UWB Target Following Apparatus with Dynamic Mode Switching
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Solution Overview
Problem
Existing target following methods for vehicles and self-balancing devices lack diversity and practicality in accurately and reliably following movement trajectories, particularly in complex environments.
Innovation Solution
A target following method utilizing UWB technology, where a UWB base station on the target following apparatus and a UWB beacon on the target exchange data to calculate and adjust the target following apparatus's movement based on orientation data, allowing for various following modes such as lateral and rear following.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional target following methods are used for vehicles and self-balancing devices, then the basic following function is achieved, but the following method lacks diversity and practicality in complex environments
Solution Approach 1:
The system dynamically switches between multiple following modes (first side following mode, second side following mode, third side following mode) based on real-time environmental perception and target position calculations. The controller adjusts the following mode dynamically to adapt to different complex environment scenarios, thereby improving both diversity and reliability of target following.
Solution Approach 2:
The patent changes key parameters including azimuth angle, elevation angle, and distance thresholds to switch between different following modes. By adjusting these parameters based on calculated target position and current apparatus position, the system achieves diverse following behaviors while maintaining reliable tracking performance.
2Measurement precision
If the target following apparatus moves closer to the target to improve tracking accuracy, then the following precision is improved, but the safety distance requirement is compromised
Solution Approach 1:
The patent introduces lateral distance as an additional dimension for safety control, separate from the forward following distance. By calculating lateral distance between the apparatus and target, and comparing it with preset safety distance thresholds, the system maintains both precise tracking and adequate safety margins simultaneously.
Solution Approach 2:
The system continuously calculates current distance, lateral distance, and azimuth angle, then feeds this information back to the controller. Based on this feedback, the controller adjusts the following mode and movement commands to maintain both precise target tracking and safe operating distances.
3Adaptability or versatility
If multiple following modes are implemented to improve adaptability, then the versatility is improved, but the system complexity increases
Solution Approach 1:
The patent implements a universal control framework where a single controller handles multiple following modes by selecting appropriate control strategies based on calculated positions and preset modes. This multi-functional approach increases versatility while keeping the overall control architecture relatively simple and unified.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method enables precise and reliable target following, ensuring safety and convenience by maintaining a controlled distance and adjusting movement directions according to preset orientations, enhancing the practicality and reliability of target following systems.
Implementation Method 1
acquiring first orientation data sent by an UWB base station and a Mowing mode sent by an UWB beacon, the UWB base station being arranged on a target following apparatus, the UWB beacon being arranged on a target to be followed
Data Source
AI summary
The present disclosure relates to a target following method, device, apparatus and system. The method includes: acquiring first orientation data sent by a UWB base station arranged on a target following apparatus and a following mode sent by a UWB beacon arranged on a target to be followed; processing, based on the following mode, the first orientation data to obtain second orientation data including a current distance between a target position and the UWB base station, and a second azimuth angle of a line where the target position and the UWB base station are located with respect to a current direction of a movement of the target following apparatus; and comparing the second orientation data with preset orientation data to obtain a comparison result, and controlling the target following apparatus to perform target following according to the comparison result.