part of the difference values ​​is less than or equal to the threshold value and another part of the difference values ​​is greater than the threshold value, the target positioning device determines whether the auxiliary positioning device fails according to the difference values.

4. The method according to claim 3, characterized in that The target positioning device determines whether the auxiliary positioning device fails according to the difference, including: The target positioning device obtains second position information corresponding to a difference greater than or equal to a threshold as suspected information; The target positioning device obtains the calculated combination of the suspected information as a suspected combination; The target positioning device obtains the number of occurrences of each of the auxiliary positioning devices corresponding to all the suspected combinations; If the number of occurrences is greater than or equal to 2, the target positioning device determines that the auxiliary positioning device fails.

5. The method according to claim 4, characterized in that If the number of occurrences is less than 2, the target positioning device re-acquires the first distance between the target positioning device and each of the auxiliary positioning devices according to the response signal.

6. The method according to claim 1, characterized in that After the target positioning device determines that it has no fault, the method further includes: Using the target positioning device without any fault as the auxiliary positioning device; Acquire any one of the auxiliary positioning devices without any fault as the updated target positioning device; Determine whether the updated target positioning device fails.

7. A UWB positioning device fault detection method, characterized in that: The UWB positioning device is arranged on the balcony of the target building, and the balcony of the target building is used for the delivery of goods by drones. At least one UWB positioning device is arranged on the balcony of each target building. The UWB positioning device includes a target positioning device and an auxiliary positioning device, and the method includes: The auxiliary positioning device receives the first position information broadcasted by the target positioning device; The auxiliary positioning device determines whether it needs to respond according to the first position information; If a response is required, the auxiliary positioning device sends a response signal to the target positioning device, so that the target positioning device obtains the first distance according to the response signal; The first distance is used to determine whether the target positioning device and the auxiliary positioning device fail.

8. The method according to claim 7, characterized in that The auxiliary positioning device determines whether it needs to respond according to the first position information, including: The auxiliary positioning device determines whether the target positioning device is within its own action space according to the first position information and its own positioning signal; If it is within the action space of itself, it is determined that it needs to respond.

9. A UWB positioning device, characterized in that: The UWB positioning device is a target positioning device, and the target positioning device comprises: A receiving unit, used for receiving a fault detection command; a sending unit, configured to broadcast and send a positioning signal according to the fault detection command, so that the plurality of auxiliary positioning devices return a response signal, wherein the positioning signal includes the first position information of the target positioning device; A control unit, configured to obtain a first distance between the control unit and each of the auxiliary positioning devices according to the response signal; The control unit is further used to obtain a plurality of second position information of the target positioning device according to the plurality of the first distances; The control unit is further used to obtain a difference between each second position information and the first position information; The control unit is further used to determine whether each of the difference values ​​is greater than or equal to a threshold; If all the differences are less than or equal to the threshold, the control unit is further configured to determine that it has no fault and retain the first position information.

10. A UWB positioning device, characterized in that: The UWB positioning device is an auxiliary positioning device, and the auxiliary positioning device includes: A receiving unit, configured to receive first location information broadcasted by a target positioning device; A control unit, configured for the device to determine whether it needs to respond according to the first location information; a sending unit, configured to send a response signal to the target positioning device if a response is required, so that the target positioning device acquires the first distance according to the response signal; The first distance is used to determine whether the target positioning device and the auxiliary positioning device fail.

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