Target positioning method, device, equipment, product and medium suitable for robot

Abstract

The application relates to the technical field of robots, and provides a target positioning method, device, equipment, product and medium suitable for robots. The method comprises the following steps: determining the types of a plurality of ultra-wideband base stations based on angle measurement values and / or distance measurement values of an ultra-wideband tag measured by the plurality of ultra-wideband base stations; the plurality of ultra-wideband base stations are arranged on a robot body, and the ultra-wideband tag is arranged on a target to be positioned; and positioning the target to be positioned based on the ultra-wideband base stations of different types. The application can accurately position the target to be positioned by using the characteristics of the ultra-wideband base stations of different types, the positioning method does not require high computing power and cost, has strong anti-environmental interference capability, can accurately identify a dynamic target, and thus can accurately position the dynamic target in an outdoor environment.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a target localization method, apparatus, equipment, product, and medium suitable for robots. Background Technology

[0002] In outdoor accompanying and following applications, robots need to perceive the surrounding environment in real time and accurately track the position and movement of targets, such as people or other moving objects, to achieve accurate target localization.

[0003] Existing target localization methods for robots mainly rely on the fusion of visual RGB depth cameras or LiDAR. However, the former requires high computing power and is sensitive to environmental interference, while the latter, in addition to requiring high computing power, has difficulty distinguishing dynamic targets. In dense crowds or complex environments, LiDAR may have difficulty accurately separating specific following targets from background noise, and it is also more expensive.

[0004] In summary, existing target localization methods for robots require high computing power and cost, and have weak resistance to environmental interference, making it difficult to accurately identify dynamic targets and thus unable to achieve accurate localization of dynamic targets in outdoor environments. Summary of the Invention

[0005] This application provides a target localization method, apparatus, device, product, and medium suitable for robots, to solve the technical problem that existing target localization methods for robots require high computing power and cost, have weak resistance to environmental interference, and are difficult to accurately identify dynamic targets, thus failing to achieve accurate localization of dynamic targets in outdoor environments.

[0006] In a first aspect, embodiments of this application provide a target localization method suitable for robots, including: Based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations, the types of the multiple ultra-wideband base stations are determined; the multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tag is deployed on the target to be located; the types include angle-reliable base stations, distance-stable base stations, effective base stations, angle-unreliable base stations, angle-undetermined base stations, and available base stations; The target to be located is located based on various types of ultra-wideband base stations.

[0007] In one embodiment, The determination of the type of the multiple ultra-wideband base stations based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: Based on the angle measurement values ​​of the ultra-wideband tag from multiple ultra-wideband base stations, the angle-trusted base station among the multiple ultra-wideband base stations is determined; Based on the ranging values ​​of multiple ultra-wideband base stations to ultra-wideband tags, a distance-stable base station is determined among the multiple ultra-wideband base stations; The ultra-wideband base station that is simultaneously the angle-reliable base station and the distance-stable base station among the plurality of ultra-wideband base stations is determined as a valid base station.

[0008] In one embodiment, determining the angle-trusted base station among the multiple ultra-wideband base stations based on the angle measurement values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station within the first time window, the angle variation value of the ultra-wideband base station within the first time window is calculated. If the angle variation value is less than the sum of the average value of the first angle variation and the average value of the second angle variation, the ultra-wideband base station is determined to be an angle-reliable base station. The first average angle variation is the average angle variation value of the ultra-wideband base station within a second time window, in a scenario where the target to be located is stationary and the robot rotates in place; the second average angle variation is the average angle variation value of the ultra-wideband base station within a third time window, in a scenario where the robot is stationary and the target to be located moves in a circle around the robot.

[0009] In one embodiment, determining the distance-stable base station among the plurality of ultra-wideband base stations based on the ranging values ​​of the ultra-wideband tag from the plurality of ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, based on the ranging value of the ultra-wideband base station to the ultra-wideband tag within the fourth time window, the distance variation value of the ultra-wideband base station within the fourth time window is calculated. Calculate the average value of the distance variation within the fourth time window; If the average value is less than the sum of the moving speed of the target to be located and the linear velocity of the robot, the ultra-wideband base station is determined to be a distance-stable base station.

[0010] In one embodiment, The determination of the type of the multiple ultra-wideband base stations based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: Based on the angle measurement values ​​of multiple ultra-wideband base stations for ultra-wideband tags, the angle-untrusted base stations among the multiple ultra-wideband base stations are identified; Among the plurality of ultra-wideband base stations, the ultra-wideband base station that is neither the angle-confidential base station nor the angle-unconfidential base station is determined as the angle-undetermined base station. The ultra-wideband base station that is simultaneously the angle-undetermined base station and the distance-stable base station among the plurality of ultra-wideband base stations is determined as an available base station.

[0011] In one embodiment, determining the angle-untrusted base station among the multiple ultra-wideband base stations based on the angle measurement values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, obtain multiple angle measurement values ​​of the ultra-wideband tag by the ultra-wideband base station within a fifth time window; If at least one angle measurement value is the angle measurement value of the ultra-wideband base station on the ultra-wideband tag outside its own effective angle measurement range, the ultra-wideband base station is determined to be an angle-untrusted base station.

[0012] In one embodiment, determining the angle-untrusted base station among the multiple ultra-wideband base stations based on the angle measurement values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband base station to the ultra-wideband tag within the sixth time window, the angle variation value of the ultra-wideband base station within the sixth time window is calculated. Calculate the average value of the angle variation within the sixth time window; If the average value is greater than the sum of the average value of the third angle variation and the average value of the fourth angle variation, the ultra-wideband base station is determined to be an angle-untrusted base station. The third average angle variation is the average angle variation value of the ultra-wideband base station within the seventh time window, in the scenario where the target to be located is stationary and the robot rotates in place; the fourth average angle variation is the average angle variation value of the ultra-wideband base station within the eighth time window, in the scenario where the robot is stationary and the target to be located moves in a circle around the robot.

[0013] In one embodiment, the number of ultra-wideband base stations is at least three, and the multiple ultra-wideband base stations are respectively deployed at the front, left and right sides of the robot body; The method of locating the target based on various types of ultra-wideband base stations includes: When the multiple ultra-wideband base stations meet the preset type combination, the effective range of the base station where the target to be located is located is determined, and the target to be located is located based on the angle measurement value and distance measurement value of the ultra-wideband tag of the ultra-wideband base station corresponding to the effective range of the base station; If the multiple ultra-wideband base stations do not meet the preset type combination, the target to be located is located based on the multi-base station intersection positioning method.

[0014] In one embodiment, the preset type combination includes a first type combination, which includes two angle-untrusted base stations and one available base station; Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the first type combination, it is determined that the target to be located is within the effective range of the available base stations.

[0015] In one embodiment, the preset type combination includes a second type combination, and the second type combination includes a valid base station; Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the second type combination, for each of the plurality of ultra-wideband base stations, the average ranging value of the ultra-wideband base station in the ninth time window is calculated based on the ranging value of the ultra-wideband base station to the ultra-wideband tag in the ninth time window. If the average ranging value of the effective base station is the minimum among the average ranging values ​​of the plurality of ultra-wideband base stations, the target to be located is determined to be within the effective range of the effective base station.

[0016] In one embodiment, the preset type combination includes a second type combination, and the second type combination includes a valid base station; Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the second type combination, for each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station within the tenth time window, the angle variation value of the ultra-wideband base station within the tenth time window is calculated. Calculate the average value of the angle variation within the tenth time window; If the average value of the effective base stations is less than a preset proportion of the average value of the other two base stations among the plurality of ultra-wideband base stations, the target to be located is determined to be within the effective range of the effective base stations.

[0017] In one embodiment, the preset type combination includes a third type combination, which includes a valid base station on the left and a valid base station on the right. Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the third type combination, for each of the plurality of ultra-wideband base stations, the average ranging value of the ultra-wideband base station in the eleventh time window is calculated based on the ranging value of the ultra-wideband base station to the ultra-wideband tag in the eleventh time window. If the average ranging value of at least one of the effective base stations on the left and the effective base stations on the right is the maximum value among the average ranging values ​​of the plurality of ultra-wideband base stations, the smaller value among the average ranging values ​​of the effective base stations on the left and the effective base stations on the right is selected to determine that the target to be located is within the effective range of the effective base station corresponding to the smaller value.

[0018] In one embodiment, the preset type combination includes a third type combination, which includes a valid base station on the left or a valid base station on the right, and a valid base station at the front. Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the third type combination, for each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station in the twelfth time window, the angle variation value of the ultra-wideband base station in the twelfth time window is calculated. Calculate the average value of the angle variation within the twelfth time window; If the average value of at least one of the effective base stations on the left, the effective base stations on the right, and the effective base stations in front is the minimum value among the average values ​​of the plurality of ultra-wideband base stations, it is determined that the target to be located is within the effective range of the effective base station corresponding to the minimum value.

[0019] In one embodiment, the preset type combination includes a fourth type combination, which includes three valid base stations; Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the fourth type combination, for each valid base station among the plurality of ultra-wideband base stations: Based on the angle measurement value of the effective base station on the ultra-wideband tag within the thirteenth time window, calculate the angle variation value of the effective base station within the thirteenth time window; Calculate the first average value of the angle variation within the thirteenth time window; Based on the ranging values ​​of the effective base station to the ultra-wideband tag within the fourteenth time window, calculate the distance variation value of the effective base station within the fourteenth time window; Calculate the second average of the distance variation values ​​within the fourteenth time window; Based on the first average value and the second average value of the plurality of ultra-wideband base stations, the effective range of the base stations where the target to be located is located is determined.

[0020] In one embodiment, determining the effective range of the base stations where the target to be located is located based on the first average value and the second average value of the plurality of ultra-wideband base stations includes: If the minimum value among the first average values ​​of the plurality of ultra-wideband base stations and the minimum value among the second average values ​​of the plurality of ultra-wideband base stations correspond to the same effective base station, it is determined that the target to be located is within the effective range of the effective base station.

[0021] In one embodiment, determining the effective range of the base stations where the target to be located is located based on the first average value and the second average value of the plurality of ultra-wideband base stations includes: When the minimum value among the first average values ​​of the plurality of ultra-wideband base stations and the minimum value among the second average values ​​of the plurality of ultra-wideband base stations correspond to different effective base stations, the plurality of ultra-wideband base stations are divided into multiple base station groups according to each group of two effective base stations. For each of the multiple base station groups, calculate the p-test value of the difference between multiple ranging values ​​of the UWB tag by one effective base station in the fifteenth time window and multiple ranging values ​​of the UWB tag by another effective base station in the sixteenth time window. Based on the p-test value of the difference, target base station groups with significant differences were selected; Based on the number of target base station groups, the effective range of the base station where the target to be located is located is determined.

[0022] In one embodiment, determining the effective range of the base stations where the target to be located is located based on the number of the target base station groups includes: When the number of target base stations is one or three, for each effective base station among the plurality of ultra-wideband base stations, the average ranging value of the effective base station within the seventeenth time window is calculated based on the ranging value of the effective base station to the ultra-wideband tag within the seventeenth time window. If the average ranging value of the effective base station is the minimum among the average ranging values ​​of the plurality of ultra-wideband base stations, the target to be located is determined to be within the effective range of the effective base station.

[0023] In one embodiment, determining the effective range of the base stations where the target to be located is located based on the number of the target base station groups includes: When the number of target base stations is zero or two, for each effective base station among the plurality of ultra-wideband base stations, the angle variation value of the effective base station within the eighteenth time window is calculated based on the angle measurement value of the ultra-wideband tag by the effective base station within the eighteenth time window; Calculate the average value of the angle variation within the eighteenth time window; If the average value of the effective base stations is the minimum value among the average values ​​of the plurality of ultra-wideband base stations, it is determined that the target to be located is within the effective range of the effective base stations.

[0024] In one embodiment, locating the target based on the multi-base station intersection positioning method includes: In the case where the plurality of ultra-wideband base stations include three range-stabilized base stations, for each range-stabilized base station among the plurality of ultra-wideband base stations, a two-dimensional circle of the range-stabilized base station is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius; the target ranging value is the ranging value of the range-stabilized base station to the ultra-wideband tag within a preset deviation range; Obtain the coordinates of the intersection point of the two-dimensional circles of the three distance-stable base stations; Calculate the median coordinates of the intersection points, and determine the median coordinates as the current position of the target to be located.

[0025] In one embodiment, locating the target based on the multi-base station intersection positioning method includes: When the plurality of ultra-wideband base stations include two range-stabilized base stations, for each range-stabilized base station among the plurality of ultra-wideband base stations, a two-dimensional circle of the range-stabilized base station is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius; the target ranging value is the ranging value of the range-stabilized base station to the ultra-wideband tag within a preset deviation range; Obtain the coordinates of the intersection point of the two two-dimensional circles of the two distance-stable base stations; The base station plane is divided into two regions by the straight line connecting the two stable base stations. Select the region where the historical location of the target to be located is located from the two regions; Calculate the median coordinates of the intersection points within the area where the historical location is located, and determine the median coordinates as the current location of the target to be located.

[0026] In one embodiment, locating the target based on the multi-base station intersection positioning method includes: When one of the multiple ultra-wideband base stations is a range-stabilized base station, the target to be located is located based on the angle measurement and range measurement values ​​of the ultra-wideband tag obtained by the range-stabilized base station.

[0027] In one embodiment, before locating the target based on various types of ultra-wideband base stations, the process includes: In the case where the plurality of ultra-wideband base stations include three range-stabilized base stations, for each range-stabilized base station among the plurality of ultra-wideband base stations, a three-dimensional sphere of the range-stabilized base station is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius; the target ranging value is the ranging value of the range-stabilized base station to the ultra-wideband tag within a preset deviation range; Obtain the coordinates of the intersection point of the three-dimensional sphere of the three distance-stable base stations; Calculate the median z-axis coordinate of the intersection point coordinates, and based on the median z-axis coordinate and the target ranging value of the intersection point coordinates, obtain the projection ranging value of the target ranging value on the base station plane.

[0028] In one embodiment, after locating the target based on various types of ultra-wideband base stations, the process includes: Using the origin of the odometer as the origin of the map coordinate system, the positioning position of the target to be located and the position of the robot recorded by the odometer are transformed from the robot coordinate system to the map coordinate system, thereby obtaining the movement trajectory of the target to be located relative to the robot in the map coordinate system.

[0029] In one embodiment, obtaining the movement trajectory of the target to be located relative to the robot in the map coordinate system includes: The movement trajectory is smoothed to obtain a smooth trajectory; Calculate the tangent of the smooth trajectory to obtain the estimated orientation of the target to be located; The estimated orientation is transformed from the map coordinate system to the robot coordinate system to obtain the current orientation of the target to be located.

[0030] Secondly, embodiments of this application provide a target localization device suitable for robots, comprising: The base station type determination module is used to: determine the type of the multiple ultra-wideband base stations based on the angle measurement values ​​and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations; the multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tag is deployed on the target to be located; the type includes angle-reliable base station, distance-stable base station, effective base station, angle-unreliable base station, angle-undetermined base station, and available base station; The target positioning module is used to locate the target to be located based on various types of ultra-wideband base stations.

[0031] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory storing a computer program, wherein the processor executes the computer program to implement the steps of the target localization method for robots described in the first aspect.

[0032] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the target localization method for robots described in the first aspect.

[0033] Fifthly, embodiments of this application provide a non-transitory computer-readable storage medium, including a computer program, which, when executed by a processor, implements the steps of the target localization method for robots described in the first aspect.

[0034] This application provides a target localization method, apparatus, device, product, and medium applicable to robots. Based on the angle and / or distance measurements of multiple ultra-wideband (UWB) base stations on an UWB tag, the type of multiple UWB base stations is determined. Multiple UWB base stations are deployed on the robot body, and the UWB tag is deployed on the target to be located. The target is located based on the various types of UWB base stations. In this application, by deploying multiple UWB base stations on the robot body and UWB tags on the target, the types of multiple UWB base stations can be determined using the distance and / or angle measurements of the UWB tag. Since the distance and angle measurements may change during the movement of the target, the types of multiple UWB base stations also change accordingly. That is, the types of multiple UWB base stations are closely related to the target. Therefore, the characteristics of different types of UWB base stations can be utilized to accurately locate the target. Furthermore, this localization method does not require high computing power or cost, has strong resistance to environmental interference, and can accurately identify dynamic targets, thus enabling accurate localization of dynamic targets in outdoor environments. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is one of the flowcharts illustrating a target localization method for robots provided in this application embodiment; Figure 2 This is a second schematic flowchart of a target localization method for robots provided in the embodiments of this application; Figure 3 This is the third flowchart illustrating the target localization method for robots provided in this application embodiment; Figure 4 This is a schematic diagram of the deployment of the ultra-wideband base station provided in the embodiments of this application; Figure 5 This is the fourth flowchart illustrating the target localization method for robots provided in the embodiments of this application; Figure 6 This is the fifth flowchart illustrating the target localization method for robots provided in the embodiments of this application; Figure 7 This is the sixth flowchart illustrating the target localization method for robots provided in this application embodiment; Figure 8 This is a schematic diagram of the target positioning device for robots provided in the embodiments of this application; Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] Figure 1 This is one of the flowcharts illustrating a target localization method for robots provided in this application. (Refer to...) Figure 1 This application provides a target localization method suitable for robots, which may include: Step 101: Determine the type of multiple ultra-wideband base stations based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations; Multiple ultra-wideband base stations are deployed on the robot itself, and ultra-wideband tags are deployed on the target to be located. Step 102: Locate the target based on various types of ultra-wideband base stations.

[0039] In step 101, due to the small measurable angle range of a single ultra-wideband (UWB) base station and its susceptibility to multipath interference, ranging data may jump or be lost, making it difficult to distinguish between valid signals and noise. Furthermore, deploying UWB base stations in fixed indoor locations such as warehouses is unsuitable for the positioning needs of robots moving outdoors. Therefore, this embodiment deploys multiple UWB base stations on the robot body and UWB tags on the target to be located, thus avoiding the ranging and angle measurement limitations of a single UWB base station and making it suitable for the positioning needs of robots moving outdoors.

[0040] Since multiple UWB base stations are deployed on the robot body and UWB tags are deployed on the target to be located, the angle and / or distance values ​​measured by the multiple UWB base stations relative to the UWB tags are used to obtain the angle and / or distance between the robot and the target carrying the UWB tags from multiple directions through the multiple UWB base stations. Thus, the type of each UWB base station relative to the target to be located can be determined based on these angles and / or distances. This type can be classified based on the measurement quality of these angles and / or distances.

[0041] In step 102, the different measurement quality of ranging and / or angle values ​​by different types of UWB base stations represents the different measurement capabilities of different types of UWB base stations for UWB tags. Therefore, the measurement capabilities of each UWB base station can be used in a differentiated manner to achieve accurate panoramic positioning of the target to be located.

[0042] The target localization method for robots provided in this embodiment determines the type of multiple ultra-wideband (UWB) base stations based on the angle and / or distance measurements of UWB tags from multiple UWB base stations. Multiple UWB base stations are deployed on the robot body, and the UWB tags are deployed on the target to be located. The target is located based on the different types of UWB base stations. In this embodiment, by deploying multiple UWB base stations on the robot body and UWB tags on the target, the types of multiple UWB base stations can be determined using the distance and / or angle measurements of the UWB tags. Since the distance and angle measurements may change during the movement of the target, the types of multiple UWB base stations also change accordingly. That is, the types of multiple UWB base stations are closely related to the target. Therefore, the characteristics of different types of UWB base stations can be utilized to accurately locate the target. Furthermore, this localization method does not require high computing power or cost, has strong resistance to environmental interference, and can accurately identify dynamic targets, thus enabling accurate localization of dynamic targets in outdoor environments.

[0043] Furthermore, compared to existing visual RGB depth camera or LiDAR fusion methods, this embodiment also has a faster response speed and a higher positioning frequency.

[0044] Figure 2 This is a second schematic flowchart of a target localization method for robots provided in this application. (Refer to...) Figure 2 In one embodiment, the types include angle-trusted base stations, distance-stable base stations, and effective base stations; step 101 may include: Step 201: Based on the angle measurement values ​​of the ultra-wideband tag from multiple ultra-wideband base stations, determine the angle-trusted base station among the multiple ultra-wideband base stations; Step 202: Based on the ranging values ​​of multiple UWB base stations to the UWB tag, determine the distance-stable base station among the multiple UWB base stations; Step 203: Among multiple ultra-wideband base stations, the ultra-wideband base station that is simultaneously an angle-reliable base station and a distance-stable base station is identified as a valid base station.

[0045] Step 201 may specifically include: Step 201a: For each of the multiple ultra-wideband base stations, calculate the angle variation value of the ultra-wideband base station within the first time window based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station within the first time window. Step 201b: If the angle variation value is less than the sum of the first average angle variation value and the second average angle variation value, determine that the ultra-wideband base station is an angle-trusted base station. The first average angle variation is the average angle variation value of the ultra-wideband base station within a second time window, under the scenario where the target to be located is stationary and the robot rotates in place; the second average angle variation is the average angle variation value of the ultra-wideband base station within a third time window, under the scenario where the robot is stationary and the target to be located moves around the robot in a circle.

[0046] In step 201a, it is assumed that the first time window is The angle measurement values ​​of the ultra-wideband base station for the ultra-wideband tag at each time point are... These angle measurements are the angle measurements taken by the robot during its following movement towards the target to be localized. The angles measured by this ultra-wideband base station can then be calculated using the following formula. Inner angle variation value : ; In step 201b, assuming the target to be located is a person, and in a scenario where the target is stationary and the robot rotates in place, the angle variation value of the ultra-wideband base station is calculated according to the above method, and the average value of these angle variation values ​​is further calculated to obtain the first average angle variation value. Similarly, in a scenario where the robot is stationary and the target to be located moves in a circle around the robot, the angle variation value of the ultra-wideband base station is calculated using the above method, and then the average value of these angle variation values ​​is calculated to obtain the second average angle variation value. ; Since the above two scenarios involve angle-stable measurements, the first and second angle variation values ​​can be used as preset benchmark values ​​to determine the reliability of the angle measurement of the ultra-wideband base station. In this case, it indicates that the ultra-wideband base station has good angle measurement stability, and the ultra-wideband base station is determined to be a reliable angle base station.

[0047] Step 202 may specifically include: Step 202a: For each of the multiple ultra-wideband base stations, calculate the distance variation value of the ultra-wideband base station in the fourth time window based on the ranging value of the ultra-wideband base station to the ultra-wideband tag in the fourth time window. Step 202b: Calculate the average distance variation within the fourth time window; Step 202c: If the average value is less than the sum of the moving speed of the target to be located and the linear speed of the robot, the ultra-wideband base station is determined to be a distance-stable base station.

[0048] In steps 202a to 202b, it is assumed that the fourth time window is The ranging values ​​of the ultra-wideband base station for the ultra-wideband tag at each time point are... These ranging values ​​are the distances measured by the robot during its movement while following the target to be located. The distances measured by this ultra-wideband base station can then be calculated using the following formula. Distance variation within : ; Furthermore, the average of these distance variation values ​​is calculated. .

[0049] In step 202c, it is assumed that the moving speed of the target to be located is, for example, the walking speed of a person. The robot's maximum linear velocity is Then in If the above conditions are met, it indicates that the ranging stability of the ultra-wideband base station is good, and the ultra-wideband base station is identified as a range-stable base station. Ultra-wideband base stations that do not meet the above conditions are range-unstable base stations.

[0050] In step 203, if the ultra-wideband base station is both an angle-reliable base station and a distance-stable base station, it indicates that the ultra-wideband base station has good angle measurement stability and distance measurement stability, and then the ultra-wideband base station can be determined as a valid base station.

[0051] This embodiment determines angle-stable reliable base stations based on the time variability of angle measurement values, determines distance-stable base stations based on the time variability of distance measurement values, and identifies ultra-wideband base stations that are both angle-stable and distance-stable as valid base stations, thereby effectively screening out ultra-wideband base stations with stable angle and distance measurements.

[0052] Figure 3 This is the third flowchart illustrating a target localization method for robots provided in this application. (Refer to...) Figure 3 In one embodiment, the types further include angle-untrusted base stations, angle-undetermined base stations, and available base stations; step 101 may include: Step 301: Based on the angle measurement values ​​of the UWB tag from multiple UWB base stations, determine the angle-untrusted base stations among the multiple UWB base stations; Step 302: Among multiple ultra-wideband base stations, the ultra-wideband base station that is neither an angle-reliable base station nor an angle-unreliable base station is identified as an angle-undetermined base station. Step 303: Among multiple ultra-wideband base stations, the ultra-wideband base station that is simultaneously an angle-undetermined base station and a distance-stable base station is identified as a usable base station.

[0053] In step 301, the angle-untrusted base station can be determined by the following two conditions: 1. For each of the multiple ultra-wideband base stations, obtain multiple angle measurement values ​​of the ultra-wideband base station on the ultra-wideband tag within the fifth time window. If at least one angle measurement value is the angle measurement value of the ultra-wideband base station on the ultra-wideband tag outside its own effective angle measurement range, determine that the ultra-wideband base station is an angle untrusted base station.

[0054] Based on the underlying principles of ultra-wideband base station module design, when an ultra-wideband tag is outside the effective angle measurement range of an ultra-wideband base station (usually a sector area of ​​±60 degrees of the antenna orientation), the angle measurement value of the ultra-wideband base station will exhibit large fluctuations and poor angle measurement stability. Therefore, if at least one angle measurement value is the angle measurement value of the ultra-wideband base station on the ultra-wideband tag outside its own effective angle measurement range, the ultra-wideband base station can be determined to be an angle-untrusted base station.

[0055] 2. For each of the multiple ultra-wideband (UWB) base stations, based on the angle measurement values ​​of the UWB base station to the UWB tag within the sixth time window, calculate the angle variation value of the UWB base station within the sixth time window, and calculate the average value of the angle variation value within the sixth time window. If the average value is greater than the sum of the average values ​​of the third and fourth angle variations, then... In this case, the ultra-wideband base station is determined to be an angle-unreliable base station; The third average angle variation is the average angle variation of the ultra-wideband base station within the seventh time window, in a scenario where the target to be located is stationary and the robot rotates in place. The fourth average angle variation is the average angle variation of the ultra-wideband base station within the eighth time window, in a scenario where the robot is stationary and the target to be located moves around the robot in a circle.

[0056] It should be noted that as long as at least one of the above two conditions is met, the ultra-wideband base station can be determined to be an untrusted base station.

[0057] In step 302, if the ultra-wideband base station is neither a reliable angle base station nor an unreliable angle base station, it means that it is still impossible to determine whether its angle measurement is stable. At this time, the ultra-wideband base station is determined as an angle undetermined base station.

[0058] In step 303, if the ultra-wideband base station is both an angle-undetermined base station and a distance-stable base station, although its angle measurement stability is still unknown, it at least indicates that its angle measurement stability is likely between that of an angle-reliable base station and an angle-unreliable base station. Therefore, if it is also a distance-stable base station, its distance measurement stability can be used to compensate for the lack of angle stability to a certain extent, so that it can still play a considerable role in subsequent target positioning. Therefore, the ultra-wideband base station is determined to be a usable base station.

[0059] This embodiment identifies angle-unreliable base stations based on whether the angle measurement value is within the effective angle measurement range and / or the time variability of the angle measurement value. Then, it combines angle-unreliable base stations and angle-reliable base stations to filter out base stations with undetermined angles. Ultra-wideband base stations that are both angle-undetermined base stations and distance-stable base stations are identified as usable base stations. This can effectively filter out ultra-wideband base stations with unstable angle measurement, ultra-wideband base stations with angle measurement stability between stable and unstable, and ultra-wideband base stations with insufficient angle measurement stability but which can be compensated for by distance measurement stability.

[0060] In one embodiment, the number of ultra-wideband base stations is at least three, and the multiple ultra-wideband base stations are respectively deployed at the front, left, and right sides of the robot body; step 102 may include: Scenario 1: When multiple ultra-wideband base stations meet the preset type combination, determine the effective range of the base station where the target to be located is located, and locate the target to be located based on the angle measurement value and distance measurement value of the ultra-wideband tag by the ultra-wideband base station corresponding to the effective range of the base station; Scenario 2: When multiple ultra-wideband base stations do not meet the preset type combination, the target to be located is located based on the multi-base station intersection positioning method.

[0061] Reference Figure 4 Taking three ultra-wideband (UWB) base stations as an example, these three UWB base stations are deployed at the front (F), left (L), and right (R) of the robot body, respectively. The effective angular measurement range of each UWB base station is... The antenna of the left-side ultra-wideband base station faces left, and the antenna of the right-side ultra-wideband base station faces right. The antennas of both ultra-wideband base stations are perpendicular to the robot's orientation. The distance between the left and right ultra-wideband base stations is... The antenna of the front ultra-wideband base station faces the direction the robot is facing, that is, directly in front of the robot. The distance between the midpoint of the line connecting the front and the left and right ultra-wideband base stations is... .in, minimum value and The minimum value is related to the ranging accuracy of the ultra-wideband base station used. The ranging accuracy of existing ultra-wideband base stations is mostly [missing value]. Based on the deployable locations of the robot's hardware design, the aforementioned distance parameters are used. This deployment method is suitable for robot following and accompanying scenarios.

[0062] Furthermore, as the target to be located moves, such as a person and the antenna of the UWB tag is facing the robot, the appropriate location for wearing the UWB tag should be selected to avoid the human body obstructing the UWB base station and the UWB tag, which would cause a large deviation in the ranging and angle measurement values ​​and affect the positioning effect.

[0063] Furthermore, the sensing motherboard of the UWB tag interacts with the UWB base station via a serial port to obtain ranging and angle measurement data from the UWB base station. The minimum communication frequency requirement between a single UWB base station and the UWB tag is 20Hz. In a three-UWB base station design, the minimum communication frequency of the UWB tag is 60Hz to meet the data volume requirements for tangent calculation.

[0064] Based on the above deployment methods of ultra-wideband base stations and ultra-wideband tags, a preset type combination of these three ultra-wideband base stations can be determined. This preset type combination is a combination that can determine that the target to be located is within the effective range of at least one ultra-wideband base station. At this time, the target to be located can be located based on the angle measurement value and distance measurement value of the ultra-wideband tag of the ultra-wideband base station corresponding to the effective range.

[0065] If the three ultra-wideband base stations do not meet the preset type combination, it means that it is impossible to determine whether the target to be located is within the effective range of any ultra-wideband base station. In this case, the target to be located can be located based on the intersection positioning method of the three ultra-wideband base stations.

[0066] In this embodiment, based on the specific deployment method of the ultra-wideband base station and the ultra-wideband tag, a preset type combination of ultra-wideband base stations is determined. This preset type combination is a combination that can determine that the target to be located is within the effective range of at least one ultra-wideband base station. When multiple broadband base stations meet the preset type combination, the target to be located can be located based on the angle measurement value and distance measurement value of the ultra-wideband tag by the ultra-wideband base station corresponding to the effective range. When multiple broadband base stations do not meet the preset type combination, the target to be located can be located based on the intersection positioning method of multiple base stations, so that the multiple broadband base stations can achieve accurate positioning of the target to be located regardless of the type combination.

[0067] In one embodiment, the preset type combination may include a first type combination, which includes two angle-untrusted base stations and one available base station; Scenario 1 may include: When multiple ultra-wideband base stations meet the first type of combination, it is determined that the target to be located is within the effective range of available base stations.

[0068] In this embodiment, the number of effective base stations is 0. Among the three ultra-wideband base stations, there are two unreliable angle base stations and one available base station. Since the angle measurement stability of the unreliable angle base station is poor, compared with the available base station which has moderate angle stability and good distance stability, the available base station is directly used as the positioning base station. It is determined that the target to be located is within the effective range of the available base station. Thus, the angle measurement value and distance measurement value of the ultra-wideband tag can be used by the available base station to locate the target.

[0069] In one embodiment, the preset type combination may include a second type combination, which includes a valid base station; Case 1 may include the following two cases: 1. When multiple ultra-wideband base stations satisfy the second type of combination, for each of the multiple ultra-wideband base stations, based on the ranging value of the ultra-wideband base station to the ultra-wideband tag within the ninth time window, calculate the average ranging value of the ultra-wideband base station within the ninth time window. If the average ranging value of the effective base station is the minimum value among the average ranging values ​​of multiple ultra-wideband base stations, determine that the target to be located is within the effective range of the effective base station.

[0070] The average ranging value of an effective base station is the minimum among the average ranging values ​​of multiple ultra-wideband base stations. This indicates that the effective base station is closest to the target to be located and is more likely to obtain a more accurate ranging value.

[0071] 2. When multiple ultra-wideband base stations meet the second type of combination, for each of the multiple ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station within the tenth time window, calculate the angle variation value of the ultra-wideband base station within the tenth time window, calculate the average value of the angle variation value within the tenth time window, and determine that the target to be located is within the effective range of the effective base station if the average value of the effective base station is less than a preset proportion of the average value of the other two base stations among the multiple ultra-wideband base stations; wherein, the preset proportion can be set according to actual needs and is not limited here. In this embodiment, the preset proportion can be set to 1 / 4.

[0072] The average value of the effective base station angle variation is less than 1 / 4 of the average value of the other two base stations among multiple ultra-wideband base stations, indicating that the effective base station has the best angle measurement stability and is easier to measure more accurate angle values.

[0073] It should be noted that as long as at least one of the above two conditions is met, it can be determined that the target to be located is within the effective range of the effective base station.

[0074] In this embodiment, the number of effective base stations is 1. When the average ranging value of the effective base station for the ultra-wideband tag is the smallest, and / or the time variability of the angle measurement value of the effective base station for the ultra-wideband tag is less than 1 / 4 of that of other ultra-wideband base stations, it is determined that the measurement capability of the effective base station is good. Thus, it is determined that the target to be located is within the effective range of the effective base station. The effective base station is used as the positioning base station, and the angle measurement value and ranging value of the effective base station for the ultra-wideband tag can be used to locate the target to be located.

[0075] In one embodiment, the preset type combination may include a third type combination, which includes a valid base station on the left and a valid base station on the right, or a valid base station on the left or a valid base station on the right, and a valid base station at the front; Case 1 may include the following two cases: 1. When multiple ultra-wideband base stations satisfy the third type combination, which includes a valid base station on the left and a valid base station on the right, for each of the multiple ultra-wideband base stations, based on the ranging value of the ultra-wideband base station to the ultra-wideband tag within the eleventh time window, calculate the average ranging value of the ultra-wideband base station within the eleventh time window. If the average ranging value of at least one of the valid base stations on the left and the valid base station on the right is the maximum value among the average ranging values ​​of the multiple ultra-wideband base stations, select the smaller value between the average ranging value of the valid base station on the left and the average ranging value of the valid base station on the right, and determine that the target to be located is within the effective range of the valid base station corresponding to the smaller value.

[0076] If the average ranging value of at least one of the effective base stations on the left and right is the maximum value among the average ranging values ​​of multiple ultra-wideband base stations, it can be determined that the average ranging value of the front ultra-wideband base station is not the maximum value. That is, the target to be located is not behind the robot. It can be located based on the effective base stations on the left or right. In this case, the effective base station with the smaller average ranging value on the left and right is selected. This effective base station is closer to the target to be located and it is easier to measure a more accurate ranging value.

[0077] 2. When multiple ultra-wideband base stations satisfy the third type combination, which includes a valid base station on the left or a valid base station on the right, and a valid base station in front, for each of the multiple ultra-wideband base stations, based on the angle measurement value of the ultra-wideband base station to the ultra-wideband tag within the twelfth time window, calculate the angle variation value of the ultra-wideband base station within the twelfth time window, calculate the average value of the angle variation value within the twelfth time window, and if the average value of at least one of the valid base stations on the left or right, and the valid base station in front is the minimum value among the average values ​​of the multiple ultra-wideband base stations, determine that the target to be located is within the effective range of the valid base station corresponding to the minimum value.

[0078] That is, among all effective base stations, the effective base station with the smallest average angle variation value is selected. This effective base station has the best angle measurement stability and is easier to measure with more accurate angle values.

[0079] In this embodiment, the number of effective base stations is 2. When the effective base stations are a combination of the left and right sides, the effective base station on the side with the smaller average ranging value for the UWB tag is determined as the positioning base station. When the effective base stations are a combination of the front and one side, the effective base station with the smallest time variability of the UWB tag angle measurement value among all UWB base stations is determined as the positioning base station. These positioning base stations have good measurement capabilities, so it is determined that the target to be located is within the effective range of the effective base station. The angle measurement value and ranging value of the UWB tag by the effective base station can be used to locate the target to be located.

[0080] In one embodiment, the preset type combination includes a fourth type combination, which includes three valid base stations; Case 1 may include: When multiple ultra-wideband base stations satisfy the fourth type of combination, for each valid base station among the multiple ultra-wideband base stations: Based on the angle measurement value of the effective base station to the ultra-wideband tag within the thirteenth time window, the angle variation value of the effective base station within the thirteenth time window is calculated, and the first average value of the angle variation value within the thirteenth time window is calculated. Based on the ranging value of the effective base station to the ultra-wideband tag within the fourteenth time window, the distance variation value of the effective base station within the fourteenth time window is calculated, and the second average value of the distance variation value within the fourteenth time window is calculated. Based on the first average value and the second average value of multiple ultra-wideband base stations, the effective range of the base station where the target to be located is located is determined, including the following two cases: 1. If the minimum value among the first average values ​​of multiple ultra-wideband base stations and the minimum value among the second average values ​​of multiple ultra-wideband base stations correspond to the same effective base station, it is determined that the target to be located is within the effective range of that effective base station.

[0081] In other words, among all effective base stations, the effective base station with the smallest average value of angle variation and average value of distance variation is selected. This effective base station has the best angle measurement stability and distance measurement stability, and it is easier to obtain more accurate angle measurement and distance measurement values.

[0082] 2. When the minimum value among the first average values ​​of multiple ultra-wideband base stations and the minimum value among the second average values ​​of multiple ultra-wideband base stations correspond to different effective base stations, the multiple ultra-wideband base stations are divided into multiple base station groups according to the principle of grouping every two effective base stations. For each base station group, the p-test value of the difference between the multiple ranging values ​​of one effective base station for the ultra-wideband tag in the fifteenth time window and the multiple ranging values ​​of another effective base station for the ultra-wideband tag in the sixteenth time window is calculated. Based on the p-test value of the difference, target base station groups with significant differences are selected. Based on the number of target base station groups, the effective range of the base station where the target to be located is located is determined.

[0083] Assuming the three valid base stations are base station 1, base station 2, and base station 3, they can be divided into base station group 1: Base station group 2: And base station group 3: For each base station group in base station group 1, base station group 2, and base station group 3, taking base station group 1 as an example, the p-test value of the difference between multiple ranging values ​​of the UWB tag by base station 1 in the fifteenth time window and multiple ranging values ​​of the UWB tag by base station 2 in the sixteenth time window is calculated to obtain the p-test value of the difference corresponding to base station group 1. Similarly, the p-test values ​​of the difference between base station group 2 and base station group 3 are calculated. Based on the p-test values ​​of the difference corresponding to the three base station groups, the target base station group with significant differences is selected. For example, the base station group with a p-test value of less than 0.05 is selected and the base station group corresponding to the p-test value of the difference is determined as the target base station group. Furthermore, the effective range of the target to be located by the effective base station is determined based on the following two cases: 2.1 When the number of target base stations is one or three, for each effective base station among the multiple ultra-wideband base stations, based on the ranging value of the effective base station for the ultra-wideband tag within the seventeenth time window, calculate the average ranging value of the effective base station within the seventeenth time window. If the average ranging value of the effective base station is the minimum among the average ranging values ​​of multiple ultra-wideband base stations, it is determined that the target to be located is within the effective range of the effective base station.

[0084] When there are one or three target base station groups, for example, if base station group 1 is the target base station group, it means that base station 1 and base station 2 have significant differences in ranging values, while base station 1 and base station 3, as well as base station 2 and base station 3, have smaller differences in ranging values. Or, if base station group 1, base station group 2, and base station group 3 are all target base station groups, it means that base station 1, base station 2, and base station 3 have significant differences in ranging values ​​among themselves. In the case that at least two base stations have significant differences in ranging values, the effective base station with the smallest average ranging value is selected from the three effective base stations. This effective base station is closer to the target to be located and it is easier to obtain a more accurate ranging value.

[0085] 2.2 When the number of target base stations is zero or two, for each effective base station among multiple ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the effective base station within the eighteenth time window, calculate the angle variation value of the effective base station within the eighteenth time window, calculate the average value of the angle variation value within the eighteenth time window, and if the average value of the effective base station is the minimum value among the average values ​​of multiple ultra-wideband base stations, determine that the target to be located is within the effective range of the effective base station.

[0086] When there are zero or two target base station groups, for example, if base station group 1, base station group 2, and base station group 3 are not target base station groups, it means that the differences in ranging values ​​between base station 1, base station 2, and base station 3 are small. Alternatively, if base station group 1 and base station group 2 are target base station groups, it means that the differences in ranging values ​​between base station 1 and base station 2 in base station group 1 are significant, the differences in ranging values ​​between base station 1 and base station 3 in base station group 2 are also significant, while the differences in ranging values ​​between base station 2 and base station 3 in base station group 3 are small. Therefore, when at least two base stations have small differences in ranging values, the effective base station with the smallest average angle variation value is selected from the three effective base stations. This effective base station has the best angle measurement stability and is more likely to provide a more accurate angle measurement value.

[0087] In this embodiment, the number of effective base stations is 3. If there is an effective base station with the smallest time variability in both the angle measurement and ranging values ​​of the UWB tag among all effective base stations, this effective base station is determined as the positioning base station. If there is no effective base station with the smallest time variability in both the angle measurement and ranging values ​​of the UWB tag among all effective base stations, all effective base stations are grouped pairwise. Based on the p-test value of the differences between base stations within the group, it is determined whether there is a significant difference in the ranging values ​​among the three effective base stations. If there is a significant difference in the ranging values ​​between at least two base stations, it indicates that the optimal effective base station can be determined by comparing the ranging values. Therefore, the effective base station with the smallest average ranging value for the UWB tag is selected as the positioning base station. If there is no significant difference in the ranging values ​​between at least two base stations, it indicates that it is difficult to determine the optimal effective base station by comparing the ranging values. Therefore, the effective base station with the smallest time variability in the angle measurement values ​​of the UWB tag is selected as the positioning base station. These positioning base stations have good measurement capabilities, so it is determined that the target to be located is within the effective range of the effective base station. The angle measurement and ranging values ​​of the UWB tag obtained by this effective base station can be used to locate the target.

[0088] It should be noted that all time windows in the above embodiments can be exactly the same, partially the same, or different from each other; no limitation is made here.

[0089] In one embodiment, scenario two may include: In the case where there are three range-stabilized base stations among multiple ultra-wideband base stations, for each range-stabilized base station, a two-dimensional circle is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius. The target ranging value is the ranging value of the range-stabilized base station to the ultra-wideband tag within a preset deviation range. The coordinates of the intersection point of the three two-dimensional circles of the range-stabilized base stations are obtained, the median coordinates of the intersection point coordinates are calculated, and the median coordinates are determined as the current position of the target to be located.

[0090] The specific method can be as follows: For each of the three range-stabilized base stations, a two-dimensional distance matrix is ​​constructed. The elements in this two-dimensional distance matrix are the coordinates of arc points on the two-dimensional circle of that range-stabilized base station. If the coordinates of a certain arc point appear in the two-dimensional distance matrices of all three range-stabilized base stations, then the coordinates of that arc point are the coordinates of the intersection points of the two-dimensional circles of the three range-stabilized base stations. The median coordinates of the intersection points are calculated. The x-axis coordinate of the median coordinates is the median of the x-axis coordinates of all intersection points, and the y-axis coordinate of the median coordinates is the median of the y-axis coordinates of all intersection points. The median coordinates are then determined as the current position of the target to be located.

[0091] This embodiment determines the location of the target by using the intersection of the arc formed by the target ranging values ​​of three distance-stable base stations when multiple ultra-wideband base stations do not meet the preset type combination, i.e., it is impossible to determine whether the target to be located is within the effective range of any ultra-wideband base station. This enables accurate positioning of the target.

[0092] In one embodiment, scenario two may include: In the case where multiple ultra-wideband (UWB) base stations include two range-stabilized base stations, for each range-stabilized base station, a two-dimensional circle is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the UWB tag as the radius. The target ranging value is the ranging value of the range-stabilized base station to the UWB tag within a preset deviation range. The coordinates of the intersection point of the two two-dimensional circles of the two range-stabilized base stations are obtained. The base station plane is divided into two regions by the straight line connecting the two range-stabilized base stations. The region where the historical location of the target to be located is selected in the two regions, and the median coordinates of the intersection point coordinates in the region where the historical location is located are calculated. The median coordinates are determined as the current location of the target to be located.

[0093] The specific method can be as follows: For each of the two range-stabilized base stations, a two-dimensional distance matrix is ​​constructed. The elements of this two-dimensional distance matrix are the coordinates of arc points on the two-dimensional circle of that range-stabilized base station. If the coordinates of a certain arc point appear in the two-dimensional distance matrices of both range-stabilized base stations, then the coordinates of that arc point are the coordinates of the intersection of the two two-dimensional circles of the range-stabilized base stations. The base station plane is divided into two regions on both sides of the line connecting the two range-stabilized base stations. The intersection coordinates are distributed in at least one region. Assuming these two regions are region A and region B, and the previous positioning of the target determined that it was in region A, then the current positioning calculates the median coordinates of all intersection coordinates in region A. The x-axis coordinate of this median coordinate is the median of the x-axis coordinates of all intersection coordinates in region A, and the y-axis coordinate is the median of the y-axis coordinates of all intersection coordinates in region A. This median coordinate is determined as the current position of the target.

[0094] This embodiment determines the location of the target by utilizing the intersection of the arc formed by the target ranging values ​​of two distance-stable base stations, distributed on both sides of the straight line connecting the two distance-stable base stations, when multiple ultra-wideband base stations do not meet the preset type combination, i.e., it is impossible to determine whether the target to be located is within the effective range of any ultra-wideband base station. This allows for accurate positioning of the target.

[0095] In one embodiment, scenario two may include: In the case of a range-stabilized base station among multiple ultra-wideband base stations, the target to be located is located based on the angle measurement and range measurement values ​​of the ultra-wideband tag obtained by the range-stabilized base station.

[0096] This embodiment uses the angle and distance measurements of an ultra-wideband tag from a single distance-stable base station to locate the target when multiple ultra-wideband base stations do not meet the preset type combination, i.e., it is impossible to determine whether the target is within the effective range of any ultra-wideband base station. This method represents the minimum standard for accurately locating the target.

[0097] Based on the above analysis, when multiple ultra-wideband (UWB) base stations meet a preset type combination, meaning the target to be located can be determined to be within the effective range of at least one UWB base station, the target can be located using the angle and distance measurements of the UWB tag from the corresponding UWB base station within that effective range. In this case, the location point has high reliability and can be denoted as... When multiple broadband base stations do not meet the preset type combination, i.e., it cannot be determined that the target to be located is within the effective range of any ultra-wideband base station, including cases where the target is behind the robot, such as when all three ultra-wideband base stations are angle-unreliable base stations, or when the three ultra-wideband base stations include one effective base station on the left and one effective base station on the right, and the average ranging value of the front ultra-wideband base station is the maximum value among the three ultra-wideband base stations, the target is located based on the multi-base station intersection positioning method. However, due to interference such as occlusion, the signal transmission path is prolonged, and the ranging value may fluctuate. Therefore, this intersection positioning method needs to exclude unstable base stations and only consider stable base stations. When the number of stable base stations is 3, the reliability of the positioning point is moderate, which can be denoted as... When the number of stable base stations is 2, the reliability of the location point is low, which can be denoted as... The above confidence level estimates can provide more adjustable information for subsequent robot operation and control strategies. Furthermore, if fluctuations in angle or distance measurements occur over a prolonged period, the deployment status of ultra-wideband tags on the target to be located should also be considered.

[0098] Figure 5 This is the fourth flowchart illustrating a target localization method for robots provided in this application. (Refer to...) Figure 5 In one embodiment, step 102 may include the following: Step 501: In the case where there are three range-stabilized base stations among multiple ultra-wideband base stations, for each range-stabilized base station among the multiple ultra-wideband base stations, take the range-stabilized base station as the center of the sphere and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius to obtain the three-dimensional sphere of the range-stabilized base station. The target ranging value is the ranging value of the distance-stable base station to the ultra-wideband tag within a preset deviation range; Step 502: Obtain the coordinates of the intersection point of the three-dimensional spheres of the three-dimensional base stations with stable distances; Step 503: Calculate the median z-axis coordinate of the intersection point. Based on the median z-axis coordinate and the target ranging value corresponding to the intersection point coordinate, obtain the projection ranging value of the target ranging value on the base station plane.

[0099] In steps 501 to 502, a three-dimensional distance matrix is ​​constructed for each of the three distance-stabilized base stations. The elements in the three-dimensional distance matrix are the coordinates of spherical points on the three-dimensional sphere of the distance-stabilized base station. If the coordinates of a certain spherical point appear in the three-dimensional distance matrices of the three distance-stabilized base stations, then the coordinates of the spherical point are the coordinates of the intersection of the three-dimensional spheres of the three distance-stabilized base stations.

[0100] In step 503, the median of the z-axis coordinates of all intersection points is calculated to obtain the median z-axis coordinate, which is the deployment height of the ultra-wideband tag on the target to be located. The target ranging value corresponding to each intersection point coordinate is used as the hypotenuse length, and the median z-axis coordinate is used as the length of one right leg. The length of the other right leg is calculated using the Pythagorean theorem. This length is the projection ranging value of the target ranging value onto the base station plane.

[0101] In this embodiment, since the deployment height of the ultra-wideband tag on the target to be located affects the ranging value, and the accompanying function needs to obtain the accurate relative position of the target to be located on the projection plane, the intersection of the three-dimensional spheres of three distance-stabilized base stations can be obtained. The median coordinate of the z-axis of the intersection point is used as the height estimate of the ultra-wideband tag on the target to be located. Based on this height estimate and the Pythagorean theorem, the target ranging value corresponding to each intersection point is projected onto the base station plane. The resulting projected ranging value can eliminate the corresponding interference caused by the deployment height, making the subsequent positioning of the target to be located more accurate.

[0102] In one embodiment, step 102 may be followed by: Using the origin of the odometer as the origin of the map coordinate system, the positioning position of the target to be located and the position of the robot recorded by the odometer are transformed from the robot coordinate system to the map coordinate system, thus obtaining the movement trajectory of the target to be located relative to the robot in the map coordinate system.

[0103] The odometry data may be obtained by fitting a gait model or integrating accelerometer data; this is not limited here.

[0104] In this embodiment, the origin of the odometer is used as the origin of the map coordinate system. The positioning position of the target to be located and the position of the robot recorded by the odometer at each moment are transformed from the robot coordinate system to the map coordinate system, so as to realize the real-time positioning and trajectory visualization of the robot and the target to be located in the map coordinate system. The coordinate transformation can be achieved by calculating the rotation matrix between the robot coordinate system and the map coordinate system.

[0105] Figure 6 This is the fifth flowchart illustrating a target localization method for robots provided in this application. (Refer to...) Figure 6 In one embodiment, after obtaining the movement trajectory of the target to be located relative to the robot in the map coordinate system, the following may be included: Step 601: Smooth the movement trajectory to obtain a smooth trajectory; Step 602: Calculate the tangent of the smooth trajectory to obtain the estimated orientation of the target to be located; Step 603: Transform the estimated orientation from the map coordinate system to the robot coordinate system to obtain the current orientation of the target to be located.

[0106] In step 601, the movement trajectory can be smoothed using any method, and there is no limitation here. In this embodiment, Kalman filtering can be used to smooth the movement trajectory.

[0107] In steps 602 to 603, under normal following and accompaniment conditions, the movement direction of the target to be located is basically consistent with its orientation. Therefore, the tangent of the smooth trajectory is calculated as the estimated orientation of the target to be located, and this is transformed from the map coordinate system to the robot coordinate system to achieve the current orientation estimation of the target to be located. The specific method is as follows: The estimated orientation is obtained by taking the vector direction from the point at time t-1 to the point at the current time t on the smooth trajectory of the target to be located, and transforming it from the map coordinate system to the robot coordinate system.

[0108] It should be noted that if the distance between two points is less than the preset threshold (which can be set to the distance deviation range, such as ±10cm or 20cm), orientation estimation will not be performed.

[0109] This embodiment smooths the movement trajectory of the target to be located relative to the robot, which can suppress noise in the movement trajectory, eliminate outliers, and obtain a smooth trajectory with a more accurate and significant trend. Then, its tangent is calculated to obtain a more accurate estimated orientation of the target to be located in the map coordinate system. Finally, it is transformed from the map coordinate system to the robot coordinate system to achieve an accurate estimation of the current orientation of the target to be located from the robot's perspective.

[0110] Figure 7 This is the sixth flowchart illustrating a target localization method for robots provided in this application. (Refer to...) Figure 7 In one embodiment, the entire process of the target localization method of this application is briefly described as follows: 1. Base station ranging and angle measurement data processing, mainly involving the calculation of the time variability of the ranging and angle measurement values ​​of the ultra-wideband base station to the ultra-wideband tag; 2. Tag height estimation mainly involves the calculation of multi-spherical intersections at the distance to a stable base station and the projection transformation of target ranging values; 3. Target localization, mainly involving the determination of the effective range and the calculation of the intersection of multiple circular arcs; 4. Trajectory calculation and smoothing, mainly involving odometry integrated coordinate transformation and Kalman filtering; 5. Orientation estimation mainly involves tangent calculation and coordinate transformation.

[0111] Through the above processes, accurate positioning of the target can be achieved.

[0112] The target positioning device for robots provided in the embodiments of this application is described below. The target positioning device for robots described below can be referred to in correspondence with the target positioning method for robots described above.

[0113] Figure 8 This is a schematic diagram of the target positioning device for robots provided in an embodiment of this application. (Refer to...) Figure 8 This application provides a target localization device suitable for robots, which may include: The base station type determination module 801 is used to: determine the type of the multiple ultra-wideband base stations based on the angle measurement values ​​and / or ranging values ​​of the ultra-wideband tag from the multiple ultra-wideband base stations; the multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tag is deployed on the target to be located; The target positioning module 802 is used to locate the target to be located based on various types of ultra-wideband base stations.

[0114] The target localization device for robots provided in this embodiment determines the type of multiple ultra-wideband (UWB) base stations based on the angle and / or distance measurements of UWB tags from multiple UWB base stations. Multiple UWB base stations are deployed on the robot body, and the UWB tags are deployed on the target to be located. The target is located based on the different types of UWB base stations. In this embodiment, by deploying multiple UWB base stations on the robot body and UWB tags on the target, the types of multiple UWB base stations can be determined using the distance and / or angle measurements of the UWB tags from the multiple base stations. Since the distance and angle measurements may change during the movement of the target, the types of multiple UWB base stations also change accordingly. That is, the types of multiple UWB base stations are closely related to the target. Therefore, the characteristics of different types of UWB base stations can be used to accurately locate the target. Furthermore, this localization method does not require high computing power or cost, has strong resistance to environmental interference, and can accurately identify dynamic targets, thus enabling accurate localization of dynamic targets in outdoor environments.

[0115] Furthermore, compared to existing visual RGB depth camera or LiDAR fusion methods, this embodiment also has a faster response speed and a higher positioning frequency.

[0116] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application, such as... Figure 9As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 can call a computer program in the memory 930 to execute steps suitable for a robot target localization method, such as: The type of the multiple ultra-wideband base stations is determined based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations; the multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tag is deployed on the target to be located; The target to be located is located based on various types of ultra-wideband base stations.

[0117] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0118] On the other hand, embodiments of this application also provide a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the steps of the target localization method for robots provided in the above embodiments, such as: The type of the multiple ultra-wideband base stations is determined based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations; the multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tag is deployed on the target to be located; The target to be located is located based on various types of ultra-wideband base stations.

[0119] On the other hand, embodiments of this application also provide a non-transitory computer-readable storage medium storing a computer program thereon, the computer program being used to cause a processor to execute the steps of the target localization method for robots provided in the above embodiments, such as including: The type of the multiple ultra-wideband base stations is determined based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations; the multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tag is deployed on the target to be located; The target to be located is located based on various types of ultra-wideband base stations.

[0120] The non-transitory computer-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0121] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0122] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A target localization method suitable for robots, characterized in that, include: The type of the multiple ultra-wideband base stations is determined based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations; The multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tags are deployed on the target to be located; the types include angle-reliable base stations, distance-stable base stations, effective base stations, angle-unreliable base stations, angle-undetermined base stations, and available base stations. The target to be located is located based on various types of ultra-wideband base stations.

2. The target localization method for robots according to claim 1, characterized in that, The determination of the type of the multiple ultra-wideband base stations based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: Based on the angle measurement values ​​of the ultra-wideband tag from multiple ultra-wideband base stations, the angle-trusted base station among the multiple ultra-wideband base stations is determined; Based on the ranging values ​​of multiple ultra-wideband base stations to ultra-wideband tags, a distance-stable base station is determined among the multiple ultra-wideband base stations; The ultra-wideband base station that is simultaneously the angle-reliable base station and the distance-stable base station among the plurality of ultra-wideband base stations is determined as a valid base station.

3. The target localization method for robots according to claim 2, characterized in that, The step of determining the angle-reliable base station among the multiple ultra-wideband base stations based on the angle measurement values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station within the first time window, the angle variation value of the ultra-wideband base station within the first time window is calculated. If the angle variation value is less than the sum of the average value of the first angle variation and the average value of the second angle variation, the ultra-wideband base station is determined to be an angle-reliable base station. The first average angle variation is the average angle variation value of the ultra-wideband base station within a second time window, in a scenario where the target to be located is stationary and the robot rotates in place; the second average angle variation is the average angle variation value of the ultra-wideband base station within a third time window, in a scenario where the robot is stationary and the target to be located moves in a circle around the robot.

4. The target localization method for robots according to claim 2, characterized in that, The step of determining the distance-stable base station among the multiple ultra-wideband base stations based on the ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, based on the ranging value of the ultra-wideband base station to the ultra-wideband tag within the fourth time window, the distance variation value of the ultra-wideband base station within the fourth time window is calculated. Calculate the average value of the distance variation within the fourth time window; If the average value is less than the sum of the moving speed of the target to be located and the linear velocity of the robot, the ultra-wideband base station is determined to be a distance-stable base station.

5. The target localization method for robots according to claim 2, characterized in that, The determination of the type of the multiple ultra-wideband base stations based on the angle measurement and / or ranging values ​​of the ultra-wideband tag from multiple ultra-wideband base stations includes: Based on the angle measurement values ​​of multiple ultra-wideband base stations for ultra-wideband tags, the angle-untrusted base stations among the multiple ultra-wideband base stations are identified; Among the plurality of ultra-wideband base stations, the ultra-wideband base station that is neither the angle-confidential base station nor the angle-unconfidential base station is determined as the angle-undetermined base station. The ultra-wideband base station that is simultaneously the angle-undetermined base station and the distance-stable base station among the plurality of ultra-wideband base stations is determined as an available base station.

6. The target localization method for robots according to claim 5, characterized in that, The method of determining untrusted base stations among the multiple ultra-wideband base stations based on the angle measurements of the ultra-wideband tag from multiple ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, obtain multiple angle measurement values ​​of the ultra-wideband tag by the ultra-wideband base station within a fifth time window; If at least one angle measurement value is the angle measurement value of the ultra-wideband base station on the ultra-wideband tag outside its own effective angle measurement range, the ultra-wideband base station is determined to be an angle-untrusted base station.

7. The target localization method for robots according to claim 5, characterized in that, The method of determining untrusted base stations among the multiple ultra-wideband base stations based on the angle measurements of the ultra-wideband tag from multiple ultra-wideband base stations includes: For each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband base station to the ultra-wideband tag within the sixth time window, the angle variation value of the ultra-wideband base station within the sixth time window is calculated. Calculate the average value of the angle variation within the sixth time window; If the average value is greater than the sum of the average value of the third angle variation and the average value of the fourth angle variation, the ultra-wideband base station is determined to be an angle-untrusted base station. The third average angle variation is the average angle variation value of the ultra-wideband base station within the seventh time window, in the scenario where the target to be located is stationary and the robot rotates in place; the fourth average angle variation is the average angle variation value of the ultra-wideband base station within the eighth time window, in the scenario where the robot is stationary and the target to be located moves in a circle around the robot.

8. The target localization method for robots according to claim 5, characterized in that, The number of ultra-wideband base stations is at least three, and the multiple ultra-wideband base stations are respectively deployed at the front, left and right sides of the robot body; The method of locating the target based on various types of ultra-wideband base stations includes: When the multiple ultra-wideband base stations meet the preset type combination, the effective range of the base station where the target to be located is located is determined, and the target to be located is located based on the angle measurement value and distance measurement value of the ultra-wideband tag of the ultra-wideband base station corresponding to the effective range of the base station; If the multiple ultra-wideband base stations do not meet the preset type combination, the target to be located is located based on the multi-base station intersection positioning method.

9. The target localization method for robots according to claim 8, characterized in that, The preset type combination includes a first type combination, which includes two untrusted base stations at different angles and one available base station. Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the first type combination, it is determined that the target to be located is within the effective range of the available base stations.

10. The target localization method for robots according to claim 8, characterized in that, The preset type combination includes a second type combination, and the second type combination includes a valid base station; Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the second type combination, for each of the plurality of ultra-wideband base stations, the average ranging value of the ultra-wideband base station in the ninth time window is calculated based on the ranging value of the ultra-wideband base station to the ultra-wideband tag in the ninth time window. If the average ranging value of the effective base station is the minimum among the average ranging values ​​of the plurality of ultra-wideband base stations, the target to be located is determined to be within the effective range of the effective base station.

11. The target localization method for robots according to claim 8, characterized in that, The preset type combination includes a second type combination, and the second type combination includes a valid base station; Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the second type combination, for each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station within the tenth time window, the angle variation value of the ultra-wideband base station within the tenth time window is calculated. Calculate the average value of the angle variation within the tenth time window; If the average value of the effective base stations is less than a preset proportion of the average value of the other two base stations among the plurality of ultra-wideband base stations, the target to be located is determined to be within the effective range of the effective base stations.

12. The target localization method for robots according to claim 8, characterized in that, The preset type combination includes a third type combination, which includes a valid base station on the left and a valid base station on the right. Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the third type combination, for each of the plurality of ultra-wideband base stations, the average ranging value of the ultra-wideband base station in the eleventh time window is calculated based on the ranging value of the ultra-wideband base station to the ultra-wideband tag in the eleventh time window. If the average ranging value of at least one of the effective base stations on the left and the effective base stations on the right is the maximum value among the average ranging values ​​of the plurality of ultra-wideband base stations, the smaller value among the average ranging values ​​of the effective base stations on the left and the effective base stations on the right is selected to determine that the target to be located is within the effective range of the effective base station corresponding to the smaller value.

13. The target localization method for robots according to claim 8, characterized in that, The preset type combination includes a third type combination, which includes a valid base station on the left or a valid base station on the right, and a valid base station in the front. Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the third type combination, for each of the plurality of ultra-wideband base stations, based on the angle measurement value of the ultra-wideband tag by the ultra-wideband base station in the twelfth time window, the angle variation value of the ultra-wideband base station in the twelfth time window is calculated. Calculate the average value of the angle variation within the twelfth time window; If the average value of at least one of the effective base stations on the left, the effective base stations on the right, and the effective base stations in front is the minimum value among the average values ​​of the plurality of ultra-wideband base stations, it is determined that the target to be located is within the effective range of the effective base station corresponding to the minimum value.

14. The target localization method for robots according to claim 8, characterized in that, The preset type combination includes a fourth type combination, which includes three valid base stations; Determining the effective range of the base stations where the target to be located is located when the multiple ultra-wideband base stations meet the preset type combination includes: When the plurality of ultra-wideband base stations satisfy the fourth type combination, for each valid base station among the plurality of ultra-wideband base stations: Based on the angle measurement value of the effective base station on the ultra-wideband tag within the thirteenth time window, calculate the angle variation value of the effective base station within the thirteenth time window; Calculate the first average value of the angle variation within the thirteenth time window; Based on the ranging values ​​of the effective base station to the ultra-wideband tag within the fourteenth time window, calculate the distance variation value of the effective base station within the fourteenth time window; Calculate the second average of the distance variation values ​​within the fourteenth time window; Based on the first average value and the second average value of the plurality of ultra-wideband base stations, the effective range of the base stations where the target to be located is located is determined.

15. The target localization method for robots according to claim 14, characterized in that, Determining the effective range of the base stations where the target to be located is located based on the first average value and the second average value of the plurality of ultra-wideband base stations includes: If the minimum value among the first average values ​​of the plurality of ultra-wideband base stations and the minimum value among the second average values ​​of the plurality of ultra-wideband base stations correspond to the same effective base station, it is determined that the target to be located is within the effective range of the effective base station.

16. The target localization method for robots according to claim 14, characterized in that, Determining the effective range of the base stations where the target to be located is located based on the first average value and the second average value of the plurality of ultra-wideband base stations includes: When the minimum value among the first average values ​​of the plurality of ultra-wideband base stations and the minimum value among the second average values ​​of the plurality of ultra-wideband base stations correspond to different effective base stations, the plurality of ultra-wideband base stations are divided into multiple base station groups according to each group of two effective base stations. For each of the multiple base station groups, calculate the p-test value of the difference between multiple ranging values ​​of the UWB tag by one effective base station in the fifteenth time window and multiple ranging values ​​of the UWB tag by another effective base station in the sixteenth time window. Based on the p-test value of the difference, target base station groups with significant differences were selected; Based on the number of target base station groups, the effective range of the base station where the target to be located is located is determined.

17. The target localization method for robots according to claim 16, characterized in that, Determining the effective range of the base stations where the target to be located is located based on the number of the target base station groups includes: When the number of target base stations is one or three, for each effective base station among the plurality of ultra-wideband base stations, the average ranging value of the effective base station within the seventeenth time window is calculated based on the ranging value of the effective base station to the ultra-wideband tag within the seventeenth time window. If the average ranging value of the effective base station is the minimum among the average ranging values ​​of the plurality of ultra-wideband base stations, the target to be located is determined to be within the effective range of the effective base station.

18. The target localization method for robots according to claim 16, characterized in that, Determining the effective range of the base stations where the target to be located is located based on the number of the target base station groups includes: When the number of target base stations is zero or two, for each effective base station among the plurality of ultra-wideband base stations, the angle variation value of the effective base station within the eighteenth time window is calculated based on the angle measurement value of the ultra-wideband tag by the effective base station within the eighteenth time window; Calculate the average value of the angle variation within the eighteenth time window; If the average value of the effective base stations is the minimum value among the average values ​​of the plurality of ultra-wideband base stations, it is determined that the target to be located is within the effective range of the effective base stations.

19. The target localization method for robots according to claim 8, characterized in that, The method of locating the target based on the intersection of multiple base stations includes: In the case where the plurality of ultra-wideband base stations include three range-stabilized base stations, for each range-stabilized base station among the plurality of ultra-wideband base stations, a two-dimensional circle of the range-stabilized base station is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius; the target ranging value is the ranging value of the range-stabilized base station to the ultra-wideband tag within a preset deviation range; Obtain the coordinates of the intersection point of the two-dimensional circles of the three distance-stable base stations; Calculate the median coordinates of the intersection points, and determine the median coordinates as the current position of the target to be located.

20. The target localization method for robots according to claim 8, characterized in that, The method of locating the target based on the intersection of multiple base stations includes: When the plurality of ultra-wideband base stations include two range-stabilized base stations, for each range-stabilized base station among the plurality of ultra-wideband base stations, a two-dimensional circle of the range-stabilized base station is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius; the target ranging value is the ranging value of the range-stabilized base station to the ultra-wideband tag within a preset deviation range; Obtain the coordinates of the intersection point of the two two-dimensional circles of the two distance-stable base stations; The base station plane is divided into two regions by the straight line connecting the two stable base stations. Select the region where the historical location of the target to be located is located from the two regions; Calculate the median coordinates of the intersection points within the area where the historical location is located, and determine the median coordinates as the current location of the target to be located.

21. The target localization method for robots according to claim 8, characterized in that, The method of locating the target based on the intersection of multiple base stations includes: When one of the multiple ultra-wideband base stations is a range-stabilized base station, the target to be located is located based on the angle measurement and range measurement values ​​of the ultra-wideband tag obtained by the range-stabilized base station.

22. The target localization method for robots according to claim 8, characterized in that, Before locating the target based on various types of ultra-wideband base stations, the process includes: In the case where the plurality of ultra-wideband base stations include three range-stabilized base stations, for each range-stabilized base station among the plurality of ultra-wideband base stations, a three-dimensional sphere of the range-stabilized base station is obtained with the range-stabilized base station as the center and the target ranging value of the range-stabilized base station to the ultra-wideband tag as the radius; the target ranging value is the ranging value of the range-stabilized base station to the ultra-wideband tag within a preset deviation range; Obtain the coordinates of the intersection point of the three-dimensional sphere of the three distance-stable base stations; Calculate the median z-axis coordinate of the intersection point coordinates, and based on the median z-axis coordinate and the target ranging value of the intersection point coordinates, obtain the projection ranging value of the target ranging value on the base station plane.

23. The target localization method for robots according to claim 1, characterized in that, After locating the target based on various types of ultra-wideband base stations, the process includes: Using the origin of the odometer as the origin of the map coordinate system, the positioning position of the target to be located and the position of the robot recorded by the odometer are transformed from the robot coordinate system to the map coordinate system, thereby obtaining the movement trajectory of the target to be located relative to the robot in the map coordinate system.

24. The target localization method for robots according to claim 23, characterized in that, After obtaining the movement trajectory of the target to be located relative to the robot in the map coordinate system, the process includes: The movement trajectory is smoothed to obtain a smooth trajectory; Calculate the tangent of the smooth trajectory to obtain the estimated orientation of the target to be located; The estimated orientation is transformed from the map coordinate system to the robot coordinate system to obtain the current orientation of the target to be located.

25. A target positioning device suitable for robots, characterized in that, include: The base station type determination module is used to: determine the type of the multiple ultra-wideband base stations based on the angle measurement values ​​and / or ranging values ​​of the ultra-wideband tags from the multiple ultra-wideband base stations; The multiple ultra-wideband base stations are deployed on the robot body, and the ultra-wideband tags are deployed on the target to be located; the types include angle-reliable base stations, distance-stable base stations, effective base stations, angle-unreliable base stations, angle-undetermined base stations, and available base stations. The target positioning module is used to locate the target to be located based on various types of ultra-wideband base stations.

26. An electronic device comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the target localization method for robots according to any one of claims 1 to 24.

27. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the target localization method for robots according to any one of claims 1 to 24.

28. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the target localization method for robots according to any one of claims 1 to 24.

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