Research And Design Of Following Luggage Based On UWB

With the rapid development of China’s economy,constant progress on technology and constant improvement on living standard,people often go out.We enjoy convenience of artificial intelligent products on the road and often experience tiredness on a trip.Heavy luggage is one of important factors resulting in tiredness in a trip.In order to solve this problem,existing technology is used to the luggage,thus luggage will automatically follow up with masters.This thesis uses the UWB(Ultra Wide Band)technology as the positioning means and utilizes the infrared and ultrasonic ranging technology to detect obstacles.The luggage driven by the hub motor is used to follow the target.Firstly,the author conducts the overall planning for the luggage system,analyzes functional demands of the system in detail,divides different modules according to functions.Afterwards,the author analyzes theoretical foundation of system realization,including UWB bilateral two-way ranging method based on self-adaptive Kalman filter and target-oriented TOA positioning method,providing the follow-up control strategy in accordance with the luggage movement and follow-up model.Besides,the author conducts the specific design for the system software and hardware,divides the system hardware into UWB base station,label module,obstacle module and motor-driven module to design the general interface circuit,component modeling,and key function realization circuit,and classifies the system software design into UWB base station,label module ranging software,obstacle detection software for obstacle avoidance,and FreeRTOS multi-task software of motor-driven module.The motor-driven module uses RS485 bus to collect the label distance of UWB base station and obstacle distance of obstacle avoidance module and calculates the control speed information of the hub motors in the left and right through filter and positioning,so as to follow up with the target.The final system function test includes independent test and overall test of the module.The results of independent test show that UWB module and obstacle avoidance module can realize target ranging and obstacle detection.The results of overall test and simulation indicate that Adaptive Kalman Filtering can effectively eliminate the influence of NLOS effect.The ranging value after using filtering is used to calculate the reliable position of the target.In the prepared experimental environment,the luggage plans the reasonable path to follow the target and reach the stated objectives of the topic.