Indoor positioning system based on dispersed ultra-wideband
By introducing edge computing into UWB anchors and tags, independent position calculation of UWB anchors and tags is realized, solving the latency and single point of failure problems of centralized systems, and improving the positioning accuracy of automated guided vehicles and the flexibility of the system.
Patent Information
- Application Number
- CN202423114030.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-17
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2034-12-17
AI Technical Summary
Traditional ultra-wideband indoor positioning technology relies on centralized systems, which leads to delays and single points of failure. Furthermore, the anchor point location is not easily changed, affecting positioning accuracy.
A distributed ultrawideband system is adopted, which uses UWB anchors and UWB tags in combination with edge computing. Each component calculates its position independently, allowing anchors to dynamically determine their relative positions. Installation location data is obtained through NFC tags, and relative distance and position are calculated using time-of-flight.
It improves the robustness and flexibility of the positioning system, reduces latency and failure points, and enhances the reliability and accuracy of positioning.
Smart Images
Figure CN223528224U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to indoor positioning technical field especially, it relates to indoor positioning technology that automatic guided vehicle uses ultra wide band communication. BACKGROUND
[0002] Automated Guided Vehicle (AGV) is unmanned automatic vehicle with automatic guiding device. Usually, multiple AGVs and control computer and other devices can form AGV system. AGV can use Ultra-Wideband (UWB) wireless signal positioning method for indoor positioning.
[0003] Traditional ultra wide band indoor positioning technology obtains positioning data through communication of UWB anchor point and UWB tag, and uses centralized system to process positioning data, which may cause delay and single point failure.
[0004] In addition, using centralized system relies on a central processing unit to calculate position and needs to pre-deploy and measure distance between anchor points for positioning, so the position of UWB anchor point cannot be changed, which may cause inaccurate anchor point position over time, and further cause inaccurate positioning. SUMMARY
[0005] The utility model is used for automatic guided vehicle, and uses ultra wide band communication in a decentralized manner based on edge computing principle, so that the automatic guided vehicle can independently calculate its position and allow anchor points to dynamically determine their positions relative to each other to overcome the deficiencies and limitations of the prior art.
[0006] To solve the above technical problems, the utility model adopts one technical scheme: an indoor positioning system based on decentralized ultra wide band, comprising: positioning columns, UWB anchor points and UWB tags.
[0007] The positioning columns are more than three, the UWB anchor points are more than three, each positioning column is provided with an anchor point mounting position for mounting the UWB anchor point.
[0008] Each anchor point mounting position is provided with an NFC tag, each UWB anchor point is internally provided with an NFC reader, and each NFC tag contains data of the UWB anchor point mounting position.
[0009] Each UWB anchor point sends an ultra wide band signal containing its unique identifier at regular intervals, each UWB anchor point receives the ultra wide band signal from other UWB anchor points and measures the time of flight of the received ultra wide band signal.
[0010] The UWB tag can receive the ultra wide band signal from each UWB anchor point and measure the time of flight of the received ultra wide band signal.
[0011] Preferably, each UWB anchor point obtains the position information of each UWB anchor point by reading the respective NFC tag;
[0012] Each UWB anchor point records the time of flight of each UWB anchor point and other UWB anchor points, calculates the relative distance of each UWB anchor point and other UWB anchor points according to the time of flight of each UWB anchor point and other UWB anchor points, and calculates the relative position of each UWB anchor point and other UWB anchor points in real time by using the relative distance of each UWB anchor point and other UWB anchor points and the position information of each UWB anchor point;
[0013] The UWB tag records the time of flight of the UWB tag and each UWB anchor point, calculates the relative distance of the UWB tag and each UWB anchor point according to the time of flight of the UWB tag and each UWB anchor point, and calculates the position of the UWB tag in real time by using the relative distance of the UWB tag and at least three UWB anchor points.
[0014] Preferably, the UWB anchor point is provided with an edge computing unit, and the edge computing unit of the UWB anchor point is used to calculate the relative distance of each UWB anchor point and other UWB anchor points according to the time of flight of each UWB anchor point and other UWB anchor points, and calculate the relative position of each UWB anchor point and other UWB anchor points in real time by using the relative distance of each UWB anchor point and other UWB anchor points and the position information of each UWB anchor point;
[0015] The UWB tag is provided with an edge computing unit, and the edge computing unit of the UWB tag is used to calculate the relative distance of the UWB tag and each UWB anchor point according to the time of flight of the UWB tag and each UWB anchor point, and calculate the position of the UWB tag in real time by using the relative distance of the UWB tag and at least three UWB anchor points.
[0016] Preferably, the indoor positioning system based on the distributed ultra-wide band further comprises an AGV.
[0017] The UWB tag is attached to the AGV, and the edge computing unit of the UWB tag is a vehicle-mounted edge computing unit of the AGV.
[0018] Preferably, the upper end of the positioning column is supported by four supports and a disc, and four UWB anchor points are arranged on the disc.
[0019] Preferably, the positioning column is made of steel.
[0020] Preferably, the height of the positioning column is more than 3 meters.
[0021] The utility model has the following beneficial effects:
[0022] The anchor point mounting position is provided with an NFC label, the NFC label contains data of the UWB anchor point mounting position, so that the UWB anchor point can judge the position thereof through the NFC label.
[0023] The edge computing unit is arranged on each UWB anchor point and UWB label, instant calculation is realized, the dispersion ensures that each component can independently operate, the demand for a centralized system is eliminated, delay and potential fault points are reduced, and the robustness of the positioning system is increased.
[0024] The automatic guided vehicle can independently calculate the position thereof, reliability is improved, and dependence on an external system is reduced. DRAWINGS
[0025] Fig. 1 It is a structural schematic view of an embodiment of the application.
[0026] Fig. 2 It is a perspective view of the positioning column of an embodiment of the application.
[0027] Fig. 3 It is a top view of the positioning column of an embodiment of the application. DETAILED DESCRIPTION
[0028] It should be understood that the specific embodiments described herein are merely intended to explain the application, and are not intended to limit the application.
[0029] As shown in the drawings, Figs. 1-3 An embodiment of the application is a kind of indoor positioning system based on dispersion ultra wide band, which comprises: positioning column, UWB anchor point and UWB label.
[0030] The positioning column is more than 3, the UWB anchor point is more than 3, each positioning column is provided with an anchor point mounting position for mounting the UWB anchor point.
[0031] Each anchor point mounting position is provided with an NFC label, and each UWB anchor point is internally provided with an NFC reader.
[0032] Each UWB anchor point regularly sends an ultra wide band signal containing its unique identifier, each UWB anchor point receives the ultra wide band signal from other UWB anchor points, and measures the flight time of the received ultra wide band signal.
[0033] The UWB label can receive the ultra wide band signal from each UWB anchor point, and measure the flight time of the received ultra wide band signal.
[0034] When the UWB anchor point is installed at the anchor point installation position of the positioning column, the NFC reader built in the UWB anchor point reads the information of the NFC tag. These NFC tags contain the data of the UWB anchor point installation position, such as height, orientation, etc. Therefore, each UWB anchor point obtains its own position information by reading the information of the NFC tag. In this way, each UWB anchor point can know its own position immediately after installation without manual configuration.
[0035] The UWB anchor point records the flight time of each UWB anchor point and other UWB anchor points, and calculates the relative distance of each UWB anchor point and other UWB anchor points according to the flight time of each UWB anchor point and other UWB anchor points, and calculates the relative position of each UWB anchor point and other UWB anchor points in real time by using the relative distance of each UWB anchor point and other UWB anchor points.
[0036] The UWB tag records the flight time of the UWB tag and each UWB anchor point, and calculates the relative distance of the UWB tag and each UWB anchor point according to the flight time of the UWB tag and each UWB anchor point, and calculates the position of the UWB tag in real time by using the relative distance of at least three UWB anchors.
[0037] In the system running process, each UWB anchor point and the UWB tag and each UWB anchor point can communicate with each other through UWB technology, each UWB anchor point calculates the distance between each other and the known position information of each UWB anchor point, and the UWB tag calculates the distance between each UWB anchor point, and performs instant calculation, so as to realize accurate positioning. Among them, the instant calculation can be realized by using the existing technology, and the application will not be described here.
[0038] As shown in Fig. 2 , Fig. 3 , the upper end of the positioning column is supported by four supports and a disc, and four UWB anchor point positions can be arranged on the disc. The positioning column is made of steel and can effectively reflect noise. The height of the positioning column is more than 3 meters to facilitate the passing of pedestrians and AGVs in the surrounding area.
[0039] The UWB anchor point is provided with an edge computing unit, and the edge computing unit of the UWB anchor point is used to calculate the relative distance of each UWB anchor point and other UWB anchor points according to the flight time of each UWB anchor point and other UWB anchor points, and calculate the relative position of each UWB anchor point and other UWB anchor points in real time by using the relative distance of each UWB anchor point and other UWB anchor points and the position information of each UWB anchor point.
[0040] The UWB tag is provided with an edge computing unit, the edge computing unit of the UWB tag is used for calculating the relative distance between the UWB tag and each UWB anchor point according to the time of flight of the UWB tag and each UWB anchor point, and the position of the UWB tag is calculated in real time by using the relative distances between the UWB tag and at least three UWB anchor points.
[0041] The edge computing unit is arranged on each UWB anchor point and UWB tag, in this architecture, all devices independently calculate their own positions, do not need to be connected to a central server, each device (UWB anchor point, UWB tag) measures the position through local calculation, and the decentralization ensures that each component can independently operate, reduces delay, and increases the robustness of the positioning system.
[0042] Each UWB anchor point can calculate the position in real time without being pre-installed at a specific position, so that the system is more flexible and easy to deploy.
[0043] The indoor positioning system also comprises an AGV, and the UWB tag is attached to the AGV, and the edge computing unit arranged on the UWB tag is a vehicle-mounted edge computing unit of the AGV.
[0044] In the utility model, the UWB anchor point, the UWB tag and the edge computing unit can use the prior art, and mature commercial module hardware equipment, for example, the UWB anchor point uses the LBUA5QJ2AB module of Murata company, the UWB tag uses the LBUA5QJ2AB module of Murata company, and the edge computing unit uses the Jetson Nano module of NVIDIA company, and the utility model is not limited to this.
[0045] The embodiments of the utility model are described above in combination with the drawings, but the utility model is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative but not restrictive, and the ordinary skilled in the art can make many forms under the inspiration of the utility model without departing from the purpose of the utility model and the scope protected by the claims, and these all belong to the protection of the utility model.
Claims
1. An indoor positioning system based on dispersive ultra- wideband, characterized in that, It comprises: positioning column, UWB anchor point and UWB tag; The positioning column is more than three, the UWB anchor point is more than three, and each positioning column is provided with an anchor point mounting position for mounting the UWB anchor point; Each anchor point mounting position is provided with an NFC tag, and each UWB anchor point is internally provided with an NFC reader, and each NFC tag contains data of the UWB anchor point mounting position; Each UWB anchor point regularly sends a UWB signal containing a unique identifier, each UWB anchor point receives a UWB signal from other UWB anchor points, and measures the time of flight of the received UWB signal; The UWB tag can receive a UWB signal from each UWB anchor point, and measure the time of flight of the received UWB signal.
2. The indoor positioning system based on distributed ultra-wideband according to claim 1, wherein Each UWB anchor point obtains the position information of each UWB anchor point by reading the respective NFC tag; Each UWB anchor point records the time of flight of each UWB anchor point and other UWB anchor points, calculates the relative distance between each UWB anchor point and other UWB anchor points according to the time of flight of each UWB anchor point and other UWB anchor points, and calculates the relative position of each UWB anchor point and other UWB anchor points in real time by using the relative distance between each UWB anchor point and other UWB anchor points and the position information of each UWB anchor point; The UWB tag records the time of flight of the UWB tag and each UWB anchor point, calculates the relative distance between the UWB tag and each UWB anchor point according to the time of flight of the UWB tag and each UWB anchor point, and calculates the position of the UWB tag in real time by using the relative distance with at least three UWB anchor points.
3. The indoor positioning system based on dispersive ultra- wideband of claim 2, wherein, The UWB anchor point is provided with an edge computing unit, which is used to calculate the relative distance between each UWB anchor point and other UWB anchor points according to the time of flight of each UWB anchor point and other UWB anchor points, and to calculate the relative position of each UWB anchor point and other UWB anchor points in real time by using the relative distance between each UWB anchor point and other UWB anchor points and the position information of each UWB anchor point; The UWB tag is provided with an edge computing unit, which is used to calculate the relative distance between the UWB tag and each UWB anchor point according to the time of flight of the UWB tag and each UWB anchor point, and to calculate the position of the UWB tag in real time by using the relative distance with at least three UWB anchor points.
4. The indoor positioning system based on dispersive ultra- wideband of claim 3, wherein, It further comprises an AGV; The UWB tag is attached to the AGV, and the edge computing unit of the UWB tag is a vehicle-mounted edge computing unit of the AGV.
5. A distributed ultra-wideband based indoor positioning system as claimed in any one of claims 1 to 4, characterized in that, The upper end of the positioning column is a disc supported by four struts, and four UWB anchor point positions are arranged on the disc.
6. A distributed ultra-wideband based indoor positioning system as claimed in any one of claims 1 to 4, characterized in that, The positioning column is made of steel.
7. A distributed ultra-wideband based indoor positioning system as claimed in any one of claims 1 to 4, characterized in that, The height of the positioning column is more than 3 meters.