Positioning and distance measuring device based on UWB

Abstract

The utility model discloses a UWB-based positioning and distance measuring device, which comprises a positioning and distance measuring device main body and a quick mounting device, according to the utility model, through the arrangement of the positioning range finder main body, namely the UWB anchor point module installed inside the positioning range finder main body, the positioning range finder main body can be in communication connection with the UWB beacon installed outside, and through the communication combination of the UWB anchor point module and the UWB beacon, the distance position of an object can be rapidly positioned and obtained, the phenomena of inaccurate positioning and position offset are reduced, and the positioning precision of the object is improved. The positioning range finder main body and the AGV roof can be quickly connected by arranging a quick mounting device, namely matching with the butt joint effect of a clamping plate and a clamping block, and fastening and locking movement is realized under the clamping connection of an extrusion block and an abutting block which are arranged in the locking structure, so that the firmness of combination is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning and ranging devices, in particular to a positioning and ranging device based on UWB. Background Art

[0002] At present, the role of intelligent traffic sandbox in teaching and urban traffic management is becoming more and more important. With the development and progress of Internet of Things technology, the Internet of Things technology (including wireless sensor networks, RFID radio frequency identification, image recognition, wireless communications, cloud services, M2M middleware, etc.) is integrated into modern transportation infrastructure, parking lots, highway disaster warnings, smart cars and other systems to ensure smooth traffic and improve transportation efficiency.

[0003] However, the currently commonly used dynamic positioning of AGV vehicles in the sandbox is not accurate, which leads to time asynchrony and inconsistent movements in the simulation process.

[0004] Therefore, a positioning and ranging device based on UWB is proposed to achieve advantages such as precise positioning accuracy through ultra-wideband technology. Utility Model Content

[0005] The purpose of the utility model is to provide a positioning and ranging device based on UWB to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a UWB-based positioning and ranging device, comprising a positioning and ranging device body, an indicator light, a switch, an antenna and a quick-installation device, wherein the upper end of the positioning and ranging device body is respectively equipped with an indicator light and a switch, and the rear side of the positioning and ranging device body is provided with an antenna, and the bottom of the positioning and ranging device body is docked with a quick-installation device, and the quick-installation device comprises a support plate arranged at the lower end of the positioning and ranging device body, an adhesive plate installed at the lower end of the support plate, a card plate fastened to the inside of the support plate, a card block docked to the lower end of the positioning and ranging device body, a positioning strip installed on the outside of the card block, and a locking structure installed inside the support plate.

[0007] Preferably, the locking structure includes a slider built into the support plate, a push shaft arranged on one side of the slider, a first spring built into the slider, a support rod connected to the other side of the slider, rollers arranged on both sides of the slider, a connecting frame installed on the outside of the roller, a connecting rod fastened to the outside of the connecting frame, a second spring arranged on the outside of the connecting rod, a docking strip fastened to the outside of the connecting rod, a resisting block installed on the outside of the docking strip, a horizontal bar arranged on the outside of the card block, and extrusion blocks installed on both sides of the horizontal bar.

[0008] Preferably, a UWB anchor point module is distributed inside the positioning and ranging device body, and the positioning and ranging device body is communicatively connected with an external UWB beacon.

[0009] Preferably, a rectangular hollow space is provided at the upper rear end of the support plate, and long inner grooves are provided on both left and right sides of the rear end of the support plate.

[0010] Preferably, the positioning strips are fixedly connected at three locations along the outer end of the card block, and the card block is connected to the inside of the card plate through the positioning strips set at the three locations of the outer end.

[0011] Preferably, both sides of the outer end of the slider are arranged in the shape of smooth inclined surfaces, and the slider is slidably plugged into the support rod.

[0012] Preferably, the roller, the connecting frame, the connecting rod, the second spring, the docking strip and the stop block are all symmetrically arranged along the left and right inside of the support plate, and the connecting rod is laterally slidably plugged into the two sides of the inside of the support plate.

[0013] Preferably, the abutment blocks are installed and arranged at equal distances along the inner side of the butt joint strip, and the shape of the abutment blocks is consistent with that of the extrusion blocks.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model is provided with a positioning rangefinder body, that is, a UWB anchor point module installed inside the positioning rangefinder body, which can be connected to a UWB beacon installed outside for communication. Through the combination of the UWB anchor point module and the UWB beacon communication, the distance position of the object can be quickly located and the occurrence of inaccurate positioning and position offset can be reduced.

[0016] 2. The utility model is provided with a quick-install device, that is, the docking effect of the card plate and the card block can make the main body of the positioning and distance measuring device quickly connected to the roof of the AGV vehicle, and the extrusion block and the abutment block provided inside the locking structure are engaged to realize the fastening and locking activity, thereby ensuring the firmness of the combination, and in conjunction with the movement of the slider, the rollers provided on both sides of the outer top can be driven to drive the connecting frame and the connecting rod, so that the docking bar can drive the abutment block to move, and quickly release the card connection and locking of the abutment block and the extrusion blocks provided inside the two sides of the horizontal bar, so that the card plate and the card block can be quickly unlocked, thereby realizing the convenient disassembly and assembly of the main body of the positioning and distance measuring device and the AGV vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the quick-loading device of the utility model;

[0019] Figure 3 This is a schematic diagram of the internal structure of the locking structure of the utility model when viewed from above;

[0020] Figure 4 This is a schematic diagram of the internal structure of the UWB anchor module of the utility model;

[0021] Figure 5 This is a schematic diagram of the internal structure of the UWB beacon of the present utility model.

[0022] In the figure: positioning rangefinder body -1, indicator light -2, switch -3, antenna -4, quick-loading device -5, support plate -51, adhesive plate -52, card plate -53, card block -54, positioning strip -55, locking structure -56, slider -561, push shaft -562, first spring -563, support rod -564, roller -565, connecting frame -566, connecting rod -567, second spring -568, docking strip -569, block -5610, cross bar -5611, extrusion block -5612. DETAILED DESCRIPTION

[0023] In order to further explain the technical solution of the present utility model, it is described in detail through specific embodiments below.

[0024] See also Figure 1 , Figure 3 and Figure 5 The utility model provides a positioning and ranging device based on UWB, including a positioning and ranging device body 1, an indicator light 2, a switch 3, an antenna 4 and a quick-install device 5. The indicator light 2 and the switch 3 are respectively installed on the upper end of the positioning and ranging device body 1, and the antenna 4 is arranged on the rear side of the positioning and ranging device body 1. The quick-install device 5 is connected to the bottom of the positioning and ranging device body 1.

[0025] The UWB anchor point module is distributed inside the positioning and ranging device body 1, and the positioning and ranging device body 1 is communicatively connected with an external UWB beacon.

[0026] It should be noted that the UWB anchor module is composed of a directional antenna, a UWB anchor, a main control MCU, a vehicle battery, a WiFi module, a forward motor and a steering motor, while the UWB beacon is composed of an omnidirectional antenna, a UWB module, a beacon MCU and a DC power supply. The UWB anchor module is installed on the roof of the AGV, while the UWB beacon is installed 2-3 meters high directly above the center of the sandbox.

[0027] The working principle of the UWB anchor module is as follows: after powering on, it communicates with the UWB beacon, obtains the relative position information of the beacon to calculate its own position in the sandbox, and the UWB anchor is connected to the AGV vehicle main control MCU through a wire. The AGV vehicle main control MCU adjusts the action of the AGV vehicle motion unit according to the calculated own position information and the predetermined program instructions. The anchor adopts the RF architecture of a single UWB chip and a directional antenna, which can obtain three-dimensional position information in real time. At the same time, the AGV vehicle main control MCU is connected to a WiFi module, and the information to be reported is uploaded to the cloud server and management platform through WiFi technology, and the instructions of the management platform are received.

[0028] The working principle of the UWB beacon is: it adopts the RF architecture of a single UWB chip and a single omnidirectional antenna, and is installed in the upper middle of the sandbox. At the same time, it is powered by a DC power supply through a wire. After power on, it autonomously transmits UWB signals to the UWB anchor module at a certain frequency, allowing the UWB anchor module to communicate with the UWB beacon, thereby realizing the AGV vehicle positioning and ranging activities.

[0029] See also Figure 3 and Figure 4 The quick-install device 5 in this embodiment includes a support plate 51 relatively arranged at the lower end of the positioning and ranging device body 1 and connected to the upper end of the AGV vehicle, an adhesive plate 52 installed at the lower end of the support plate 51, so that the support plate 51 can be bonded and docked with the upper end of the AGV vehicle through the adhesive plate 52 arranged at the lower end, a card plate 53 for quick clamping is fastened to the inside of the support plate 51, and grooves are opened on three sides of the card plate 53, a card block 54 docked at the lower end of the positioning and ranging device body 1, and a circular hole is opened in the middle of the card block 54, so that the card block 54 can be fastened with the bottom bolt of the positioning and ranging device body 1 through the opened circular hole, a positioning strip 55 fastened and docked to the three sides of the outer end of the card block 54 and correspondingly docked with the three grooves on the inner three sides of the card plate 53, and a locking structure 56 installed in the support plate 51 to enhance the firmness of the clamping.

[0030] The locking structure 56 includes a slider 561 movably built into the support plate 51 for bidirectional pushing, a push shaft 562 installed at the middle of the lower end of the slider 561, a first spring 563 built into the slider 561 for elastic reset transmission cooperation, a support rod 564 plugged into the side of the slider 561 away from the push shaft 562 for guiding cooperation, rollers 565 symmetrically abutting against the left and right sides of the slider 561, a connecting frame 566 correspondingly installed at the outer ends of the rollers 565 on both sides, a connecting rod 567 for connection and laterally fastened to the middle of the outer side of the connecting frame 566, and a correspondingly provided outside the connecting rod 567 for providing elastic compression effect. The second spring 568 is vertically fastened to the docking strip 569 which is installed on the outside of the connecting rod 567 and is built into the support plate 51; a plurality of abutment blocks 5610 are equidistantly installed on the outside of the docking strip 569, and the abutment blocks 5610 are arranged in a smooth triangular block shape as a whole, and there is a clamping spacing between adjacent abutment blocks 5610; a horizontal bar 5611 is transversely installed on the outside of the clamping block 54, and the left and right sides of the horizontal bar 5611 can be embedded in the left and right sides of the support plate 51; extrusion blocks 5612 are symmetrically installed on the left and right sides of the horizontal bar 5611 to realize reciprocating extrusion, clamping and locking cooperation, and the installation direction of the extrusion blocks 5612 is opposite to that of the abutment blocks 5610.

[0031] A rectangular hollow space is provided at the upper rear end of the support plate 51, and long inner grooves are provided on both the left and right sides of the rear end of the support plate 51, to ensure that the support plate 51 can stably realize the movement of the horizontal bar 5611 into the snap-fit ​​and lock fit; the positioning bar 55 is fixedly connected at three locations along the outer end of the card block 54, and the card block 54 is connected to the inside of the card plate 53 through the positioning bars 55 set at the three locations of the outer end, to ensure that the card block 54 and the card plate 53 are stably snap-fitted and combined.

[0032] The two sides of the outer end of the slider 561 are arranged in the shape of smooth inclined surfaces, and the slider 561 is slidably plugged with the support rod 564; the roller 565, the connecting frame 566, the connecting rod 567, the second spring 568, the docking strip 569 and the stop block 5610 are all symmetrically arranged along the left and right inside of the support plate 51, and the connecting rod 567 is laterally slidably plugged with the two sides of the inside of the support plate 51 to ensure that the connecting rods 567 on both sides can achieve smooth lateral relative or opposite movement; the stop block 5610 is installed equidistantly along the inner side of the docking strip 569, and the shape of the stop block 5610 is consistent with the extrusion block 5612, ensuring that the stop block 5610 can be intermittently engaged with the extrusion block 5612, ensuring that the positioning rangefinder body 1 is quickly installed and locked.

[0033] Here’s how it works:

[0034] First, install the UWB beacon in the middle of the sandbox, and after powering on, it will autonomously transmit signals to the UWB anchor module set inside the positioning and ranging device body 1 at a certain frequency. Then, install the positioning and ranging device body 1 on the AGV vehicle, and realize the power-on activity through the switch 3 set at the upper end of the positioning and ranging device body 1. In this way, the UWB anchor module installed in the positioning and ranging device body 1 will communicate with the UWB beacon, so as to obtain the relative position information of the UWB beacon through communication activities to calculate its own position in the sandbox, thereby realizing the positioning and ranging activities. Secondly, the UWB anchor inside the UWB anchor module is connected to the AGV vehicle main control MCU through a wire. The AGV vehicle main control MCU instructs the AGV vehicle motion unit to adjust the action according to the predetermined program according to the calculated own position information. The anchor point uses a single UWB chip and a directional antenna radio frequency architecture to obtain the 3D position information of the AGV in real time. At the same time, the AGV main control MCU can be connected to a WiFi module to upload the information to be reported to the cloud server and management platform through WiFi technology, and receive instructions from the management platform, so as to achieve accurate real-time positioning and ranging activities.

[0035] In order to enhance the efficiency of the connection between the positioning and distance measuring device body 1 and the AGV vehicle, a quick-install device 5 is provided at the lower end of the positioning and distance measuring device body 1. First, the support plate 51 and the AGV roof are bonded together through the adhesive plate 52 provided at the bottom of the support plate 51, and the clamping block 54 can be bolted and locked with the bottom of the positioning and distance measuring device body 1 through the circular hole provided in the middle. In this way, when performing the clamping activity, it is only necessary to align the clamping block 54 with the position of the clamping plate 53 provided inside the support plate 51 to realize the clamping of the clamping block 54 and the clamping plate 53, and the docking activity between the positioning and distance measuring device body 1 and the AGV roof can be completed. At the same time, the positioning strips 55 provided on the three sides of the outer end of the clamping block 54 can be positioned and clamped with the inside of the clamping plate 53 to ensure the accuracy of the docking.

[0036] In order to ensure the firmness of the combination of the card plate 53 and the card block 54, a locking structure 56 is also provided inside the support plate 51, that is, when the card block 54 is moving and engaging, the horizontal bar 5611 provided on the outside will be plugged into the left and right sides of the support plate 51 at the same time. At this time, the extrusion blocks 5612 provided on the left and right sides of the horizontal bar 5611 will intermittently extrude and contact with the multiple abutment blocks 5610 provided equidistantly on the outside of the docking bar 569, so that the docking bar 569 can move inwardly. When the docking bar 569 moves inwardly, the connecting rod 567 will be pulled to compress and rebound the second spring 568 provided on the outside of the connecting rod 567. In this way, the abutment blocks 5610 provided at multiple locations can be intermittently engaged and locked with the extrusion blocks 5612 to ensure that the card plate 53 and the card block 54 are in a stable locked state when the docking activity is completed, so as to ensure the firmness of the combination of the positioning and rangefinder body 1 and the AGV roof.

[0037] When unlocking is required later, the push shaft 562 on one side of the slider 561 needs to be pushed to move the slider 561. As the slider 561 moves, the rollers 565 that abut against the smooth inclined surfaces on the left and right sides of the slider 561 will realize the outer push of the connecting frame 566. As a result, the connecting rod 567 docked at the side of the connecting frame 566 will realize the pushing of the docking strip 569, so that the multiple abutting blocks 5610 move into the support plate 51, and the clamping state between the abutting blocks 5610 and the extruding blocks 5612 is released. In this way, the clamping plate 53 and the clamping block 54 can complete the unlocking activity to realize convenient disassembly. At the same time, when the slider 561 is pushed, it will cooperate with the support rod 564 connected on the other side to realize stable movement, and during the movement, the first spring 563 provided inside the slider 561 is compressed, and the first spring 563 rebounds to assist, so that the slider 561 can be automatically pushed back and reset.

[0038] The above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A positioning and ranging device based on UWB, characterized in that: The invention comprises a positioning distance measuring device body (1), an indicator light (2), a switch (3), an antenna (4) and a quick-installation device (5). The upper end of the positioning distance measuring device body (1) is respectively provided with the indicator light (2) and the switch (3), and the rear side of the positioning distance measuring device body (1) is provided with the antenna (4). The bottom of the positioning distance measuring device body (1) is connected to the quick-installation device (5). The quick-installation device (5) comprises a support plate (51) arranged at the lower end of the positioning distance measuring device body (1), an adhesive plate (52) installed at the lower end of the support plate (51), a card plate (53) fastened inside the support plate (51), a card block (54) connected to the lower end of the positioning distance measuring device body (1), a positioning strip (55) installed outside the card block (54), and a locking structure (56) installed inside the support plate (51).

2. A UWB-based positioning and ranging device according to claim 1, characterized in that: The locking structure (56) comprises a slider (561) built into the support plate (51), a push shaft (562) arranged on one side of the slider (561), a first spring (563) built into the slider (561), a support rod (564) connected to the other side of the slider (561), rollers (565) arranged on both sides of the slider (561), a connecting frame (566) installed on the outside of the roller (565), a connecting rod (567) fastened to the outside of the connecting frame (566), a second spring (568) arranged on the outside of the connecting rod (567), a connecting strip (569) fastened to the outside of the connecting rod (567), a stop block (5610) installed on the outside of the connecting strip (569), a horizontal strip (5611) arranged on the outside of the clamping block (54), and extrusion blocks (5612) installed on both sides of the inside of the horizontal strip (5611).

3. A UWB-based positioning and ranging device according to claim 1, characterized in that: The positioning and ranging device body (1) has UWB anchor point modules distributed inside, and the positioning and ranging device body (1) is communicatively connected with an external UWB beacon.

4. The UWB-based positioning and ranging device according to claim 1, characterized in that: A rectangular hollow space is provided at the upper rear end of the support plate (51), and long inner grooves are provided on both left and right sides of the rear end of the support plate (51).

5. The UWB-based positioning and ranging device according to claim 1, characterized in that: The positioning strips (55) are fixedly connected at three locations along the outer end of the clamping block (54), and the clamping block (54) is connected to the inside of the clamping plate (53) through the positioning strips (55) set at the three locations of the outer end.

6. The UWB-based positioning and ranging device according to claim 2, characterized in that: Both sides of the outer end of the slider (561) are arranged in the shape of smooth inclined surfaces, and the slider (561) is slidably plugged into the support rod (564).

7. The UWB-based positioning and ranging device according to claim 2, characterized in that: The roller (565), the connecting frame (566), the connecting rod (567), the second spring (568), the docking strip (569) and the stop block (5610) are all symmetrically arranged along the left and right sides of the support plate (51), and the connecting rod (567) is laterally slidably plugged into the two sides of the support plate (51).

8. The UWB-based positioning and ranging device according to claim 2, characterized in that: The stop blocks (5610) are installed at equal distances along the inner side of the docking strip (569), and the shape of the stop blocks (5610) is consistent with that of the extrusion blocks (5612).

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