UWB-based luggage case equipment following method and system

Abstract

The invention discloses a UWB-based luggage case equipment following method and system, and relates to the technical field of equipment following, and the method comprises the steps: installing UWB antennas at different positions of a luggage case, constructing different triangular positioning arrays, carrying out the periodic array evaluation through a UAS scoring device, selecting an optimal positioning array, and carrying out the tracking of the luggage case equipment through an array weighting angle fusion algorithm. Calculating a fusion angle change value of the optimal positioning array, calculating a linear velocity and an angular velocity of a luggage case through a double-DIP controller, converting the linear velocity and the angular velocity into a luggage case following instruction through a differential driving method and executing the luggage case following instruction, monitoring an abnormal state of a luggage case following process by adopting a multi-factor abnormal judgment method, and performing emergency recovery on the basis of an emergency recovery strategy. And carrying out real-time adjustment on the luggage case instruction. According to the invention, a plurality of triangulation positioning arrays are constructed and triangulation positioning is periodically evaluated by the UAS scoring device, so that the positioning precision and the system robustness are effectively improved, and the follow-up response performance to sudden dynamic behaviors of users is improved.

Description

Technical Field

[0001] This invention relates to the field of equipment following technology, and in particular to a UWB-based method and system for luggage equipment following. Background Technology

[0002] In the field of portable device automatic following technology, spatial positioning methods based on wireless ranging are widely used to achieve real-time tracking of target users by devices. Currently, Ultra-Wideband (UWB), as a high-precision, low-latency wireless positioning technology, is gradually becoming a core supporting means for wearable target recognition and automatic device navigation systems. Conventional following systems mostly adopt a single-tag and multi-antenna structure, using synchronous ranging algorithms to measure the distance between the user and the device, and using angle or trajectory extrapolation methods to achieve motion control of the device, which is widely used in scenarios such as smart suitcases and service robots. To improve the following stability and response accuracy in dynamic environments, some systems also introduce signal quality assessment and simplified state determination strategies to assist in path optimization and control adjustment to adapt to complex human movement behaviors.

[0003] However, in multi-target dynamic scenarios or applications with strong environmental interference, conventional methods still face challenges in terms of the continuity of attitude estimation, the smoothness of the following path, and the response to anomalies. First, conventional solutions often rely on fixed array structures, lacking flexible control mechanisms for occlusion changes and signal disturbances in angle calculation, making it difficult to accurately capture the subtle changes in spatial orientation caused by short-term changes in user attitude. Second, they mostly use a single control function to map distance or angle changes to the device speed output, lacking nonlinear response design for spatial coupling characteristics, which easily leads to sudden stops, yaws, or trajectory jitter during following, affecting the user experience. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a UWB-based luggage device following method to solve the problems of unstable positioning posture and unsmooth following control response.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a UWB-based luggage device following method, comprising, Users wear a main UWB tag, and UWB antennas are installed on the surface of the suitcase. Different triangulation arrays are constructed based on different UWB antennas. Calculate the relative distance from the main UWB tag to the center of the suitcase in different triangulation arrays, solve the instantaneous three-dimensional coordinates of the user, and obtain the horizontal azimuth angle and vertical offset angle. Predict the comprehensive positioning score of each triangulation array through the UAS scorer. The optimal positioning array for the suitcase is selected based on the comprehensive positioning score of each triangulation array. The fusion angle change value of the horizontal azimuth angle and the vertical offset angle of the optimal positioning array is calculated by the array weighted angle fusion algorithm. Using dual DIP controllers, the linear velocity and angular velocity of the suitcase are calculated based on the relative distance and the fused angle change value, and then converted into a suitcase following command and executed through a differential drive method. A multi-factor anomaly detection method is used to monitor abnormal states during the luggage following process, and the luggage instructions are adjusted in real time based on emergency recovery strategies.

[0007] As a preferred embodiment of the UWB-based luggage tracking method described in this invention, the user wears a main UWB tag, a UWB antenna is installed on the surface of the luggage, and different triangular positioning arrays are constructed based on different UWB antennas. The specific steps are as follows: Users wear the main UWB tag, and the main UWB antennas are installed on both sides of the top surface of the suitcase and the top of the rear central axis, while the auxiliary UWB antennas are installed on both sides of the rear. Based on the UWB antenna nodes configured in the suitcase, all non-collinear three-point combinations are selected from the UWB antenna nodes to construct all non-collinear triangular positioning arrays, forming a triangular combination pool.

[0008] As a preferred embodiment of the UWB-based luggage tracking method of the present invention, the following steps are taken: Calculating the relative distance from the main UWB tag to the center of the luggage in different triangulation arrays, resolving the user's instantaneous three-dimensional coordinates, and obtaining the horizontal azimuth and vertical offset angles. Using the center of the suitcase as the origin, a three-dimensional spatial coordinate system is formed. The spatial distance between the user's main UWB tag and the UWB antenna node in the triangular positioning array is measured by a synchronous two-way ranging method. The spatial distance between the user's main UWB tag and the UWB antenna node in the triangular positioning array is weighted and averaged to calculate the relative distance between the main UWB tag and the center of the suitcase. The instantaneous three-dimensional coordinates of the user's main tag under the triangular positioning array are obtained by inversely solving the triangular positioning algorithm, and the horizontal azimuth angle and vertical offset angle under the current frame are calculated by the arctangent function.

[0009] As a preferred embodiment of the UWB-based luggage tracking method of the present invention, the method involves predicting the comprehensive positioning score of each triangulation array using a UAS scorer, specifically through the following steps: Based on the angle information within the current period and the angle information cached from the previous period, the rate of change of the angle period is recorded. The received signal strength fluctuation value is recorded in real time between two adjacent time periods using UWB antenna nodes; The received signal strength fluctuation value, the relative distance between the user's main UWB tag and the triangulation array, the horizontal azimuth angle and vertical offset angle of the triangulation array in the current frame, and the periodic change rate of the angle are input into the UAS scorer for periodic array evaluation, and the comprehensive positioning score of each triangulation array is calculated. The periodic array evaluation includes signal consistency score, geometric stability score, angle solution sensitivity score, historical stability score, and occlusion tolerance score.

[0010] As a preferred embodiment of the UWB-based luggage tracking method of the present invention, the optimal positioning array for the luggage is selected based on the comprehensive positioning score of each triangular positioning array. The fused angle change value between the horizontal azimuth angle and the vertical offset angle of the optimal positioning array is calculated using an array weighted angle fusion algorithm. The specific steps are as follows: The triangular combination array with the highest comprehensive positioning score in the triangular combination pool is selected as the optimal positioning array for the suitcase. The comprehensive positioning score of the current optimal positioning array is converted into a fusion weight coefficient and then smoothed using an information entropy regularization function. Based on the smoothed fusion weight coefficients, the horizontal azimuth angle between the user and the suitcase and the vertical offset angle of the user in the vertical direction are fused and calculated using the dual-domain angle fusion method to obtain the final fusion angle. Establish a sliding time window, set the initial value of the filter weight coefficient according to the actual situation, and obtain the final smooth fusion angle by weighted averaging of the short-term and long-term filtering results of the fusion angle. Calculate the difference between the current smoothed fusion angle and the smoothed fusion angle of the previous cycle to obtain the change value of the fusion angle.

[0011] As a preferred embodiment of the UWB-based luggage tracking method of the present invention, the following steps are taken: Using a dual DIP controller, the linear velocity and angular velocity of the luggage are calculated based on the relative distance and the fused angle change value, and then converted into luggage tracking commands and executed using a differential drive method. The fusion angle change value and the relative distance between the main UWB tag and the center of the suitcase are normalized to obtain the normalized relative distance and normalized angle change value. The linear velocity and angular velocity are calculated by the nonlinear response function of the dual DIP controller. By using a differential drive method, linear velocity and angular velocity are converted into luggage following commands, and the output of the drive motor is controlled.

[0012] As a preferred embodiment of the UWB-based luggage tracking method of the present invention, the method employs a multi-factor anomaly detection method to monitor abnormal states during luggage tracking and adjusts luggage commands in real time based on an emergency recovery strategy. The specific steps are as follows: A multi-factor anomaly detection method is used to determine the operational status of the suitcase. When an abnormal state is detected, the freeze mechanism and cache clearing are executed immediately; Continue to perform tests at fixed intervals. When the tests are normal for N consecutive cycles, the anomaly is resolved and a soft restart mechanism is initiated. The soft restart mechanism includes reinitializing the internal state of the controller, loading the last smoothed output angle and distance of the previous stable cycle as the control starting point, restoring the wheel speed output, and restoring control according to the current angle.

[0013] Secondly, the present invention provides a UWB-based luggage device following system, comprising, The positioning and acquisition module is used by the user to wear the main UWB tag and install UWB antennas on the surface of the suitcase. Different triangular positioning arrays are constructed based on different UWB antennas. The scoring prediction module is used to calculate the relative distance from the main UWB tag to the center of the suitcase in different triangulation arrays, solve the instantaneous three-dimensional coordinates of the user, and obtain the horizontal azimuth angle and vertical offset angle. The comprehensive positioning score of each triangulation array is predicted by the UAS scorer. The processing module selects the optimal positioning array for the suitcase based on the comprehensive positioning score of each triangulation array. This array is then used to calculate the fused angle change value between the horizontal azimuth angle and the vertical offset angle of the optimal positioning array through an array weighted angle fusion algorithm. The control drive module is used to calculate the linear velocity and angular velocity of the suitcase based on the relative distance and the fused angle change value through the dual DIP controller, and convert them into suitcase following instructions through the differential drive method and execute them. The anomaly management module is used to monitor abnormal states during the luggage following process using a multi-factor anomaly judgment method, and to adjust the luggage instructions in real time based on emergency recovery strategies.

[0014] Thirdly, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program is executed by the processor, it implements any step of the UWB-based luggage device following method as described in the first aspect of the present invention.

[0015] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the UWB-based luggage device following method as described in the first aspect of the present invention.

[0016] The beneficial effects of this invention are as follows: by installing multiple UWB antennas, various triangulation arrays are constructed; the optimal positioning array is selected by the UAS scorer to achieve more stable and accurate positioning; the fusion angle is calculated by the array weighted angle fusion algorithm to improve the sensitivity of following motion; and the operation status of the suitcase is monitored by a multi-factor anomaly judgment method, and timely responses are made to improve the stability of following motion. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a UWB-based luggage device following method.

[0019] Figure 2 This is a schematic diagram of a UWB-based luggage device following system.

[0020] Figure 3 A flowchart illustrating how the UAS scorer works.

[0021] Figure 4 A flowchart for execution of a dual DIP controller. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0025] Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides a file encryption method, including the following steps: S1. The user wears the main UWB tag, and a UWB antenna is installed on the surface of the suitcase. Different triangulation arrays are constructed based on different UWB antennas.

[0026] Users wear the main UWB tag, and the main UWB antennas are installed on both sides of the top surface of the suitcase and the top of the rear central axis, while the auxiliary UWB antennas are installed on both sides of the rear. It should be noted that three main UWB antennas are installed on both sides of the top surface of the trunk and on the top of the rear central axis, and two auxiliary UWB antennas are installed on both sides of the rear. The five UWB antenna nodes are numbered... ~ Each UWB antenna has the ability to determine its power level and obstruction status, and each UWB antenna performs real-time detection to collect the received signal strength.

[0027] Based on the five UWB antenna nodes configured in the suitcase, all non-collinear three-point combinations are selected from the five UWB antenna nodes to construct all non-collinear triangular positioning arrays, forming a triangular combination pool.

[0028] It should be noted that the combination of all non-collinear three points is C = {( ), ( Different triangular positioning arrays are constructed, forming a triangular combination pool, and each triangular array is denoted as , ...}. This represents a UWB antenna. The combination formed, express ~ Any one of them, express ~ Zhongyu Any one of the different ones, express ~ Zhongyu For any one of them, all subsequent ratings will be based on this combination pool.

[0029] S2. Calculate the relative distance from the main UWB tag to the center of the suitcase in different triangulation arrays, solve the instantaneous three-dimensional coordinates of the user, and obtain the horizontal azimuth angle and vertical offset angle.

[0030] Using the center of the suitcase as the origin, a three-dimensional spatial coordinate system is constructed, and the relative distance between the user's main UWB tag and the triangular positioning array is measured by a synchronous two-way ranging method. Furthermore, antenna The first frame of UWB pulse signal is sent to the master tag, and a local timestamp is recorded. The master UWB tag receives the first frame of UWB pulse signal, immediately begins internal processing, and transmits a response pulse in reverse after a fixed time, recording the reception timestamp. The antenna... The antenna receives the reverse transmission response pulse again and records the return timestamp. The propagation delay is calculated locally based on the two-way propagation time difference, and the spatial distance is calculated based on the two-way round-trip propagation delay. The relative distance between the main UWB tag and the center of the suitcase is calculated by weighted averaging of the spatial distances between each UWB antenna node and the main UWB tag. , for time.

[0031] The instantaneous three-dimensional coordinates of the user's main tag under the triangular positioning array are obtained by inversely solving the triangular positioning algorithm, and the horizontal azimuth angle and vertical offset angle under the current frame are calculated by the arctangent function.

[0032] It should be noted that the trilateration algorithm is a three-sphere intersection positioning algorithm. It uses the known coordinates of the three points and the distances from the user to the three points to solve the instantaneous three-dimensional coordinates of the user in space.

[0033] S3. Predict the overall positioning score for each triangulation array using the UAS scorer. Based on the angle information within the current period and the angle information cached from the previous period, the rate of change of the angle period is recorded. It should be noted that the angle information includes the horizontal azimuth angle and the vertical offset angle, the angle periodicity rate of change includes the horizontal angle rate of change and the vertical angle rate of change, and the angle periodicity rate of change is the difference between the angle information in the current period and the angle information in the previous period.

[0034] The received signal strength fluctuation value is recorded in real time between two adjacent time periods using UWB antenna nodes; The received signal strength fluctuation value, the relative distance between the user's main UWB tag and the triangulation array, the horizontal azimuth angle and vertical offset angle of the triangulation array in the current frame, and the periodic change rate of the angle are input into the UAS scorer for periodic array evaluation, and the comprehensive positioning score of each triangulation array is calculated. Periodic array evaluation includes signal consistency score, geometric stability score, angle solution sensitivity score, historical stability score, and occlusion tolerance score.

[0035] Furthermore, the signal consistency score refers to the inverse ratio of the standard deviation of the difference in received signal strength among the three antenna nodes, expressed as: ; in, Score the signal consistency. It is a natural exponential function. This represents the antenna signal strength value at the antenna node. Antenna signal strength value at antenna node standard deviation The average value of the received signal strength. The stability factor in the denominator of the average received signal strength, in dB; A higher signal consistency score indicates better signal stability.

[0036] The geometric stability score is the inverse ratio of the standard deviations of the three side lengths of the triangle in the triangulation array, expressed as: ; in, For geometric stability scoring, The standard deviation of the three-sided distance measurements. Indicates antenna With antenna The distance between them Indicates antenna With antenna The distance between them Indicates antenna With antenna The distance between them Represents the three sides of the triangular positioning array The sum of distances This represents the average distance measured on the three sides. This is the stability factor of the denominator of the distance to the average value, in meters, and is set to 0.01. The closer a triangle is to an equilateral triangle, the better it is for attitude solving and the stronger its anti-jitter ability.

[0037] Angle calculation sensitivity score refers to the sensitivity of the angle calculation increment between the previous period and the current period to changes in the received signal strength. The expression is: ; in, To calculate the sensitivity score for the angle, This represents the angle change value of the current triangulation array from the previous cycle to the current cycle. To obtain The maximum value among the parameters, The first The received signal strength fluctuation value of an antenna node in two adjacent time periods, where ε3 is the maximum disturbance denominator of the signal jump, in dB, and is set to 0.05; When the angle changes significantly but the received signal strength changes only slightly, it indicates that the current triangulation array is more likely to capture subtle attitude changes.

[0038] Historical stability score refers to detecting whether there are significant angle jumps in the current triangulation array over the past N periods. The expression is: ; in, Score for historical stability. For the periodic window size, The threshold value is set based on the range of angle fluctuations during normal following in the measured data. The fewer the number of jumps, the higher the historical stability score.

[0039] The occlusion tolerance score is achieved by installing a miniature infrared reflection sensor next to each UWB antenna node to determine in real time whether the antenna position is obstructed. If a node in the current triangulation array is obstructed, the score is calculated accordingly. The value is 0 immediately, otherwise it is 1. For occlusion tolerance scoring.

[0040] Furthermore, the comprehensive positioning score for each triangular array is calculated based on multi-factor scoring, expressed as: ; in, for of ~ The final optimal comprehensive positioning score after integration. ~ This is an empirical weighting coefficient, the value of which can be flexibly set according to the specific usage environment and the focus of the target performance. ~ The sum of the empirical weighting coefficients is 1.

[0041] S4. Select the optimal positioning array for the suitcase based on the comprehensive positioning score of each triangulation array. Calculate the fused angle change value of the horizontal azimuth angle and vertical offset angle of the optimal positioning array using an array weighted angle fusion algorithm.

[0042] The triangular combination array with the highest comprehensive positioning score in the triangular combination pool is selected as the optimal positioning array for the suitcase. Furthermore, use The function selects the triangular combination array with the highest comprehensive score from the triangular combination pool as the optimal positioning array for the suitcase.

[0043] The comprehensive positioning score of the current optimal positioning array is converted into fusion weight coefficients and smoothed using the information entropy regularization function. The expression is as follows: ; in, These are the weighting coefficients for each array, determined based on the scoring. Based on the smoothed fusion weight coefficients, the horizontal azimuth angle between the user and the suitcase, as well as the user's vertical offset angle in the vertical direction, are fused using a dual-domain angle fusion method to obtain the final fused angle, expressed as: ; ; in, This is processed using the information entropy regularization method. To process the fused horizontal azimuth angle using the information entropy regularization method, To process the fused vertical offset angle using the information entropy regularization method, for Horizontal azimuth at a given time for The vertical offset angle at any given moment; It should be noted that the fusion angle is an angle pair obtained by mapping the fusion direction vector through unit spherical coordinates, including the fused horizontal azimuth angle and the fused vertical offset angle. The fusion angle combines the spatial component features of both the horizontal azimuth angle and the vertical offset angle.

[0044] Establish a sliding time window, set the initial value of the filter weight coefficient according to the actual situation, and obtain the final smooth fusion angle by weighted averaging of the short-term and long-term filtering results of the fusion angle. Calculate the difference between the current smoothed fusion angle and the smoothed fusion angle of the previous cycle to obtain the change value of the fusion angle.

[0045] It should be noted that the fusion angle change value includes the difference in the horizontal azimuth angle after smooth fusion and the difference in the vertical offset angle after smooth fusion.

[0046] Furthermore, define the sliding window size, set a smaller window size (5~10 frames) as the short-term window size, and set a larger window size (50~100 frames) as the long-term window size. The window size is selected according to the rate of change of the environment in the actual application. The short-term window responds quickly to rapid angle changes, and the long-term window smooths long-term fluctuations. Short-term and long-term average filtering are applied to the fusion angle. The weighted average of the short-term and long-term filtering results is then used to obtain the final smoothed fusion angle, including the smoothed horizontal azimuth angle and the smoothed vertical offset angle. The difference between the current smoothed fusion angle and the smoothed fusion angle of the previous period is calculated to obtain the angle change value, including the difference between the smoothed horizontal azimuth angle and the smoothed vertical offset angle. The filtering weights are dynamically adjusted based on the difference between the current smoothed fusion angle and the smoothed fusion angle of the previous period, as expressed by: ; ; ; ; ; ; in, For smooth blending, for The horizontal azimuth angle after smooth fusion at any moment. for The vertical offset angle after smooth fusion at any given moment. for The average horizontal azimuth angle after fusion within a short-term window of time. for The average angle of the merged vertical offset angle within a short window of time. for The average angle of the merged vertical offset angle within the long-term window at time t. for The average angle of the merged vertical offset angle within the long-term window at time t. This is the horizontal azimuth angle after smooth fusion from the previous cycle. This is the vertical offset angle after smooth fusion in the previous cycle. for The short-term filter weighting coefficients for the horizontal azimuth at time t. for The long-term filter weighting coefficients for the horizontal azimuth at time t. for The short-term filter weight coefficients for the vertical offset angle at time t. for The long-term filter weight coefficients for the vertical offset angle at time t. for The difference in horizontal azimuth angle after smooth fusion at any given time. for The difference in vertical offset angle after smooth fusion at any given time. To control the sensitivity constant of the dynamic adjustment of the horizontal azimuth angle, it should be set according to the actual situation, with a setting range of 1 to 10. To control the sensitivity constant of the dynamic adjustment of the vertical offset angle, set according to the actual situation, with a setting range of 1~10; and Set initial values ​​according to the actual situation, ensuring the total weight sum is 1. Generally speaking... Greater than The next cycle and According to calculations and The value is dynamically adjusted; and Set initial values ​​according to the actual situation, ensuring the total weight sum is 1. Generally speaking... Greater than The next cycle and According to calculations and The value is dynamically adjusted.

[0047] S5. Using dual DIP controllers, the linear velocity and angular velocity of the suitcase are calculated based on the relative distance and the fused angle change value, and then converted into a suitcase following command through a differential drive method and executed.

[0048] The fusion angle change value and relative distance are normalized to obtain the normalized relative distance and normalized angle change value, and the linear velocity and angular velocity are calculated by the nonlinear response function of the dual DIP controller. It should be noted that the normalized fusion angle variation value includes the horizontal azimuth angle variation value and the vertical offset angle variation value of the normalized fusion angle.

[0049] Nonlinear response functions include exponential functions and hyperbolic tangent functions; The normalized relative distance is input to the first DIP controller, and the linear velocity is calculated based on an exponential function, expressed as follows: ; in, for linear velocity at time t, The maximum gain constant for linear velocity. To control the parameters of response sensitivity, It is an exponential response function. This is the normalized relative distance.

[0050] The normalized angle change value is input into the second DIP controller, and the angular velocity is calculated based on the hyperbolic tangent function. The expression is: ; in, for angular velocity at time t, The gain constant for angular velocity. The angular velocity response sensitivity constant is It is the hyperbolic tangent function. This represents the normalized azimuth angle variation value. This represents the change in the vertical offset angle of the normalized fusion angle.

[0051] By using a differential drive method, linear velocity and angular velocity are converted into luggage follow commands, and the output of the drive motor is controlled by PWM.

[0052] It should be noted that, through the differential drive method, the linear velocity and angular velocity are converted into the velocity expressions for controlling the left and right wheels as follows: ; ; in, For revolvers, The speed of the revolver, It is a right wheel. The speed of the right wheel, This refers to the wheelbase between the left and right wheels of the suitcase.

[0053] S6. Employ a multi-factor anomaly detection method to monitor abnormal states during the luggage following process, and adjust luggage instructions in real time based on emergency recovery strategies.

[0054] A multi-factor anomaly detection method is used to determine the operational status of the suitcase. Furthermore, a fixed period is set, typically 100ms or 200ms, to calculate the change in linear velocity. This change is then assessed using a multi-factor anomaly detection method. The determination expression is: ; in, This is an exception detection function. The weighting coefficients for the difference in horizontal azimuth angles after smoothing and merging. The weighting coefficient for the change in linear velocity. The linear velocity is the change in velocity. The weighting coefficients for the received signal strength fluctuation values. This represents the fluctuation in received signal strength at the antenna node between two adjacent time periods. The weighting coefficients for the difference in vertical offset angles after smooth fusion; When the following condition is met: ; in, This is an abnormal state threshold, an empirical threshold derived from statistical analysis of historical normal state data. The specific values ​​can be set according to actual needs; Then it is determined to be an abnormal state.

[0055] When an abnormal state is detected, the freeze mechanism and cache clearing are executed immediately; The freeze mechanism and cache clearing include: zeroing the current output of the controller, pausing the wheel speed command, clearing the internal integral terms, angle and distance caches of the dual DIP controller, and resetting the internal state of the angle filter and distance smoother; Furthermore, set the output of all controllers to zero, as shown in the formula: Stop the output of control signals, set the wheel speed command to pause, stop commanding the motor to rotate, clear the internal integral term of the dual DIP controller, clear the angle and distance buffers, reset the angle filter and distance smoother, and recalculate from the correct state after the anomaly is resolved.

[0056] Continue to perform tests at fixed intervals. When the tests are normal for N consecutive cycles, the anomaly is resolved and a soft restart mechanism is initiated. Furthermore, after the freeze mechanism is executed, status checks continue to be performed at fixed intervals. If the status is within N consecutive intervals (N is generally set to 3 or 5), the status will be checked. Continuously below the abnormal state threshold If the test is successful, the abnormality is resolved, and a soft reboot mechanism is initiated.

[0057] The soft restart mechanism includes reinitializing the controller's internal state, loading the last smoothed output angle and distance of the previous stable cycle as the control starting point, restoring wheel speed output, and resuming control according to the current angle.

[0058] This embodiment also provides a UWB-based luggage device following system, including: a positioning acquisition module, a scoring prediction module, a selection processing module, a control drive module, and an anomaly management module; The positioning and acquisition module is used by the user to wear the main UWB tag and install UWB antennas on the surface of the suitcase. Different triangular positioning arrays are constructed based on different UWB antennas. The scoring prediction module is used to calculate the relative distance from the main UWB tag to the center of the suitcase in different triangulation arrays, solve the instantaneous three-dimensional coordinates of the user, and obtain the horizontal azimuth angle and vertical offset angle. The comprehensive positioning score of each triangulation array is predicted by the UAS scorer. The processing module selects the optimal positioning array for the suitcase based on the comprehensive positioning score of each triangulation array. This array is then used to calculate the fused angle change value between the horizontal azimuth angle and the vertical offset angle of the optimal positioning array through an array weighted angle fusion algorithm. The control drive module is used to calculate the linear velocity and angular velocity of the suitcase based on the relative distance and the fused angle change value through the dual DIP controller, and convert them into suitcase following instructions through the differential drive method and execute them. The anomaly management module is used to monitor abnormal states during the luggage following process using a multi-factor anomaly judgment method, and to adjust the luggage instructions in real time based on emergency recovery strategies.

[0059] This embodiment also provides a computer device applicable to the UWB-based luggage device following method, including: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the UWB-based luggage device following method proposed in the above embodiment.

[0060] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0061] This embodiment also provides a storage medium on which a computer program is stored. When executed by a processor, the program implements the UWB-based luggage device following method as proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0062] In summary, this invention achieves more stable and accurate positioning by: installing multiple UWB antennas to construct various triangulation arrays; selecting the optimal positioning array using a UAS scorer; calculating the fusion angle using an array weighted angle fusion algorithm to improve the sensitivity of following motion; and monitoring the luggage's operating status using a multi-factor anomaly detection method and responding promptly to improve the stability of following motion.

[0063] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A UWB-based luggage tracking method, characterized in that: include, Users wear a main UWB tag, and UWB antennas are installed on the surface of the suitcase. Different triangulation arrays are constructed based on different UWB antennas. Calculate the relative distance from the main UWB tag to the center of the suitcase in different triangulation arrays, solve the instantaneous three-dimensional coordinates of the user, and obtain the horizontal azimuth angle and vertical offset angle. Predict the comprehensive positioning score of each triangulation array through the UAS scorer. The optimal positioning array for the suitcase is selected based on the comprehensive positioning score of each triangulation array. The fusion angle change value of the horizontal azimuth angle and the vertical offset angle of the optimal positioning array is calculated by the array weighted angle fusion algorithm. Using dual DIP controllers, the linear velocity and angular velocity of the suitcase are calculated based on the relative distance and the fused angle change value, and then converted into a suitcase following command and executed through a differential drive method. A multi-factor anomaly detection method is used to monitor abnormal states during the luggage following process, and the luggage instructions are adjusted in real time based on emergency recovery strategies.

2. The UWB-based luggage device following method as described in claim 1, characterized in that: The user wears a main UWB tag, and a UWB antenna is installed on the surface of the suitcase. Different triangulation arrays are constructed based on different UWB antennas. The specific steps are as follows: Users wear the main UWB tag, and the main UWB antennas are installed on both sides of the top surface of the suitcase and the top of the rear central axis, while the auxiliary UWB antennas are installed on both sides of the rear. Based on the UWB antenna nodes configured in the suitcase, all non-collinear three-point combinations are selected from the UWB antenna nodes to construct all non-collinear triangular positioning arrays, forming a triangular combination pool.

3. The UWB-based luggage device following method as described in claim 2, characterized in that: The steps for calculating the relative distance from the main UWB tag to the center of the suitcase in different triangulation arrays, inversely solving for the user's instantaneous three-dimensional coordinates, and obtaining the horizontal azimuth and vertical offset angles are as follows: Using the center of the suitcase as the origin, a three-dimensional spatial coordinate system is formed. The spatial distance between the user's main UWB tag and the UWB antenna node in the triangular positioning array is measured by a synchronous two-way ranging method. The spatial distance between the user's main UWB tag and the UWB antenna node in the triangular positioning array is weighted and averaged to calculate the relative distance between the main UWB tag and the center of the suitcase. The instantaneous three-dimensional coordinates of the user's main tag under the triangular positioning array are obtained by inversely solving the triangular positioning algorithm, and the horizontal azimuth angle and vertical offset angle under the current frame are calculated by the arctangent function.

4. The UWB-based luggage device following method as described in claim 3, characterized in that: The specific steps for predicting the comprehensive positioning score of each triangulation array using the UAS scorer are as follows: Based on the angle information within the current period and the angle information cached from the previous period, the rate of change of the angle period is recorded. The received signal strength fluctuation value is recorded in real time between two adjacent time periods using UWB antenna nodes; The received signal strength fluctuation value, the relative distance between the user's main UWB tag and the triangulation array, the horizontal azimuth angle and vertical offset angle of the triangulation array in the current frame, and the periodic change rate of the angle are input into the UAS scorer for periodic array evaluation, and the comprehensive positioning score of each triangulation array is calculated. The periodic array evaluation includes signal consistency score, geometric stability score, angle solution sensitivity score, historical stability score, and occlusion tolerance score.

5. The UWB-based luggage device following method as described in claim 4, characterized in that: The optimal positioning array for the suitcase is selected based on the comprehensive positioning score of each triangulation array. Then, using an array-weighted angle fusion algorithm, the fused angle change value between the horizontal azimuth and vertical offset angle of the optimal positioning array is calculated. The specific steps are as follows: The triangular combination array with the highest comprehensive positioning score in the triangular combination pool is selected as the optimal positioning array for the suitcase. The comprehensive positioning score of the current optimal positioning array is converted into a fusion weight coefficient and then smoothed using an information entropy regularization function. Based on the smoothed fusion weight coefficients, the horizontal azimuth angle between the user and the suitcase and the vertical offset angle of the user in the vertical direction are fused and calculated using the dual-domain angle fusion method to obtain the final fusion angle. Establish a sliding time window, set the initial value of the filter weight coefficient according to the actual situation, and obtain the final smooth fusion angle by weighted averaging of the short-term and long-term filtering results of the fusion angle. Calculate the difference between the current smoothed fusion angle and the smoothed fusion angle of the previous cycle to obtain the change value of the fusion angle.

6. The UWB-based luggage device following method as described in claim 5, characterized in that: The process involves using a dual DIP controller to calculate the linear and angular velocities of the suitcase based on the relative distance and the fused angle change values. This is then converted into a suitcase following command via a differential drive method and executed. The specific steps are as follows: The fusion angle change value and the relative distance between the main UWB tag and the center of the suitcase are normalized to obtain the normalized relative distance and normalized angle change value. The linear velocity and angular velocity are calculated by the nonlinear response function of the dual DIP controller. By using a differential drive method, linear velocity and angular velocity are converted into luggage following commands, and the output of the drive motor is controlled.

7. The UWB-based luggage device following method as described in claim 6, characterized in that: The method employs a multi-factor anomaly detection approach to monitor abnormal states during the luggage following process and adjusts luggage commands in real time based on an emergency recovery strategy. The specific steps are as follows: A multi-factor anomaly detection method is used to determine the operational status of the suitcase. When an abnormal state is detected, the freeze mechanism and cache clearing are executed immediately; Continue to perform tests at fixed intervals. When the tests are normal for N consecutive cycles, the anomaly is resolved and a soft restart mechanism is initiated. The soft restart mechanism includes reinitializing the internal state of the controller, loading the last smoothed output angle and distance of the previous stable cycle as the control starting point, restoring the wheel speed output, and restoring control according to the current angle.

8. A UWB-based luggage device following system, based on the UWB-based luggage device following method according to any one of claims 1 to 7, characterized in that: include, The positioning and acquisition module is used by the user to wear the main UWB tag and install UWB antennas on the surface of the suitcase. Different triangular positioning arrays are constructed based on different UWB antennas. The scoring prediction module is used to calculate the relative distance from the main UWB tag to the center of the suitcase in different triangulation arrays, solve the instantaneous three-dimensional coordinates of the user, and obtain the horizontal azimuth angle and vertical offset angle. The comprehensive positioning score of each triangulation array is predicted by the UAS scorer. The processing module selects the optimal positioning array for the suitcase based on the comprehensive positioning score of each triangulation array. This array is then used to calculate the fused angle change value between the horizontal azimuth angle and the vertical offset angle of the optimal positioning array through an array weighted angle fusion algorithm. The control drive module is used to calculate the linear velocity and angular velocity of the suitcase based on the relative distance and the fused angle change value through the dual DIP controller, and convert them into suitcase following instructions through the differential drive method and execute them. The anomaly management module is used to monitor abnormal states during the luggage following process using a multi-factor anomaly judgment method, and to adjust the luggage instructions in real time based on emergency recovery strategies.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the UWB-based luggage device following method according to any one of claims 1 to 7.

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

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