阅读说明：本技术 一种基于uwb和毫米波雷达的自动跟随方法及系统 (Automatic following method and system based on UWB and millimeter wave radar ) 是由 董海英 李兵 罗蒙 杨进 俞沛齐 聂稳 田华亭 马贤朋 吴茂华 孙志斌 喻锐 于 2020-12-11 设计创作，主要内容包括：本发明提供了一种基于UWB和毫米波雷达的自动跟随方法及系统,系统包括：指引终端、跟随终端及移动载具,跟随终端设置在移动载具上,用于获取位置信息和障碍物信息并输出给移动载具,以使得移动载具跟随指引终端；指引终端上还搭载有第一UWB芯片,跟随终端内置有MCU、第二UWB芯片和毫米波芯片,使得该系统能够利用UWB进行指引终端和跟随终端的匹配,并对指引终端进行定位,然后通过毫米波芯片获取跟随终端前方的障碍物位置,并将目标位置和障碍物位置进行时间和空间的同步,从而生成一个实时的、完整的坐标信息。本发明避开了2.4G这个被占用较多的波段,不易被干扰,布置简单快捷,成本和功耗较低,精准度较好。(The invention provides an automatic following method and system based on UWB and millimeter wave radar, the system includes: the following terminal is arranged on the mobile carrier and used for acquiring position information and barrier information and outputting the position information and the barrier information to the mobile carrier so that the mobile carrier follows the guiding terminal; still there is first UWB chip to carry on the guide terminal, it has MCU, second UWB chip and millimeter wave chip to follow the terminal built-in, makes this system can utilize UWB to guide the terminal and follow the matching of terminal, and fix a position guide the terminal, then acquire the barrier position in following the terminal the place ahead through the millimeter wave chip, and carry out the synchronization of time and space with target position and barrier position, thereby generate a real-time, complete coordinate information. The invention avoids the occupied band of 2.4G, is not easy to interfere, has simple and rapid arrangement, lower cost and power consumption and better precision.)

1. The utility model provides an automatic following system based on UWB and millimeter wave radar which characterized in that: the following terminal is arranged on the mobile carrier and used for acquiring position information and obstacle information and outputting the position information and the obstacle information to the mobile carrier so that the mobile carrier follows the guiding terminal;

the guide terminal is provided with a first UWB chip;

the following terminal includes: the UWB chip and the millimeter wave chip are connected with the MCU through an SPI bus;

the first UWB chip is used for pairing with the second UWB chip and is also used for acquiring the position information of the guide terminal; the millimeter wave chip is used for collecting front obstacle information.

2. The UWB and millimeter wave radar auto-following system according to claim 1, wherein the MCU is connected to the controller of the mobile vehicle through a data interface for outputting the position information and the obstacle information to the controller so that the controller controls the mobile vehicle to follow.

3. The UWB and millimeter wave radar auto-following system according to claim 2, wherein the MCU is further configured to fuse the position information and the obstacle information, generate coordinate information, and output the coordinate information to the controller.

4. The automatic following system for UWB and millimeter wave radar according to claim 3, wherein the MCU generates the coordinate information based on a data fusion algorithm by time and space synchronizing the position information and the obstacle information.

5. The UWB and millimeter wave radar-based automatic following system according to any one of claims 1 to 4, wherein the direction terminal further comprises a housing, the MCU, the second UWB chip and the millimeter wave chip are arranged in the housing, and the data interface is located on the housing.

6. The UWB and millimeter wave radar-based automatic following system of claim 5 wherein the second UWB chip is provided in two pieces, and the two pieces of the second UWB chip are respectively positioned by PDOA and AOA algorithms; be provided with two UWB antennas on the casing, two UWB antennas link to each other with two second UWB chips respectively, the casing orientation one side of directing the terminal is provided with the millimeter wave antenna.

7. The UWB and millimeter wave radar-based automatic following system according to claim 5, wherein fixing plates are provided on both sides of the housing, and the fixing plates fix the following terminal on the mobile carrier by bolts.

8. An automatic following method of an automatic following system based on UWB and millimeter wave radar according to any one of claims 1-7, characterized by comprising:

a pairing step: pairing with a guide terminal;

locking: after the pairing is successful, locking the guide terminal;

an acquisition step: acquiring position information of the guidance terminal based on a UWB positioning technology, and acquiring barrier information based on a millimeter wave positioning technology;

the processing steps are as follows: generating coordinate information based on the position information and the obstacle information;

an output step: and outputting the coordinate information to a controller of the mobile carrier, so that the controller controls the mobile carrier to follow.

9. The automatic following method according to claim 8, wherein the outputting step includes:

performing time and space synchronization on the position information and the obstacle information;

and fusing the synchronized position information and the obstacle information based on a data fusion algorithm to generate coordinate information.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executable by a processor to implement the steps of the automatic following method according to claim 8 or 9.

Technical Field

The invention relates to the technical field of automatic following, in particular to an automatic following method and system based on UWB and millimeter wave radar.

Background

With the development of travel infrastructure such as high-speed railways and airports and the emergence of emerging intelligent places such as intelligent supermarkets, the demand of the civil market for automatically following intelligent devices such as shopping carts and luggage carts is gradually rising. Most of devices such as automatic following shopping carts on the market at present are customized products, and most of the devices are based on technologies such as Bluetooth arrays, WIFI (wireless fidelity), infrared or laser radars. The technologies such as bluetooth, WIFI, infrared belong to this occupied more wave band of 2.4G, because this wave band all is in this wave band on this side such as cell-phone, the time of receiving the signal receives the interference when leading to the range finding, and the distance precision of surveying is not high. The principle of the ultrasonic wave and the laser module is basically similar, the moving direction of a person can be detected, but if the person is in a place with many persons, the following of a single target is difficult to achieve, and the cost of the laser radar is too high.

Disclosure of Invention

In order to solve the defects in the prior art, the inventor provides an automatic following system which is low in cost, low in power consumption, high in positioning precision and strong in obstacle avoidance capacity, and the system is low in deployment difficulty, wide in application range and good in automatic following effect.

Specifically, the present invention is realized by:

according to a first aspect, the present invention provides an automatic following system based on UWB and millimeter wave radar, the system comprising: the following terminal is arranged on the mobile carrier and used for acquiring position information and barrier information and outputting the position information and the barrier information to the mobile carrier so that the mobile carrier follows the guiding terminal;

the guide terminal is provided with a first UWB chip;

the following terminal includes: the UWB chip and the millimeter wave chip are connected with the MCU through an SPI bus;

the first UWB chip is used for pairing with the second UWB chip and is also used for acquiring the position information of the guide terminal; the millimeter wave chip is used for collecting front obstacle information.

Further, the MCU is connected to the controller of the mobile vehicle through a data interface, and is configured to output the position information and the obstacle information to the controller, so that the controller controls the mobile vehicle to follow.

Further, the MCU is connected to the controller of the mobile vehicle through a data interface, and is configured to output the position information and the obstacle information to the controller, so that the controller controls the mobile vehicle to follow.

Further, the MCU is also used for controlling the second UWB chip and the millimeter wave chip to position the guidance terminal according to the pairing information of the first UWB chip and the second UWB chip.

Further, the MCU is further configured to fuse the position information and the obstacle information to generate coordinate information, and output the coordinate information to the controller.

Further, the MCU generates the coordinate information based on a data fusion algorithm by synchronizing the position information and the obstacle information in time and space.

Further, the guidance terminal includes: the casing, MCU, second UWB chip and millimeter wave chip set up in the casing, data interface is located on the casing.

Furthermore, two pieces of second UWB chips are arranged, and the two pieces of second UWB chips are respectively positioned by adopting PDOA and AOA algorithms; be provided with two UWB antennas on the casing, two UWB antennas link to each other with two second UWB chips respectively, the casing orientation one side of directing the terminal is provided with the millimeter wave antenna.

Furthermore, fixing pieces are arranged on two sides of the shell and fix the following terminal on the mobile carrier through bolts.

According to a second aspect, the present invention also provides an automatic following method of an automatic following system based on UWB and millimeter wave radar, the method comprising:

a pairing step: pairing with a guide terminal;

locking: after the pairing is successful, locking the guide terminal;

an acquisition step: acquiring position information of the guidance terminal based on a UWB positioning technology, and acquiring barrier information based on a millimeter wave positioning technology;

the processing steps are as follows: generating coordinate information based on the position information and the obstacle information;

an output step: and outputting the coordinate information to a controller of the mobile carrier, so that the controller controls the mobile carrier to follow.

Further, the outputting step includes:

performing time and space synchronization on the position information and the obstacle information;

and fusing the synchronized position information and the obstacle information based on a data fusion algorithm to generate coordinate information.

According to a third aspect, the present invention also provides a computer-readable storage medium having a computer program stored thereon, characterized in that the program is executable by a processor to implement the steps of the automatic following method of the present invention.

Compared with the prior art, the invention has the beneficial effects that:

guide terminal and follow terminal and pair earlier through UWB, after the locking target, through the UWB chip, the millimeter wave chip acquires the target location who guides the terminal and follows the barrier position in terminal the place ahead, and carry out the synchronization of time and space with target location and barrier position, thereby generate a real-time, complete coordinate information, then export coordinate information for the automatically move carrier, thereby realize the function of automatic following, 2.4G this is occupied more wave band, be difficult for disturbed, the precision is better. And compared with laser and ultrasonic wave, the cost and power consumption are lower, and the arrangement is simple.

Drawings

FIG. 1 is a schematic structural diagram of an automatic following system based on UWB and millimeter wave radar provided by the invention;

FIG. 2 is a block diagram of the internal structure of the follower terminal according to the present invention;

FIG. 3 is a schematic structural diagram of a follower terminal provided in the present invention;

FIG. 4 is a flow chart of an automatic following method based on UWB and millimeter wave radar provided by the invention.

Reference numerals:

1-a guidance terminal; 2-following the terminal; 21-MCU; 22-a second UWB chip; 23-millimeter wave chip; 24-a data interface; 25-a housing; 26-a UWB antenna; 27-millimeter wave antenna; 28-a fixing sheet; 3-moving the carrier; 31-a controller.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present invention have not been shown or described in the specification in order to avoid obscuring the present invention from the excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they can be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

Example 1

As shown in fig. 1 to 3, the present invention provides an automatic following system based on UWB and millimeter wave radar, the system comprising: guide terminal 1 and follow terminal 2, follow terminal 2 and set up on removing carrier 3 for control removes carrier 3 and follows and guide terminal 1, realize the purpose of automatic following. Specifically, the guidance terminal 1 is an electronic mobile device carrying a first UWB chip (not shown), and the mobile vehicle 3 is an automatic mobile vehicle, and a controller 31 is disposed thereon for controlling the mobile vehicle 3 to move. The follower terminal 2 includes: the casing 25, set up MCU21, second UWB chip 22 and millimeter wave chip 23 in casing 25, second UWB chip 22 and millimeter wave chip 23 are connected with MCU21 through the SPI bus. The two second UWB chips 22 are provided for determining the specific position of the guidance terminal 1, and the two second UWB chips 22 are positioned by using PDOA and AOA algorithms, respectively, thereby increasing the positioning accuracy. Fixing pieces 28 are provided on both sides of the housing 25, and the fixing pieces 28 fix the following terminal 2 to the mobile carrier 3 by bolts. Two UWB antennas 26 are arranged on the shell, the two UWB antennas 26 are respectively connected with the two second UWB chips 26 and are in communication connection with the first UWB chip (not shown) through the UWB antennas 26, so that the first UWB chip (not shown) and the second UWB chip 22 can be paired. It should be noted that the UWB chip can be used as an information carrier, and information such as ID numbers of the guidance terminal 1 and the following terminal 2 can be transmitted through the UWB chip, so as to implement pairing. One side of the housing 25 facing the guidance terminal 1 is provided with a millimeter wave antenna 27, and the millimeter wave chip 23 is connected to the millimeter wave antenna 27 so that the millimeter wave chip 23 can detect an obstacle in front. Specifically, the millimeter wave antenna 27 is an antenna array composed of receiving and transmitting antennas, and ensures normal reception of signals.

Specifically, the working flow of the invention is as follows:

the follower terminal 2 is first fixed to the mobile carrier 3 by the fixing piece 28. When the mobile carrier is required to automatically follow, an electronic mobile device (such as a mobile phone) carrying a first UWB chip (not shown) is used to pair with the second UWB chip 22 on the following terminal 2, and if the pairing is successful, the MCU21 will direct the terminal 1 to bind with the following terminal 2. Then, the second UWB chip 22 and the millimeter wave chip 23 are activated to acquire the position information of the guidance terminal 1 and the information of the obstacle ahead, where the position information includes: the position of the guide terminal 1, the angle formed by the following terminal 2 and the like. Then the MCU21 synchronizes the position information and the obstacle information in time and space, and fuses the position information and the obstacle information based on a data fusion algorithm to obtain coordinate information, and the MCU21 transmits the coordinate information to the controller 31 on the mobile carrier 3 through the data interface 24, so that the controller 31 controls the mobile carrier 3 to follow. It should be noted that the data fusion algorithm and the control program for controlling the movement of the mobile carrier 3 through the controller 31 are both the prior art, the data fusion algorithm is a multi-sensor data fusion algorithm, and the data fusion algorithm is widely applied to multiple fields of military affairs, medical diagnosis, air traffic control, industrial automatic control, mechanical fault diagnosis and the like, and the invention does not relate to the improvement thereof; the control procedure for controlling the mobile carrier 3 by the controller 31 is also common in the AGV field, and is not described herein.

As shown in fig. 4, the present invention further provides an automatic following method based on UWB and millimeter wave radar, the method comprising:

pairing step S1: and pairing with the guide terminal.

Step S2: and judging whether the pairing is successful or not, if so, carrying out the next step, and if not, carrying out the pairing again.

Locking step S3: and after the pairing is successful, locking the guide terminal.

Acquisition step S4: the position information of the guidance terminal is obtained based on the UWB positioning technology, and the obstacle information is obtained based on the millimeter wave positioning technology.

Processing step S5: coordinate information is generated based on the position information and the obstacle information. Specifically, the position information and the obstacle information are synchronized in time and space, and then the synchronized position information and the synchronized obstacle information are fused based on a data fusion algorithm to generate coordinate information.

Output step S6: and outputting the coordinate information to a controller of the mobile carrier, so that the controller controls the mobile carrier to follow.

The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.