CN113055999A

CN113055999A - Positioning base station, positioning method of positioning base station and intelligent wearable device

Info

Publication number: CN113055999A
Application number: CN201911374262.3A
Authority: CN
Inventors: 王彦龙
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2021-06-29

Abstract

This specification discloses a location basic station, location method and intelligent wearable equipment of location basic station, and the location basic station comprises basic station main part and first antenna, and the basic station main part includes: the first processor, the active crystal oscillator, at least three first positioning chips, the synchronous pulse generating circuit and the clock distribution chip, and each first positioning chip corresponds to each first antenna one-to-one and is in wired connection, the first processor sends a control signal to the synchronous pulse generating circuit, so that the synchronous pulse generating circuit sends a synchronous signal to each first positioning chip according to the clock frequency of the active crystal oscillator distributed by the clock distribution chip, the clock of each first positioning chip is the same, each first positioning chip can determine the timestamp of the positioning data of the terminal received through the first antenna according to the clock of the first positioning chip, and the first processor can determine the position information of the terminal according to the timestamp of the positioning data. And low-cost and high-precision positioning is realized.

Description

Positioning base station, positioning method of positioning base station and intelligent wearable device

Technical Field

The application relates to the technical field of communication, in particular to a positioning base station, a positioning method of the positioning base station and intelligent wearable equipment.

Background

At present, the self-driven robot is a mature scheme for improving the production efficiency. In particular, in the field of warehouse logistics technology, automatic transportation of goods is implemented by using self-driven robots such as Automated Guided Vehicles (AGVs).

In the prior art, control of the self-driven robot is generally required based on the positioning of the self-driven robot. Two common positioning methods are: a method of positioning using Time Difference of Arrival (TDOA), and a method of positioning using Time of Flight (TOF). Both generally require multiple antennas to acquire signals transmitted by the terminal, and utilize the time difference of receiving data by the antennas at different positions to position the terminal.

However, the conventional TDOA positioning scheme is usually based on positioning a base station and several wirelessly connected antennas, and since each antenna is wirelessly connected, a complex synchronization algorithm is required to unify clocks of the antennas, and the conventional TDOA positioning scheme on the market has high cost and requires purchasing of matched hardware and software. In the TDOA scheme based on wired link, a plurality of base stations are usually required to be arranged, when the base stations are grounded in common, signals are seriously deteriorated along with the increase of distance, when the base stations are not grounded in common, differential lines are required to transmit the signals, clock phases are easy to deviate, and the requirement on debugging and wiring is high. In a common TOF positioning scheme, because ranging is performed in the process of transmitting and receiving signals, the data transmission amount is large, the number of terminals capable of being positioned at the same time is easily limited, and a positioning base station needs to continuously transmit signals to determine the positions of the terminals, so that the energy consumption of the TOF positioning scheme is high.

Disclosure of Invention

The positioning base station, the positioning method of the positioning base station and the intelligent wearable device provided by the embodiment of the specification are used for partially solving the problems of high cost and high TOF energy consumption of a wireless TDOA scheme in the prior art.

The embodiment of the specification adopts the following technical scheme:

the positioning base station provided in this specification is configured by a base station main body and a first antenna, and the base station main body includes: the positioning base station comprises at least three first antennas, each first antenna is arranged at a position away from the base station main body by a preset distance, and each first positioning chip is in one-to-one correspondence with each first antenna and is in wired connection with each first antenna, wherein:

the active crystal oscillator in the base station main body is connected with the clock distribution chip; the clock distribution chip is respectively connected with the synchronous pulse generating circuit and each first positioning chip; the synchronous pulse generating circuit is respectively connected with the first processor and each first positioning chip; the first processor is connected with each first positioning chip through a serial peripheral interface;

the first processor sends a control signal to the synchronous pulse generating circuit;

the active crystal oscillator outputs clock frequency to the clock distribution chip;

the clock distribution chip sends the clock frequency to the synchronous pulse generating circuit and each first positioning chip respectively according to the received clock frequency;

the synchronous pulse generating circuit outputs synchronous signals with the same phase to each first positioning chip according to the clock frequency sent by the clock distribution chip and the control signal sent by the first processor;

each first antenna is arranged at a position away from the positioning base station by a preset distance;

each first positioning chip is initialized according to a synchronous signal sent by the synchronous pulse generating circuit, obtains the same clock based on the received clock frequency, determines a timestamp of positioning data according to the clock when the positioning data sent by a terminal is received by a first antenna connected with the first positioning chip, carries the determined timestamp in the positioning data and sends the positioning data to the first processor;

and the first processor determines the position information of the terminal according to the positioning data respectively sent by each first positioning chip and the timestamp carried by the positioning data.

Optionally, the first processor, the active crystal oscillator, each first positioning chip, the synchronization pulse generation circuit, and the clock distribution chip in the positioning base station are disposed in a housing of the positioning base station, and the housing is made of a metal material to shield signals;

each first antenna is arranged at a position with a preset distance outside the shell, and each first antenna and the positioning base station are positioned on the same plane.

Optionally, the synchronization pulse generating circuit includes: the trigger circuit comprises an inverter, a first trigger, a second trigger and an AND gate chip; wherein:

the phase inverter is connected with the clock distribution chip, receives the clock frequency input by the clock distribution chip, is respectively connected with the CLK end of the first trigger and the CLK end of the second trigger, and outputs the clock frequency after phase inversion;

the D end of the first trigger is connected with the first processor, a control signal sent by the first processor is received, the Q end of the first trigger is connected with the D end of the second trigger, after the control signal is received, a trigger signal is sent to the D end of the second trigger according to the inverted clock frequency received by the CLK end of the first trigger, and the Q-end of the first trigger is connected with one input end of the AND gate chip;

the Q-end of the second trigger is connected with the other input end of the AND gate chip, and when a trigger signal sent by the first trigger is received, a signal is sent to the AND gate chip;

and the output end of the AND gate chip is respectively connected with each first positioning chip, and synchronous signals with the same phase are output to each first positioning chip according to the signals sent by the first trigger and the second trigger, so that each first positioning chip is initialized synchronously.

Optionally, the clock frequency output by the active crystal oscillator is 38.4MHz, the duration of the control signal output by the first processor is 1ms, the synchronization signal output by the and gate chip is a pulse signal, and the duration is one period of the clock frequency.

Optionally, each first positioning chip includes a register, which is used to store the time determined by the first positioning chip.

Optionally, the number of the first positioning chips is three, the number of the first antennas is three, an included angle between adjacent first antennas is 120 degrees, and a distance between each first antenna and the positioning base station is two meters.

Optionally, the terminal broadcasts the positioning data according to a preset time period;

the first processor determines each positioning data sent by the terminal at the same time according to the terminal identification and the timestamp carried in the received positioning data, and determines the position information of the terminal according to the determined each positioning data.

Optionally, the positioning base station further includes: the wireless communication module is used for outputting the determined position information of the terminal; or

The positioning base station further comprises a POE network port for Power Over Ethernet (POE) and outputs the determined position information of the terminal.

Optionally, the positioning base station is disposed on a ceiling of the warehouse and configured to determine location information of the self-driven robot and the intelligent wearable device according to positioning data sent by the self-driven robot and the intelligent wearable device in the warehouse.

The present specification provides a positioning method for a positioning base station, where the positioning base station includes at least three first positioning chips and at least three first antennas, and each first antenna corresponds to each first positioning chip one to one, the method includes:

the positioning base station sends a synchronous signal to each first positioning chip, so that each first positioning chip determines the same clock based on the same clock frequency and the synchronous signal;

when the positioning data sent by the terminal are received through the first antennas respectively, the time stamps of the positioning data are determined through the first positioning chips corresponding to the first antennas respectively;

and determining the position information of the terminal according to the timestamp of each positioning data.

Optionally, the positioning base station sends a synchronization signal to each first positioning chip, so that each first positioning chip determines the same clock based on the same clock frequency and the synchronization signal, and the method specifically includes:

sending a synchronous signal to each first positioning chip to enable each first positioning chip to determine a clock of the first positioning chip based on the same clock frequency and the synchronous signal;

receiving prompt information returned by each first positioning chip, wherein the prompt carries the clock time of each first positioning chip;

judging whether clocks of the first positioning chips are synchronous or not according to clock time carried in prompt information returned by the first positioning chips;

if yes, determining that the clocks of the first positioning chips are the same;

if not, the synchronous signals are sent to the first positioning chips again, so that the first positioning chips determine the clocks in the first positioning chips again until the clocks of the first positioning chips are determined to be the same.

Optionally, sending a synchronization signal to each first positioning chip specifically includes:

the positioning base station sends clock frequency to the synchronous pulse generating circuit through the active crystal oscillator and the clock distribution chip;

and sending a control signal to the synchronous pulse generating circuit to enable the synchronous pulse generating circuit to send a synchronous signal to each first positioning chip based on the received clock frequency.

Optionally, the method further comprises:

determining the distance between the terminals according to the determined position information of the terminals;

and when the distance between any two terminals is smaller than a preset value, sending a movement stopping instruction to at least one of the two terminals.

Optionally, the terminal: the intelligent wearable robot comprises intelligent wearable equipment and a terminal of a self-driven robot;

sending a movement stopping instruction to at least one of the two terminals, specifically comprising:

and when the two terminals are respectively the intelligent wearable equipment and the terminal of the self-driven robot, sending a movement stopping instruction to the terminal of the self-driven robot.

This specification provides an intelligence wearable equipment, intelligence wearable equipment includes: power, second treater, second location chip and second antenna, the power respectively with the second treater with the second location chip is connected, wherein:

the power supply is used for supplying power for the operation of the second processor and transmitting positioning data to the second positioning chip;

the second processor is used for sending positioning data to the second positioning chip according to a preset period;

the second positioning chip transmits the positioning data sent by the second processor through the second antenna, so that the positioning base station of claims 1-8 determines the position information of the intelligent wearable device.

The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:

the positioning base station is composed of a base station main body and a first antenna, wherein the base station main body comprises: the first processor, the active crystal oscillator, at least three first positioning chips, synchronous pulse generating circuit and clock distribution chip, and each first positioning chip and each first antenna one-to-one and wired connection, the first processor sends control signal to synchronous pulse generating circuit, make synchronous pulse generating circuit according to the clock frequency of the active crystal oscillator of clock distribution chip distribution, send synchronizing signal to each first positioning chip, make the clock of each first positioning chip the same, each first positioning chip can be according to self clock, confirm the time stamp of the location data of receiving the terminal through first antenna, the first processor then can be according to the time stamp of each location data, confirm the positional information of this terminal. The problem of high cost of wireless synchronization is avoided, and meanwhile, the problem of how to ground a plurality of base stations does not exist due to the fact that only one base station is arranged, and low-cost and high-precision terminal positioning is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of a positioning base station provided in an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a position relationship between a base station main body and a first antenna provided in an embodiment of the present specification;

fig. 3 is a schematic diagram illustrating relationships between hardware elements in a base station main body according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of determining location information provided in an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a positioning base station provided in an embodiment of the present specification;

fig. 6 is a schematic structural diagram of a synchronization pulse generating circuit provided in an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a synchronization pulse generation circuit provided in an embodiment of the present disclosure;

fig. 8 is a flowchart illustrating a positioning method for positioning a base station according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an intelligent wearable device provided in an embodiment of the present specification;

fig. 10 is a schematic structural diagram of an intelligent wearable device provided in an embodiment of the present specification.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step are within the scope of the present application.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 provides a positioning base station for the present specification, which is composed of a base station main body 100 and a first antenna 200, wherein the base station main body 100 includes: the system comprises a first processor 1002, an active crystal oscillator 1004, at least three first positioning chips 1006, a synchronous pulse generating circuit 1008 and a clock distribution chip 1010. Each first antenna 200 in the positioning base station may correspond to each first positioning chip 1006 in the base station main body 100 one by one, and each first antenna 200 is connected to the corresponding first positioning chip 1006 by wire, and each first antenna 200 is disposed at a position away from the base station main body 100 by a predetermined distance.

The number of the first antennas 200 may be the same as the number of the first positioning chips 1006, and there may be at least 3, that is, as long as there are at least 3 first antennas 200 and corresponding first positioning chips 1006, the positioning base station may determine the position information of the terminal according to the received positioning data sent by the terminal. Certainly, the specification does not limit the positioning base station to be provided with more first antennas 200 and corresponding first positioning chips 1006, and the positioning base station may be specifically configured as needed.

In the present specification, the distance between each first antenna 200 in the positioning base station and the base station main body 100 may be, specifically, the distance between the first antenna 200 and the center position of the base station main body 100. Of course, for the purpose of simpler calculation when the subsequent first processor 1002 determines the position information, in this specification, the distance between each first antenna 200 and the center position of the base station main body 100 may be the same (i.e., a preset distance), that is, each first antenna 200 may be located on a virtual circle whose center position of the base station main body 100 is a circle center and whose radius is the preset distance. And each of the first antennas 200 may equally divide the virtual circle, that is, if the number of the first antennas 200 in the positioning base station is 3, the included angle between the first antennas 200 may be 120 degrees, and if the number of the first antennas 200 is 6, the included angle between the first antennas 200 may be 60 degrees.

Fig. 2 is a positional relationship between the base station main body 100 and the first antennas 200 provided in the present specification, where if the number of the first antennas 200 is 3, the included angle is 120 degrees, and R is a preset distance.

In addition, as long as the first antenna 200 in the positioning base station is me-required, the first processor 1002 may determine the position relationship between the first antennas 200, and also determine the position information of the terminal according to the positioning data received by the first antennas 200, so in this specification, it is not limited that the distance between each first antenna 200 and the center position of the base station main body 100 is a preset distance, and the distance between each first antenna 200 and the center position of the base station main body 100 is at least not less than the preset distance. Moreover, the included angle between each first antenna 200 and the connection line of the central position of the base station main body 100 may not be completely the same, for example, the included angle between 3 first antennas 200 may be 100 degrees, and 160 degrees.

Of course, if the distance between two first antennas 200 is too close, the accuracy of the position information determined by using the Time Difference of Arrival (TDOA) method may also be affected, and therefore, in this specification, the distance between the first antennas 200 may not be less than a preset distance, so as to avoid affecting the positioning accuracy.

In addition, in this specification, each hardware element included in the base station main body 100 may be disposed in a housing of the base station main body 100, and the housing is made of a metal material to shield signals, so that the base station main body 100 is placed to be interfered by signals not received by the first antenna 200, which may cause a positioning failure or a positioning error.

Also, each first positioning chip 1006 in the base station main body 100 may be connected to the first antenna 200 through a Small a Type (SMA) interface, where the SMA interface may be disposed in a housing of the base station main body 100 or at one end of the first antenna 200. Of course, the connection line connecting the first antenna 200 and the base station main body 100 may be a shielding line for shielding signals received by the non-first antenna 200 and transmitted to the base station main body 100.

It should be noted that, unlike the antenna of the communication base station, there is a role of transmitting signals and data, and in this specification, the first antenna 200 of the positioning base station is only used for the antenna for receiving signals and data. In this specification, the antenna may be an omni-directional antenna, that is, a signal transmitted from any direction may be received.

In this specification, the positioning base station is disposed on a ceiling of a warehouse and configured to determine location information of each terminal according to positioning data sent by terminals in the warehouse. Wherein the terminal may include at least: self-driven robot and intelligent wearing equipment. That is to say, the self-driven robot in the warehouse and the positioning data that intelligent wearing equipment sent, this location basic station alright confirm the positional information of self-driven robot and intelligent wearing equipment according to the positioning data that receive.

Further, in this specification, the active crystal oscillator 1004 in the base station main body 100 is connected to the clock distribution chip 1010, the clock distribution chip 1010 is connected to the synchronization pulse generation circuit 1008 and each first positioning chip 1006, the synchronization pulse generation circuit 1008 is connected to the first processor 1002 and each first positioning chip 1006, and the first processor 1002 and each first positioning chip 1006 are connected through a serial peripheral interface, as shown in fig. 3.

The hardware elements in the base station main body 100 may be connected through a bus, such as a Controller Area Network (CAN), or may also be connected through an independent signal line, such as a line of a circuit board. In the present specification, the base station main body may be externally connected to a power supply, for example, connected to a commercial power to obtain a power supply, and therefore the ground line may be a ground terminal in the power line.

Specifically, the first processor 1002 of the base station main body 100 may be started up after the base station main body 100 is powered on, and send a control signal to the synchronization pulse generation circuit 1008.

Meanwhile, after the base station main body 100 is powered on, the active crystal 1004 may start and output a clock frequency to the clock distribution chip 1010, where the clock frequency output by the active crystal may be selected according to needs, and in one or more embodiments of the present specification, the clock frequency may specifically be 38.4MHz, and for convenience of description, this clock frequency is described later.

After receiving the clock frequency output by the active crystal oscillator 1004, the clock distribution chip 1010 may output the clock frequency to the synchronization pulse generation circuit 1008 and each first positioning chip 1006, where a phase difference of each clock frequency output by the clock distribution chip 1010 is in the femtosecond fs level, so that an error between the clock frequencies of the synchronization pulse generation circuit 1008 and each first positioning chip 1006 is small, and therefore, the synchronization pulse generation circuit 1008 has a basis of outputting an initialization synchronization signal, so that each first positioning chip 1006 may perform synchronous initialization according to the pulse output by the synchronization pulse generation circuit 1008, accuracy of position information of a terminal determined by the plurality of first positioning chips 1006 is improved, and positioning accuracy of a positioning base station is improved.

Further, the synchronization pulse generating circuit 1008 is connected to the first processor 1002 and the clock distribution chip 1010, respectively, and since the first processor 1002 usually needs to initialize after the base station main body is powered on and then sends the control signal, after the base station main body 100 is powered on, the synchronization pulse generating circuit 1008 may receive the clock frequency output by the clock distribution chip 1010 first, receive the control signal sent by the first processor 1002, and output the synchronization signals with the same phase to each of the connected first positioning chips 1006 according to the clock frequency and the control signal, where the synchronization signals are pulse signals, and the high level time of the synchronization signals is a time period corresponding to one clock frequency.

In this specification, the first positioning chip 1006 is an Ultra Wide Band (UWB) chip, and a synchronization pin (SYNC) of each UWB chip is connected to the synchronization pulse generation circuit 1008, respectively, and SYNC is used for receiving an external signal for synchronization, so that each UWB chip can be initialized simultaneously according to a synchronization signal having the same phase as the received synchronization signal. Specifically, the UWB chip is reset to zero according to the value stored in the register of the UWB chip, and is clocked again according to the clock frequency output by the clock distribution chip 1010.

Through the connection relationship of the elements in the base station main body 100, the base station main body 100 can synchronize clocks while making the clock frequencies of the UWB chips the same after power-on start-up. Thus, after receiving the positioning data, since the UWB chips 1006 are all connected to the first processor 1002, the first processor 1002 can determine the terminal location information according to the positioning data received by the first antenna 200 and sent by the terminal. Each UWB chip 1006 and the first processor 1002 may be connected through a Serial Peripheral Interface (SPI) to increase a data transmission speed, reduce time consumption for transmitting data in a positioning process, and increase timeliness of the determined position information.

Further, in this specification, when the positioning data transmitted by the terminal is received by the first antenna 200 connected to the UWB chip 1006 in the base station main body 100, the time stamp of the positioning data received by the first antenna 200 may be determined according to the time determined by the clock in the register of the UWB chip, and the time stamp may be sent to the first processor 1002 by the first processor 1002, and the first processor 1002 may determine the position information of the terminal according to the positioning data respectively transmitted by the UWB chips 1006 and the time stamp carried in the positioning data.

Specifically, the positioning data sent by the terminal may include an identifier of the terminal, and the first processor 1002 may determine the positioning data sent by the same terminal according to the identifier in each received positioning data, and because the terminal usually sends the positioning data according to a cycle, so that the positioning base station can determine the real-time position of the terminal, the first processor 1002 may determine the positioning data sent by the same terminal at the same time according to the timestamp included in the positioning data and the positioning data sent by the same terminal. For example, assuming that the positioning base station includes 10 first antennas 200, the first processor 1002 may determine, according to the timestamp, the most recently received 10 positioning data from the positioning data transmitted from the same terminal, which are the positioning data transmitted by the terminal at the same time.

Of course, the first processor 1002 may also delete the positioning data carrying the identifier of the terminal after determining the location information of the terminal, so as to avoid the existence of the positioning data sent by the same terminal at different times. The present specification is not limited to how to determine the method of determining the positioning data belonging to the same terminal and transmitted at the same time, and may be set as required.

Further, in this specification, the first processor 1002 can determine the location information of the terminal according to the received positioning data. As shown in fig. 4, C1 to C3 indicate positions of the first antennas 200, L1 to L3 indicate distances from the terminal to the respective first antennas 200, and coordinates of the position a of the terminal are (x, y). Using the TDOA method, the (x, y) should satisfy the formula

Where a is the absolute value of the difference in distance between L1 and L3, and b can be determined from

And determining that the distance between every two C1-C3 is a known number.

Thus, the first processor 1002 may determine the absolute value of the distance difference between L1 and L2 according to the difference between the timestamps of the positioning data transmitted by the first antenna 200 at the C1 position and the first antenna 200 at the C2 position, respectively. 3 a values are determined, and 3 b values are determined according to the distance between every two C1-C3. Then by the formula

And 3 binary quadratic equations are determined, and the position information (x, y) of the terminal is determined by solving.

In addition, in this specification, the base station main body 100 may further include a wireless communication module 1012 or a Power Over Ethernet (POE) interface 1014 for outputting the location information of the terminal in a wired or wireless manner, as shown in fig. 5. For example, the information is output to a background server, so that the background server controls each terminal to execute the task according to the position of each terminal. Certainly, the location information carries an identifier of the terminal, so that the device receiving the location information determines which terminal the location information is, and of course, the location information may also carry time, where the time may be specific time (for example, beijing time) determined by the first processor 1002 through a network, or may also be time after a base station synchronization clock is located.

The Wireless communication module 1012 may specifically be a Wireless Fidelity (WiFi) module, and may be composed of a WiFi chip and a WiFi antenna, and output the position information through a WiFi signal.

Based on the positioning base station shown in fig. 1, the positioning base station is composed of a base station main body and a first antenna, wherein the base station main body includes: the first processor, the active crystal oscillator, at least three first positioning chips, synchronous pulse generating circuit and clock distribution chip, and each first positioning chip and each first antenna one-to-one and wired connection, the first processor sends control signal to the synchronous pulse generating circuit, make the synchronous pulse generating circuit according to the clock frequency of the active crystal oscillator that the clock distribution chip distributes, send synchronizing signal to each first positioning chip, make the clock of each first positioning chip the same, each first positioning chip can be according to self clock, confirm the time stamp of the location data of receiving the terminal through first antenna, the first processor then can be according to the time stamp of each location data, confirm the positional information of this terminal. The problem of high cost of wireless synchronization is avoided, and meanwhile, the problem of how to ground a plurality of base stations does not exist due to the fact that only one base station is arranged, and low-cost and high-precision terminal positioning is achieved.

In addition, in one or more embodiments of the present disclosure, the synchronization pulse generating circuit 1008 may be composed of an inverter 300, a first flip-flop 302, a second flip-flop 304, and an and gate chip 306, and the specific connection relationship may be as shown in fig. 6.

The first flip-flop 302 and the second flip-flop 304 may be D flip-flops, each having a D terminal, a CLK terminal, a Q terminal, and a Q-terminal.

The inverter 300 is connected to the clock distribution chip 1010, receives the clock frequency input by the clock distribution chip 1010, and the output terminal of the inverter 300 is connected to the CLK terminal of the first flip-flop 302 and the CLK terminal of the second flip-flop 304, respectively, and outputs the inverted clock frequency.

The D terminal of the first flip-flop 302 is connected to the first processor 1002, receives the control signal sent by the first processor 1002, the Q terminal of the first flip-flop 302 is connected to the D terminal of the second flip-flop 304, after receiving the control signal, the first flip-flop 203 is triggered, and sends a trigger signal to the D terminal of the second flip-flop 304 according to the inverted clock frequency received by the CLK terminal of the first flip-flop 302, and the Q-terminal of the first flip-flop 302 is connected to an input terminal of the and chip 306.

The Q-terminal of the second flip-flop 304 is connected to the other input terminal of the and chip 306, and when receiving the trigger signal sent from the Q-terminal of the first flip-flop 302, the Q-terminal of the second flip-flop 304 sends a signal to the other input terminal of the and chip 306 according to the inverted clock frequency received from the CLK-terminal of the second flip-flop 304;

the output end of the and-gate chip 306 is connected to each UWB chip 1006, and outputs a synchronization signal with the same phase to each UWB chip 1006 according to signals transmitted from the Q-end of the first trigger 302 and the Q-end of the second trigger 304, so that each UWB chip 1006 is initialized synchronously.

The operation of the synchronization pulse generation circuit 1008 is as shown in fig. 7. Wherein, the horizontal axis is time axis and the vertical axis is level, and 3 lines from top to bottom represent the level change of the signal in 3, that is, the triggering process of the signal. The control signal sent by the first processor 1002 is the uppermost line of the 3 lines, T1 is the rising edge of the control signal received by the first flip-flop 302, T2 is the falling edge of the control signal, the D terminal of the first flip-flop 302 of the synchronization pulse generation circuit 1008 is triggered when the falling edge of the received electrical signal occurs, and the trigger signal is sent to the second flip-flop 304. The inverted clock frequency output by the inverter 302 is the middle line, the inverted clock frequency and the non-inverted clock frequency (i.e., the clock frequency output by the clock distribution chip 1010) are shifted by half a clock cycle, and the clock frequency output by the clock distribution chip 1010 is the middle line in fig. 7. The synchronization signal output from the and gate chip 306 is the lowermost line, T3 is the rising edge of the synchronization signal, T5 is the falling edge of the synchronization signal, and the time T4 is the rising edge of the clock frequency of each UWB chip 1006 as seen through the middle line, and the synchronization signal can be applied on the rising edge of the clock frequency and continues until the rising of the clock frequency is completed, which meets the requirement of the initialization signal of the UWB chip 1006, so the synchronization pulse generation circuit 1008 can output the synchronization signal, clear the register of each UWB chip 1006, and start timing synchronously.

In the case that the output clock frequency of the active crystal oscillator 1004 is 38.4MHz, the duration of the control signal output by the first processor 1002 is 1ms, so that the synchronization pulse generation circuit 1008 can output the synchronization signal shown in fig. 7, and the duration of the synchronization signal is one cycle of the clock frequency to meet the requirement of the initialization signal of each UWB chip 1006.

Further, in this specification, after the first processor 1002 synchronizes the clocks of the UWB chips 1006 by sending a control signal, the UWB chips 1006 may also return a prompt message to the first processor 1002, and the prompt message returned by each UWB chip 1006 may also carry its own clock time. The first processor 1002 may determine whether the UWB chips 1006 are synchronized in clock according to the clock time carried in the notification information returned by the UWB chips 1006, that is, whether the clock times are consistent, if so, determine that the UWB chips 1006 are synchronized, and if not, resend the control signal until the clock times of the UWB chips 1006 are consistent.

In addition, in this specification, the positioning base station is configured to determine position information of each terminal according to positioning data transmitted by terminals (e.g., a self-driven robot, an intelligent wearable device, and the like) in a warehouse. The obstacle avoidance of the self-driven robot can be realized.

The main obstacle avoidance method of the existing self-driven robot comprises the following steps:

first, a sensor such as a laser radar is arranged in the self-driven robot, and the self-driven robot determines obstacles around the self-driven robot through laser emitted by the laser radar so as to avoid the determined obstacles during navigation movement, but the accuracy of the laser obstacle avoidance method is influenced by the angle between the emitted laser and the obstacles, the surface reflectivity of the obstacles, the material of the obstacles and the like, and particularly, the laser obstacle avoidance method has a large data amount to be processed in a complex environment such as a warehouse and also influences the obstacle avoidance effect.

Secondly, by using a visual obstacle avoidance method, an image sensor is arranged in the self-driven robot, and an obstacle is avoided by identifying the obstacle through image processing according to an image collected by the image sensor. That is to say, the image obstacle avoidance method has high requirements on the environment, and is difficult to be applied to the environment of a warehouse.

It can be seen that the existing common obstacle avoidance method for the self-driven robot has a poor effect in a complex environment such as a warehouse, and because the warehouse is a mixed place of people and machines, a more accurate obstacle avoidance method is needed to avoid collision between people and machines.

In this specification, when the positioning base station determines the position information of the terminal, the terminal at least includes a self-driven robot and an intelligent wearable device, the self-driven robot is a robot for executing a service in a warehouse, and the intelligent wearable device is a device carried by a worker in the warehouse, so that the position information of the robot and the worker can be accurately determined through the positioning base station. In addition, the positioning base station can utilize the determined position information of each terminal to avoid collision between the terminals, namely obstacle avoidance.

Specifically, in this specification, the positioning base station may determine the location information of multiple terminals at the same time, and then the positioning base station may further determine a distance between the terminals according to the determined location information of the terminals, determine that the two terminals may collide when the distance between any two terminals is smaller than a preset value, and send a movement stop instruction to at least one of the two terminals. To avoid collisions of the body (e.g., self-propelled robot, AGV, user, etc.) in which the terminal is located.

In addition, the positioning base station may send an alarm message carrying the identifiers of the two terminals to the background server when it is determined that the distance between any two terminals is smaller than the preset value, so that the background server sends a movement stop instruction, or the positioning base station may send a movement stop instruction when the positioning base station establishes a communication connection with the terminals through the wireless communication module. The specification does not limit how the stop move command is specifically sent.

Further, in this specification, a terminal for sending positioning data may specifically be divided into: the intelligent wearable device and the terminal of self-propelled robot, the former is the terminal that the user carried, for example intelligent wrist-watch. In the present specification, the specific form of the self-propelled robot is not limited, and any device that includes a terminal capable of sending positioning data and can move by itself may be regarded as the self-propelled robot, such as an unmanned vehicle, an unmanned transportation vehicle, an unmanned forklift, and the like.

When the positioning base station determines that the distance between the terminals of the two self-driven robots is smaller than a preset value, the positioning base station can send a movement stopping instruction to at least one of the terminals of the two self-driven robots, so that the self-driven robot receiving the movement stopping instruction stops moving to avoid collision. Of course, the positioning base station may also send a stop movement instruction to both terminals of the two self-driven robots.

When the two terminals are respectively used for intelligently wearing the equipment and the terminal of the self-driven robot, the positioning base station can send a movement stopping instruction to the terminal of the self-driven robot. And when the two terminals are both intelligent wearable devices, the positioning base station can send a movement stopping instruction to at least one terminal, so that the intelligent wearable devices display prompt information to users according to the received movement stopping instruction. For example, the smart watch may present the reminder information by way of vibration, ringing, or the like.

Wherein, can prestore in this location basic station have self-driven robot's sign to and the sign of intelligence wearing formula equipment, and self-driven robot and each intelligence wearing formula equipment can carry the sign of self in the locating data when sending the locating data, then the location basic station can establish the corresponding relation at the position data that determines and terminal according to the locating data, thereby discernment terminal specifically is self-driven robot or intelligent wearing formula equipment.

Based on figure 1 the location basic station through the positional information of confirming each terminal to the mode that the control self-driven robot kept away the barrier can avoid current laser radar or image sensor that utilize, receives barrier or environmental impact great problem, has solved the not good problem of keeping away the barrier effect among the prior art.

Based on the positioning base station shown in fig. 1, the present specification further provides a positioning method of the positioning base station, as shown in fig. 8.

Fig. 8 is a schematic flow chart of a positioning method for a positioning base station provided in this specification, and specifically, the positioning base station shown in fig. 1 may perform the positioning process, where the positioning base station includes at least three first positioning chips and at least three first antennas, and each first antenna corresponds to each first positioning chip one to one, and specifically, the positioning process may include the following steps:

s400: and the positioning base station sends a synchronous signal to each first positioning chip, so that each first positioning chip determines the same clock based on the same clock frequency and the synchronous signal.

In this specification, how the positioning base station synchronizes the clocks of the first positioning chips may refer to the foregoing wadded jacket specification for the positioning base station, and this specification is not described in detail again.

S402: when the positioning data sent by the terminal are received through the first antennas respectively, the time stamps of the positioning data are determined through the first positioning chips corresponding to the first antennas respectively.

S404: and determining the position information of the terminal according to the timestamp of each positioning data.

In this specification, if the positioning base station receives the positioning data sent by the terminal through each first antenna, the positioning base station may determine a timestamp of receiving the positioning data at each first antenna position through the first positioning chip corresponding to each first antenna. And determining the position information of the terminal by using the TDOA technology.

The specific calculation process has already been described in detail in the content of the first processor in the positioning base station in fig. 1, and is not described in detail herein.

In this specification, the positioning base station specifies the timeliness of the position information of each terminal, and is related to the frequency at which the terminal transmits the positioning data, and the higher the frequency at which the positioning data is transmitted, the higher the timeliness of the specified position information. Meanwhile, the positioning base station can also simultaneously determine the position information of a plurality of terminals, so the positioning base station can also determine the distance between the terminals according to the determined position information of the terminals, determine that the two terminals are likely to collide when the distance between any two terminals is smaller than a preset value, and send a movement stopping instruction to at least one of the two terminals. To avoid collisions of the body (e.g., self-propelled robot, AGV, user, etc.) in which the terminal is located.

Specifically, the positioning base station may send an alarm message carrying the identifiers of the two terminals to the background server when it is determined that the distance between any two terminals is smaller than the preset value, so that the background server sends a movement stop instruction, or the positioning base station may send a movement stop instruction when the positioning base station establishes a communication connection with the terminals through the wireless communication module. The specification does not limit how the stop move command is specifically sent.

Based on the positioning base station shown in fig. 1 and the positioning process shown in fig. 8, the present specification further provides an intelligent wearable device, as shown in fig. 9.

This intelligence wearable equipment includes: a power supply 500, a second processor 502, a second positioning chip 504 and a second antenna 506, wherein the power supply 500 is connected to the second processor 502 and the second positioning chip 504, the second processor 502 is connected to the second positioning chip 504, and the second positioning chip 504 is connected to the second antenna 506.

The power supply 500 is used for supplying power to the second processor 502 and transmitting positioning data to the second positioning chip 504.

The second processor 502 sends the positioning data to the second positioning chip 504 according to a predetermined period.

The second positioning chip 504 transmits the positioning data sent by the second processor 502 through the second antenna 506, so that the positioning base station in fig. 1 determines the position information of the smart wearable device.

In this specification, the power supply 500, the second processor 502, and the second positioning chip 504 in the smart wearable device may be located in a main body of the smart wearable device, and carried on a user in a smart wearable manner, and the second antenna 506 may be located on a helmet of the user to avoid signal blocking, as shown in fig. 10.

In addition, in this specification, the smart wearable device may further include: the Wireless communication module 508 may specifically be a Wireless Fidelity (WiFi) module, and may be composed of a WiFi chip and a WiFi antenna, and establishes a communication connection with a positioning base station or other devices through a WiFi signal.

Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.

The present specification includes: a1, wherein the positioning base station comprises a base station body and a first antenna, and the base station body comprises: the positioning base station comprises at least three first antennas, each first antenna is arranged at a position away from the base station main body by a preset distance, and each first positioning chip is in one-to-one correspondence with each first antenna and is in wired connection with each first antenna, wherein:

A2, the positioning base station of claim A1, wherein the first processor, the active crystal oscillator, each first positioning chip, the synchronization pulse generating circuit and the clock distribution chip in the positioning base station are disposed in a casing of the positioning base station, and the casing is made of metal material to shield signals;

A3, the positioning base station of claim a1, wherein the synchronization pulse generating circuit comprises: the trigger circuit comprises an inverter, a first trigger, a second trigger and an AND gate chip; wherein:

A4 the positioning base station as set forth in claim A3, wherein the clock frequency outputted by the active crystal oscillator is 38.4MHz, the duration of the control signal outputted by the first processor is 1ms, the synchronizing signal outputted by the AND gate chip is a pulse signal, and the duration is one period of the clock frequency.

A5, the positioning base station of claim a1, wherein each first positioning chip includes a register for storing the time determined by the first positioning chip.

A6, the positioning base station of claim a2, wherein the number of the first positioning chips is three, the number of the first antennas is three, an included angle between adjacent first antennas is 120 degrees, and a distance between each first antenna and the positioning base station is two meters.

A7, the positioning base station of claim a1, characterized in that the terminal broadcasts positioning data according to a preset time period;

A8, the positioning base station of claim a1, further comprising: the wireless communication module is used for outputting the determined position information of the terminal; or

A9, the positioning base station of claim A1, wherein the positioning base station is installed on the ceiling of the warehouse and used for determining the position information of the self-driven robot and the intelligent wearable device according to the positioning data sent by the self-driven robot and the intelligent wearable device in the warehouse.

A10, a positioning method for a positioning base station, wherein the positioning base station includes at least three first positioning chips and at least three first antennas, each first antenna corresponding to each first positioning chip one to one, the method comprising:

A11 the method of claim a10, wherein the positioning base station sends a synchronization signal to each first positioning chip, so that each first positioning chip determines the same clock based on the same clock frequency and the synchronization signal, specifically comprising:

A12, the method of claim a10, wherein sending a synchronization signal to each first locator chip includes:

A13, the method of claim a10, wherein the method further comprises:

A14, the method of claim a13, wherein the terminal comprises: the intelligent wearable equipment and the terminal of the self-driven robot;

A15, an intelligence wearable equipment, its characterized in that, intelligence wearable equipment includes: power, second treater, second location chip and second antenna, the power respectively with the second treater and the second location chip is connected, the second treater with the second location chip is connected, the second location chip with the second antenna connection, wherein:

the second positioning chip transmits the positioning data sent by the second processor through the second antenna, so that the positioning base station as claimed in claims a 1-a 9 determines the position information of the intelligent wearable device.

Claims

1. A positioning base station, characterized in that the positioning base station is composed of a base station main body and a first antenna, the base station main body includes: the positioning base station comprises at least three first antennas, each first antenna is arranged at a position away from the base station main body by a preset distance, and each first positioning chip is in one-to-one correspondence with each first antenna and is in wired connection with each first antenna, wherein:

2. The positioning base station of claim 1, wherein the first processor, the active crystal oscillator, each first positioning chip, the synchronization pulse generation circuit, and the clock distribution chip in the positioning base station are disposed in a housing of the positioning base station, the housing being made of a metal material to shield signals;

3. The positioning base station of claim 1, wherein the synchronization pulse generation circuit comprises: the trigger circuit comprises an inverter, a first trigger, a second trigger and an AND gate chip; wherein:

4. The positioning base station of claim 3, wherein the clock frequency output by the active crystal oscillator is 38.4MHz, the duration of the control signal output by the first processor is 1ms, and the synchronization signal output by the AND gate chip is a pulse signal, and the duration is one period of the clock frequency.

5. The positioning base station of claim 2, wherein the number of the first positioning chips is three, the number of the first antennas is three, an included angle between adjacent first antennas is 120 degrees, and a distance between each first antenna and the positioning base station is two meters.

6. The positioning base station of claim 1, wherein the terminal broadcasts the positioning data according to a preset time period;

7. The positioning base station of claim 1, wherein said positioning base station further comprises: the wireless communication module is used for outputting the determined position information of the terminal; or

8. The positioning base station of claim 1, wherein the positioning base station is disposed on a ceiling of the warehouse and configured to determine the position information of the self-driven robot and the intelligent wearable device according to the positioning data sent by the self-driven robot and the intelligent wearable device in the warehouse.

9. A positioning method for positioning a base station, wherein the positioning base station includes at least three first positioning chips and at least three first antennas, and each first antenna corresponds to each first positioning chip one to one, the method comprising:

10. The utility model provides an intelligence wearing formula equipment which characterized in that, intelligence wearing formula equipment includes: power, second treater, second location chip and second antenna, the power respectively with the second treater and the second location chip is connected, the second treater with the second location chip is connected, the second location chip with the second antenna connection, wherein: