Disclosure of Invention
Based on the above, it is necessary to provide a UWB system, a UWB anchor module, a UWB master control module and a vehicle to solve the calibration error problem that occurs easily in the calibration of the identity of each anchor module in the prior art.
Based on the above object, a first technical solution of a UWB system includes:
The device comprises a UWB main control module and N UWB anchor point modules, wherein N is more than or equal to 2, each UWB anchor point module is arranged in a mobile carrier, each UWB anchor point module is provided with an address line interface, and each address line interface is used for connecting the anode or the cathode of a battery arranged in the mobile carrier;
each UWB anchor module is used for determining the address bit of each UWB anchor module according to the address line interface voltage detected from the address line interface, and the address bits of each UWB anchor module are different;
The UWB main control module is respectively and electrically connected with each UWB anchor point module to acquire address bits of each UWB anchor point module;
the UWB main control module is used for determining the arrangement position of the UWB anchor point module in the mobile carrier according to the address bit and combining the preset corresponding relation between the address bit and the arrangement position of each UWB anchor point module in the mobile carrier.
Preferably, the number of the UWB anchor modules is four, namely a first anchor module, a second anchor module, a third anchor module and a fourth anchor module, and each UWB anchor module is provided with a first address line interface and a second address line interface;
The first address line interface of the first anchor point module is connected with the anode of a battery in the mobile carrier, and the second address line interface of the first anchor point module is connected with the cathode of the battery;
the first address line interface and the second address line interface of the second anchor point module are both connected with the anode of the battery;
the first address line interface of the third anchor point module is connected with the cathode of the battery, and the second address line interface of the third anchor point module is connected with the anode of the battery;
and the first address line interface and the second address line interface of the fourth anchor point module are both connected with the negative electrode of the battery.
Preferably, the UWB main control module and each UWB anchor point module are connected by adopting a CAN bus for communication.
Preferably, each structure of the UWB anchor module includes a microprocessor, a CAN transceiver and a UWB antenna, where the microprocessor is connected with the UWB antenna, and the microprocessor is configured to collect transmission information between the UWB antenna and a target tag;
The microprocessor is connected with the CAN transceiver, and is used for sending the arrangement position of the self-anchor module, which is located on the vehicle, of the address of the UWB anchor module to the UWB master control module through the CAN transceiver, and transmitting information between the self-anchor module of the UWB anchor module and the target tag.
Preferably, at least one address line interface for connecting the battery is arranged in each UWB anchor point module.
The first technical scheme has the following beneficial effects:
The UWB anchor point modules are led out of the address line interface and are connected with the anode and the cathode of the storage battery in the vehicle, and the UWB master control module can quickly and conveniently determine the positions of the anchor point modules arranged on the mobile carrier by utilizing the self-learning address bits through the UWB anchor point modules.
Compared with the wireless connection mode (namely the Bluetooth connection mode) between the UWB anchor point module and the UWB master control module in the existing system, the invention adopts the physical connection mode between the UWB anchor point module and the storage battery in the vehicle to learn the address of each UWB anchor point module, and can more accurately and effectively determine the position of the anchor point module arranged on the mobile carrier.
Based on the above object, a second technical solution of the UWB system includes:
The UWB main control module and N UWB anchor point modules, N is more than or equal to 2, each UWB anchor point module is installed in a mobile carrier, the UWB main control module is provided with N address line interfaces, each address line interface is respectively connected with one UWB anchor point module to form N address line interface branches, and each address line interface branch is provided with a matching resistor with different resistance values from other address line interface branches;
each UWB anchor point module respectively detects the current value flowing on the address line interface branch;
The UWB main control module is used for obtaining the current value of each address line interface branch, and according to the current value of each address line interface branch, the corresponding relation between the preset current value and the arrangement position of each UWB anchor module on the mobile carrier is combined to determine the arrangement position of each UWB anchor module on the mobile carrier.
Preferably, the number of the UWB anchor modules is four, namely a first anchor module, a second anchor module, a third anchor module and a fourth anchor module, wherein four address line interfaces are arranged on the UWB main control module, the first address line interface of the UWB main control module is connected with the address line interface of the first anchor module to form a first address line interface branch circuit, and a first resistor is arranged on the branch circuit;
The third address line interface of the UWB main control module is connected with the address line interface of the third anchor point module to form a third address line interface branch, a third resistor is arranged in the branch, the fourth address line interface of the UWB main control module is connected with the address line interface of the fourth anchor point module to form a fourth address line interface branch, a fourth resistor is arranged in the branch, and the resistance values of the first resistor, the second resistor, the third resistor and the fourth resistor are different from each other.
Preferably, the first resistor, the second resistor, the third resistor and the fourth resistor are all integrally arranged in the UWB main control module.
Preferably, the UWB main control module and each UWB anchor point module are connected by a CAN bus.
Preferably, each structure of the UWB anchor module includes a microprocessor, a CAN transceiver, and a UWB antenna, where the microprocessor is connected to the UWB antenna, and the microprocessor is configured to collect transmission information between the UWB antenna and a target tag;
The microprocessor is connected with the CAN transceiver, and is used for sending the arrangement position of the current value self-anchor module on the address line interface branch of the UWB anchor module on the vehicle and the transmission information between the self-anchor module of the UWB anchor module and the target tag to the UWB main control module through the CAN transceiver.
Preferably, the first resistor comprises a resistor with a set resistance value, the second resistor comprises resistors with two series-connected resistance values which are all the set resistance value, the third resistor comprises resistors with three series-connected resistance values which are all the set resistance value, and the fourth resistor comprises resistors with four series-connected resistance values which are all the set resistance value.
The second technical scheme has the following beneficial effects:
The UWB main control module is used for leading out the address line interface and is connected with the address line interfaces arranged in each anchor point module, so that a plurality of address line interface branches are formed, the matching resistances on the address line interface branches are different from each other, and the arrangement position of each anchor point module on the mobile carrier can be rapidly and conveniently determined by detecting the current value on the address line interface branches.
Compared with the wireless connection mode between the UWB anchor point module and the UWB master control module in the existing system, the UWB system adopts a physical connection mode between the UWB anchor point module and the UWB master control module to detect the current on the address line interface branch where each UWB anchor point module is located, and the position where the anchor point module is arranged on the mobile carrier can be more accurately and effectively determined.
Based on the above object, a technical solution of a vehicle includes:
The vehicle body is characterized by being provided with the UWB system.
The technical scheme has the following beneficial effects:
the UWB system is preferably applied to the vehicle, and can enable the vehicle to achieve rapid and accurate positioning of the arrangement position of the anchor point module.
According to the technical scheme I of the UWB system, a UWB anchor point module and a UWB main control module are provided, wherein the technical scheme of the UWB anchor point module comprises the following steps:
the UWB anchor point module is arranged in the mobile carrier and is provided with an address line interface which is used for connecting the anode or the cathode of a battery arranged in the mobile carrier;
The UWB anchor point module is used for determining the address bit of the UWB anchor point module according to the voltage of the address line interface detected from the address line interface, and sending the address bit of the UWB anchor point module to a UWB main control module arranged in the mobile carrier.
The technical scheme of the UWB main control module comprises:
The UWB main control module is arranged in the mobile carrier and is used for electrically connecting each UWB anchor point module arranged in the mobile carrier to acquire address bits of each UWB anchor point module, and the arrangement positions of the UWB anchor point modules in the mobile carrier are determined by combining preset corresponding relations between the address bits and the arrangement positions of each UWB anchor point module in the mobile carrier.
Corresponding to the second technical scheme of the UWB system, a technical scheme of a UWB anchor module and a UWB master control module is provided, where the technical scheme of the UWB anchor module includes:
the UWB anchor point module is arranged in the mobile carrier, is provided with an address line interface and is used for being connected with a UWB main control module arranged in the mobile carrier through the address line interface to form an address line interface branch, and a matching resistor is arranged on the address line interface branch;
the UWB anchor point module is used for detecting a current value flowing on the address line interface branch and sending the current value to a UWB main control module arranged in the mobile carrier.
The technical scheme of the UWB main control module comprises:
The UWB main control module is arranged in the mobile carrier, is provided with an address line interface and is used for connecting each UWB anchor point module arranged in the mobile carrier through the address line interface to form an address line interface branch, and a matching resistor is arranged on the address line interface branch;
The UWB main control module is used for receiving the current value on the address line interface branch sent by each UWB anchor point module, and according to the current value on the address line interface branch, the corresponding relation between the preset current value and the arrangement position of each UWB anchor point module on the mobile carrier is combined to determine the arrangement position of each UWB anchor point module on the mobile carrier.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
System example 1:
the present embodiment proposes a UWB system, for example, taking an application background of a mobile carrier such as a vehicle as shown in fig. 1, where the UWB system includes a UWB main control module 01, and four UWB anchor modules 02, and the four UWB anchor modules 02 are a first anchor module 02, a second anchor module 03, a third anchor module 04, and a fourth anchor module 05, respectively, where the first anchor module 02 is installed at a front left position of the vehicle, the second anchor module 03 is installed at a front right position of the vehicle, the third anchor module 04 is installed at a rear left position of the vehicle, and the fourth anchor module 05 is installed at a rear right position of the vehicle.
In fig. 1, communication interfaces of the UWB main control module 01 are respectively connected with communication interfaces of four UWB anchor point modules 02, and the UWB main control module 01 is configured to obtain transmission information between each UWB anchor point module 02 and a target tag according to the communication interfaces, and position the target tag relative to a current vehicle according to the transmission information.
In this embodiment, a CAN bus is preferably used between the UWB main control module 01 and each UWB anchor module 02 for communication connection, and CAN transceivers are integrated in the UWB main control module 01 and each UWB anchor module 02, where the CAN transceivers in the UWB main control module 01 draw out two output ends CANH and CANL, the CAN transceivers in each UWB anchor module 02 draw out two output ends CANH and CANL, the output ends CANH in each UWB anchor module 02 are all connected with the output ends CANH of the UWB main control module 01, and the output ends CANL in each UWB anchor module 02 are all connected with the output ends CANL of the UWB main control module 01.
As shown in FIG. 2, each anchor module is provided with two address line interfaces, namely a first address line interface L1 and a second address line interface L2, the first address line interface L1 of the first anchor module 02 is connected with the positive electrode of a storage battery 06 (with the voltage of 12V) in a vehicle, the second address line interface L2 of the first anchor module 02 is connected with the negative electrode of the storage battery 06, the first address line interface L1 and the second address line interface L2 of the second anchor module 03 are both connected with the positive electrode of the storage battery 06, the first address line interface L1 of the third anchor module 04 is connected with the negative electrode of the storage battery 06, the second address line interface L2 of the third anchor module 04 is connected with the positive electrode of the storage battery 06, and the first address line interface L1 and the second address line interface L2 of the fourth anchor module 05 are both connected with the negative electrode of the storage battery 06.
Each UWB anchor module 02 is configured to determine, according to the set address line interface, an address bit of the self-anchor module by using a self-learning address bit manner. Specifically, the voltage level of the battery 06 is 12V, the positive electrode voltage is 12V, and the negative electrode voltage is 0V. Therefore, according to the connection relationship between the storage battery 06 and the address line interfaces of the UWB anchor modules 02, the voltage of the address line interfaces of the UWB anchor modules 02 can be determined, the address bits of the anchor modules can be determined, and the address bits can be sent to the UWB main control module 01. Then, the UWB master control module 01 is configured to determine address bits for representing the positions disposed on the vehicle according to address bits of each anchor module, and then combine the address bits with unique correspondence (preset in advance) between the positions of the anchor modules in the vehicle.
The address line interface voltage and the address bits of each UWB anchor module 02 that can be determined from the connection relationship between the address line interface of each UWB anchor module 02 and the battery 06 shown in fig. 2 are shown in table 1.
TABLE 1
| Module | Address line interface L1 | Address line interface L2 | Address bits |
| First anchor point module | +12V | 0V | 10 |
| Second anchor point module | +12V | +12V | 11 |
| Third anchor point module | 0V | +12V | 01 |
| Fourth anchor point module | 0V | 0V | 00 |
In table 1, the voltages of the address line interface L1 and the address line interface L2 of the first anchor module 02 are +12v and 0V, respectively, and are high and low, respectively, and the address bit indicated is 10, indicating the anchor module mounted at the front left position of the vehicle. Similarly, the voltages of the address line interface L1 and the address line interface L2 of the second anchor module 03 are +12v and +12v, respectively, and are high level and high level, respectively, and the indicated address bit is 11, which indicates the anchor module installed at the front right position of the vehicle.
Similarly, the voltages of the address line interface L1 and the address line interface L2 of the third anchor module 04 are respectively 0V and +12v, and are respectively low level and high level, and the indicated address bit is 01, which indicates the anchor module installed at the left rear position of the vehicle. Similarly, the voltages of the address line interface L1 and the address line interface L2 of the fourth anchor module 05 are respectively 0V and 0V, and are respectively low-level and low-level, and the indicated address bit is 00, which indicates the anchor module mounted at the rear right position of the vehicle.
After the arrangement position of the anchor point modules is determined by the UWB main control module 01, the UWB main control module 01 can calibrate the position coordinates of each UWB anchor point module 02 relative to the UWB main control module 01 by combining the known distance between each anchor point module and the UWB main control module 01. After calibration is completed, the relative position relationship between each UWB anchor point module 02 and the UWB main control module 01 can be determined, and the UWB main control module 01 can calculate the positioning position of the target tag relative to the current vehicle according to the transmission information between each UWB anchor point module 02 and the target tag.
In fig. 2, the communication interfaces L3 and L4 of each anchor module are respectively output ends CANH and CANL and are used for connecting the output ends CANH and CANL of the UWB main control module 01, and the interfaces L5 and L6 of each anchor module are respectively a positive power supply interface and a negative power supply interface and are used for connecting a power supply.
In this embodiment, all UWB anchor modules have the same structure and are integrated devices, and the specific structure of the UWB anchor module 02 is shown in fig. 3, and the UWB anchor module comprises a microprocessor 31, a CAN transceiver 33 and a UWB antenna 32, wherein the microprocessor 31 is connected with the UWB antenna 32, the microprocessor 31 is used for collecting transmission information with a target tag through the UWB antenna 32, the microprocessor 31 is connected with the CAN transceiver 33, and the microprocessor 31 is used for transmitting address bits of the self-anchor module and transmission information between the self-anchor module and the target tag to the UWB master control module 01 through the CAN transceiver 33.
In this embodiment, the UWB system includes four anchor modules disposed on the vehicle, and as other implementation manners, three anchor modules may be further disposed, and when address bits are matched for each anchor module, only three positions respectively representing positions on the vehicle where anchor modules are correspondingly disposed are selected randomly in 10, 11, 00, and 01.
The UWB system of the invention has the following advantages:
(1) The UWB anchor point modules 02 are used for leading out address wire interfaces (L1 and L2) and are connected with the anode and the cathode of a storage battery in the vehicle, and the UWB master control module 01 can quickly and conveniently determine the positions of the anchor point modules arranged on the vehicle by utilizing a self-learning address bit mode through the UWB anchor point modules 02.
(2) Compared with the wireless connection mode (namely the Bluetooth connection mode) between the UWB anchor point module 02 and the UWB master control module 01 in the existing system, the invention adopts the physical connection mode between the UWB anchor point module 02 and the storage battery in the vehicle to perform self-learning of the address position of each UWB anchor point module 02, and can more accurately and effectively determine the position of each anchor point module arranged on the vehicle.
System example 2:
The present embodiment proposes a UWB system, which is different from the UWB system in embodiment 1 in that the number of anchor modules in embodiment 1 is 4, and two different address bits need to be matched for each UWB anchor module 02, so that each UWB anchor module 02 leads out two address line interfaces (L1, L2).
In this embodiment, the number of anchor modules set in the vehicle is N, N is 5-8, and three different address bits need to be matched for each UWB anchor module 02 to represent different positions of the anchor modules on the vehicle. Thus, each UWB anchor module 02 leads out three address line interfaces (L1, L2, L7) for connecting the positive and negative poles of the battery 06 in the vehicle.
For example, 5 anchor point modules are arranged at different positions in the vehicle, as shown in fig. 4, each anchor point module is provided with three address line interfaces, namely a first address line interface L1, a second address line interface L2 and a third address line interface L7, the first address line interface L1 of the first anchor point module 02 is connected with the positive electrode of the storage battery 06 in the vehicle, and the second address line interface L2 and the third address line interface L7 are connected with the negative electrode of the storage battery 06.
The first address line interface L1 and the second address line interface L2 of the second anchor point module 03 are both connected with the positive electrode of the storage battery 06, and the third address line interface L7 is connected with the negative electrode of the storage battery 06. The first address line interface L1 and the third address line interface L7 of the third anchor point module 04 are connected with the negative electrode of the storage battery 06, and the second address line interface L2 is connected with the positive electrode of the storage battery 06. The first address line interface L1, the second address line interface L2 and the third address line interface L7 of the fourth anchor point module 05 are all connected with the negative electrode of the storage battery 06. The first address line interface L1, the second address line interface L2 and the third address line interface L7 of the fifth anchor module 07 are all connected with the positive electrode of the storage battery 06. The address line interface voltages and address bits for each anchor module are shown in table 2.
TABLE 2
In table 2, five address bits 100, 110, 010, 000, 111 are selected to represent different positions of the first anchor module 02, the second anchor module 03, the third anchor module 04, the fourth anchor module 05, and the fifth anchor module 07 installed in the vehicle in sequence, but this address bit allocation manner is not unique, and as other manners, five of the five address bits selected from 100, 110, 010, 000, 111, 001, 011, 101 may be used as address bits for matching the five anchor modules, and when the address bit matched for a certain anchor module is uniquely determined, the connection relationship between the address line interface of the corresponding anchor module and the positive electrode and the negative electrode of the battery 06 is also determined, for example, the address bit matched for the fifth anchor module 07 is 101, and then the first address line interface L1 and the third address line interface L7 of the fifth anchor module 07 are both connected to the positive electrode of the battery 06, and the second address line interface L2 of the fifth anchor module 07 is connected to the negative electrode of the battery 06.
As other embodiments, when the number of anchor modules set in the vehicle is N >8, then the corresponding need matches more than three address bits (e.g., k bits, k > 3) for each UWB anchor module 02 to indicate that the anchor module is disposed at a different location on the vehicle. Therefore, each UWB anchor module 02 leads out three or more address line interfaces (for example, k) for connecting the positive and negative electrodes of the battery 06 in the vehicle. And, the number of the address line interfaces led out by each UWB anchor module 02 is the same as the number of bits of the matching address bits.
System example 3:
The UWB system according to the present embodiment is different from the UWB system according to the embodiment 1 in that the UWB system according to the present embodiment does not need to use the anode and cathode of the battery in the vehicle to connect the address line interfaces of each anchor module, but introduces four address line interfaces (P1 to P4) on the UWB main control module 01, and each address line interface (P1 to P4) is used to connect to the address line interface L1 set in one anchor module.
As shown in fig. 5, the first address line interface P1 of the UWB main control module 01 is connected to the address line interface L1 of the first anchor module 02 to form a first address line interface branch, and a first resistor is disposed on the branch and integrally disposed in the UWB main control module 01. Similarly, the second address line interface P2 of the UWB main control module 01 is connected with the address line interface L1 of the second anchor module 03 to form a second address line interface branch, and a second resistor is arranged on the branch and is integrally arranged in the UWB main control module 01.
Similarly, the third address line interface P3 of the UWB main control module 01 is connected with the address line interface L1 of the third anchor point module 04 to form a third address line interface branch, in which a third resistor is disposed, and the third resistor is integrally disposed in the UWB main control module 01. Similarly, the fourth address line interface P4 of the UWB main control module 01 is connected with the address line interface L1 of the fourth anchor point module 05 to form a fourth address line interface branch, and a fourth resistor is disposed in the branch and integrally disposed in the UWB main control module 01.
In this embodiment, the resistance values of the first resistor, the second resistor, the third resistor and the fourth resistor are different from each other, that is, the resistance values set on the address line interface branches between each anchor point module and the UWB main control module 01 are different from each other, so as to distinguish each anchor point module set on different positions of the vehicle, which is equivalent to that the resistance value and the position of each anchor point module on the vehicle have a one-to-one mapping relationship.
The manner of setting the first resistor, the second resistor, the third resistor and the fourth resistor is shown in fig. 6, where the first resistor R1 includes a resistor with a resistance value of 15kΩ, the second resistor R2 includes resistors with two resistances in series of 15kΩ, the third resistor R3 includes resistors with three resistances in series of 15kΩ, and the fourth resistor R4 includes resistors with four resistances in series of 15kΩ.
In the UWB system, the arrangement position calibration principle of each anchor point module is as follows:
The UWB main control module 01 respectively sends the same voltage signals to the four anchor point modules through the first address line interface P1, the second address line interface P2, the third address line interface P3 and the fourth address line interface P4, each anchor point module receives the voltage signals through the respective address line interface L1, detects the current of the voltage signals, and sends the detected current value to the UWB main control module 01.
The UWB main control module 01 is used for calculating the equivalent internal resistance of each address line interface branch according to the ratio of voltage to current, judging the resistance difference delta R between the equivalent internal resistance and the first resistor, the second resistor, the third resistor and the fourth resistor respectively, comparing the magnitudes of the four difference delta R, determining the resistor corresponding to the minimum difference delta R, and determining the position of the current anchor point module on the vehicle according to the mapping relation (namely the corresponding relation) between the resistance value of the address line interface branch and the position of each anchor point module on the vehicle, thereby realizing the position calibration of each anchor point module.
After calibration is completed, the relative position relationship between each UWB anchor point module 02 and the UWB main control module 01 can be determined, and the UWB main control module 01 can calculate the positioning position of the target tag relative to the current vehicle according to the transmission information between each UWB anchor point module 02 and the target tag.
In this embodiment, each anchor module is provided with an address line interface L1, and the interface L2 is reserved for standby.
The UWB system of the invention has the following advantages:
(1) The UWB main control module 01 is used for leading out address line interfaces (P1-P4) and is connected with the address line interfaces L1 arranged in each anchor point module, so that a plurality of address line interface branches are formed, the matching resistances on the address line interface branches are different from each other, the matching resistances are determined by detecting equivalent internal resistance, and the arrangement position of the anchor point module on a vehicle can be determined quickly and conveniently.
(2) Compared with a wireless connection mode (namely a Bluetooth connection mode) between the UWB anchor point module 02 and the UWB main control module 01 in the existing system, the UWB system for the vehicle of the embodiment adopts a physical connection mode between the UWB anchor point module 02 and the UWB main control module 01 to perform self-learning of the matching resistance of each UWB anchor point module 02, and the position of the anchor point module arranged on the vehicle can be more accurately and effectively determined.
System example 4:
The difference between the UWB system provided in this embodiment and the UWB system in embodiment 3 is that the number of anchor point modules in the UWB system set on a vehicle is n, n=3, 5, 6, the UWB main control module 01 draws out n address line interfaces (P1, P2, pn), each address line interface (P1, P2, pn) of the UWB main control module 01 is respectively used for connecting the address line interface L1 set in the corresponding anchor point module to form a corresponding address line interface branch, and matching resistors Ri with different resistance values of other branches are set on the branch, and the resistance values of the resistors are matched by mapping relations of the resistance values and the positions of the anchor point modules on the vehicle in a one-to-one correspondence manner.
System example 5:
The difference between the UWB system proposed in this embodiment and the UWB system in embodiment 3 is that in embodiment 3, the second resistor, the third resistor and the fourth resistor are all formed by connecting a plurality of resistors with the same resistance value in series, and in this system, the first resistor, the second resistor, the third resistor and the fourth resistor are all separate resistors, but the resistance values of the resistors are different from each other. For example, the first resistor has a resistance of 6kΩ, the second resistor has a resistance of 10kΩ, the third resistor has a resistance of 15kΩ, and the fourth resistor has a resistance of 33kΩ.
System example 6:
the difference between the UWB system provided in this embodiment and the UWB system in embodiment 3 is that the principle of calibrating the arrangement position of each anchor module in this system is as follows:
The UWB main control module 01 respectively sends the same voltage signals to the four anchor point modules through the first address line interface P1, the second address line interface P2, the third address line interface P3 and the fourth address line interface P4, each anchor point module receives the voltage signals through the respective address line interface L1, detects the current caused by the voltage signals, and sends the detected current value to the UWB main control module 01.
The UWB main control module 01 is configured to determine, according to the magnitude of the current, the arrangement position of each UWB anchor module 02 on the vehicle by combining a preset current value with a corresponding relationship between the arrangement positions of each UWB anchor module 02 on the vehicle.
It can be understood that, since the mapping relationship between the magnitude of the resistance value and the position of each anchor point module on the vehicle is known, the preset current value can be calculated according to the ratio of the transmitted voltage signal to each resistance, so that the corresponding relationship between the preset current value and the arrangement position of each UWB anchor point module 02 on the vehicle can be obtained.
Vehicle embodiment:
The present embodiment proposes a vehicle including a vehicle body, and the UWB system of any one of the above system embodiments 1 to 6 provided in the vehicle body, capable of enabling the vehicle to achieve rapid and accurate positioning of the anchor point module arrangement position.
Anchor module example 1:
the embodiment provides a UWB anchor point module 02, UWB anchor point module 02 sets up in the mobile carrier, UWB anchor point module 02 is provided with address line interface (L1, L2), address line interface (L1, L2) is used for connecting the positive pole or the negative pole of setting up the battery in the mobile carrier.
The UWB anchor module 02 is configured to determine an address bit of the UWB anchor module 02 according to detecting an address line interface voltage from the address line interfaces (L1, L2), and send the address bit of the UWB anchor module 02 to the UWB master control module 01 disposed in the mobile carrier.
The UWB anchor module proposed in this embodiment is UWB anchor module 02 in system embodiment 1, and in system embodiment 1, the UWB anchor module 02 has been clearly and completely described, and specific content refers to relevant records in system embodiment 1, which is not described in detail herein.
Main control Module embodiment 1:
The embodiment provides a UWB main control module 01, wherein the UWB main control module 01 is arranged in a mobile carrier, the UWB main control module 01 is used for electrically connecting each UWB anchor point module 02 arranged in the mobile carrier to acquire address bits of each UWB anchor point module 02, and the arrangement positions of the UWB anchor point modules 02 in the mobile carrier are determined by combining preset corresponding relations between the address bits and the arrangement positions of each UWB anchor point module 02 in the mobile carrier.
The UWB main control module 01 provided in this embodiment is the UWB main control module 01 in the system embodiment 1, and in the system embodiment 1, the UWB main control module 01 has been clearly and completely described, and specific content refers to relevant descriptions in the system embodiment 1, which is not described in detail.
Anchor module example 2:
The embodiment provides a UWB anchor point module 02, UWB anchor point module 02 sets up in the mobile carrier, UWB anchor point module 02 is provided with an address line interface L1 for connect UWB main control module 01 that sets up in the mobile carrier through address line interface L1, form address line interface branch road, be provided with the matching resistance on the address line interface branch road.
The UWB anchor module 02 is configured to detect a current value flowing through the address line interface branch, and send the current value to the UWB master module 01 provided in the mobile carrier.
The UWB anchor module 02 proposed in this embodiment is the UWB anchor module 02 in the system embodiment 3, and in the system embodiment 3, the UWB anchor module 02 has been clearly and completely described, and specific content refers to relevant records in the system embodiment 3, which is not described in detail herein.
Main control Module example 2:
the embodiment provides a UWB main control module 01, wherein the UWB main control module 01 is arranged in a mobile carrier, the UWB main control module 01 is provided with address line interfaces (P1-P4) and is used for connecting each UWB anchor point module 02 arranged in the mobile carrier through the address line interfaces (P1-P4) to form an address line interface branch, and a matching resistor is arranged on the address line interface branch;
the UWB main control module 01 is configured to receive the current value on the address line interface branch sent by each UWB anchor module 02, and determine, according to the current value on the address line interface branch, the arrangement position of each UWB anchor module 02 on the mobile carrier by combining a preset corresponding relationship between the current value and the arrangement position of each UWB anchor module 02 on the mobile carrier.
The UWB main control module 01 provided in this embodiment is the UWB main control module 01 in the system embodiment 3, and in the system embodiment 3, the UWB main control module 01 has been clearly and completely described, and specific contents refer to relevant records in the system embodiment 3, which is not described in detail.
The foregoing embodiments are merely illustrative of the technical solutions of the present invention, and not restrictive, and although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that modifications may still be made to the technical solutions described in the foregoing embodiments or equivalent substitutions of some technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.