CN111239689A - Sound wave positioning method of mobile robot, sound wave receiving device and robot system - Google Patents
Sound wave positioning method of mobile robot, sound wave receiving device and robot system Download PDFInfo
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- CN111239689A CN111239689A CN202010131043.9A CN202010131043A CN111239689A CN 111239689 A CN111239689 A CN 111239689A CN 202010131043 A CN202010131043 A CN 202010131043A CN 111239689 A CN111239689 A CN 111239689A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The application discloses sound wave positioning method, sound wave receiving device and robot system of mobile robot, and the method comprises: receiving a sound wave transmitting time signal from a sound wave transmitting device; receiving sound waves from the sound wave transmitting device through the at least three sound wave receiving modules; recording the sound wave receiving time of the at least three sound wave receiving modules; calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed; and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot. According to the sound wave positioning method of the mobile robot, the sound wave is utilized to realize accurate positioning of the mobile robot in a three-point positioning mode, and the positioning accuracy is high.
Description
Technical Field
The application relates to the technical field of sound wave positioning, in particular to a sound wave positioning method of a mobile robot, a sound wave receiving device and a robot system.
Background
With the development of technology, people's lives are more and more intelligent, and intelligent robots are more and more applied, and especially, sweeping robots and service robots are more and more common in recent years. By means of sound waves, the robot can be positioned and obstacle avoidance. However, in the existing robots for positioning sound waves, the sound wave receiving device is mounted in the robot device, and the method can only realize the direction and the approximate position of a sound source and cannot realize accurate positioning. In the scheme of multiple microphones, the relative direction between a sound source signal and the robot can only be calculated by utilizing the time difference of the sound source signal received by the multiple microphones, and distance information cannot be determined. As shown in fig. 1, in the prior art, a robot end is placed with a dual microphone (microphone 3) or a multi-microphone mode, a sound source 4 is arranged on a charging seat 5, and the distances between a robot position 1 and a robot position 2 and the sound source 4 are equal. When the robot recognizes a sound source signal, only angle information between the sound source 4 and the advancing direction of the robot can be recognized, the advancing direction of the robot can be aligned to the sound source direction, and the specific position of the robot cannot be determined, for example, in fig. 1, the robot cannot know whether the robot is at the position 1 or the position 2, so that the robot cannot accurately position the mobile robot.
Disclosure of Invention
The application aims to provide a sound wave positioning method of a mobile robot, a sound wave receiving device and a robot system. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
According to an aspect of the embodiments of the present application, there is provided a sound wave positioning method for a mobile robot, applied to a sound wave receiving device, where the sound wave receiving device includes at least three sound wave receiving modules; the method comprises the following steps:
receiving a sound wave transmitting time signal from a sound wave transmitting device; the sound wave transmitting device is arranged on the mobile robot;
receiving sound waves from the sound wave transmitting device through the at least three sound wave receiving modules; wherein the at least three acoustic wave receiving modules are arranged at fixed positions;
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
Further, the calculating a distance between each of the acoustic wave receiving modules and the acoustic wave transmitting device according to the acoustic wave transmitting time, the acoustic wave receiving times of the at least three acoustic wave receiving modules, and the acoustic wave velocity includes:
and multiplying the difference between the sound wave receiving time and the sound wave transmitting time by the sound wave speed to obtain the distance between the sound wave receiving module and the sound wave transmitting device.
Further, before the receiving the sound wave emission time from the sound wave emission device, the method further comprises:
synchronizing the time of the sound wave receiving device and the sound wave transmitting device.
Further, the synchronizing the time of the sound wave receiving device and the sound wave transmitting device comprises:
the sound wave receiving device is wirelessly connected with the sound wave transmitting device, the time of the sound wave transmitting device is obtained, and the time of the sound wave receiving device is adjusted to be the same as that of the sound wave transmitting device; alternatively, the first and second electrodes may be,
synchronizing both the acoustic wave receiving means and the acoustic wave transmitting means to the same clock on the network.
According to another aspect of the embodiments of the present application, there is provided a method for positioning a mobile robot by using sound waves, the method being applied to a sound wave receiving device, the sound wave receiving device being disposed at a fixed position on the mobile robot and including at least three sound wave receiving modules, the method including:
receiving a sound wave transmitting time signal from a sound wave transmitting device;
receiving sound waves from the sound wave transmitting device through the at least three sound wave receiving modules;
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinate of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinate of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
According to another aspect of the embodiments of the present application, there is provided an acoustic positioning method for a mobile robot, including:
the sound wave transmitting device transmits sound waves and sends sound wave transmitting time signals to the sound wave receiving device; the sound wave transmitting device is arranged on the mobile robot, the sound wave receiving device comprises at least three sound wave receiving modules, and the at least three sound wave receiving modules are arranged at fixed positions;
the sound wave receiving device receives a sound wave transmitting time signal from the sound wave transmitting device;
the at least three sound wave receiving modules receive sound waves from the sound wave transmitting device;
the following steps are realized by the sound wave receiving device:
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
According to another aspect of the embodiments of the present application, there is provided an acoustic positioning method for a mobile robot, including:
the sound wave transmitting device transmits sound waves and sends sound wave transmitting time signals to the sound wave receiving device; the sound wave receiving device is arranged at a fixed position on the mobile robot and comprises at least three sound wave receiving modules;
the sound wave receiving device receives a sound wave transmitting time signal from the sound wave transmitting device;
the at least three sound wave receiving modules receive sound waves from the sound wave transmitting device;
the following steps are realized by the sound wave receiving device:
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinate of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinate of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
According to another aspect of the embodiments of the present application, there is provided an acoustic wave receiving apparatus, configured to be disposed at a fixed location, including a processor, and a memory electrically connected to the processor, a wireless communication unit, and at least three acoustic wave receiving modules; the wireless communication unit is used for receiving a sound wave transmitting time signal from the sound wave transmitting device; the at least three sound wave receiving modules are used for receiving sound waves from the sound wave transmitting device; the processor is used for recording the sound wave receiving time of the at least three sound wave receiving modules;
the memory for storing a computer program;
the processor is further configured to execute the computer program to implement:
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
According to another aspect of the embodiments of the present application, there is provided an acoustic wave receiving apparatus for being disposed at a fixed location on a mobile robot, including a processor, and a memory electrically connected to the processor, a wireless communication unit, and at least three acoustic wave receiving modules; the wireless communication unit is used for receiving a sound wave transmitting time signal from the sound wave transmitting device; the at least three sound wave receiving modules are used for receiving sound waves from the sound wave transmitting device; the processor is used for recording the sound wave receiving time of the at least three sound wave receiving modules;
the memory for storing a computer program;
the processor is further configured to execute the computer program to implement:
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinate of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinate of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
According to another aspect of the embodiments of the present application, there is provided a mobile robot system, including a mobile robot, a sound wave transmitting device and the sound wave receiving device described above, wherein the sound wave transmitting device is disposed on the mobile robot.
The technical scheme provided by one aspect of the embodiment of the application can have the following beneficial effects:
according to the sound wave positioning method of the mobile robot, the mobile robot is accurately positioned by the sound waves in a three-point positioning mode, the specific position of the mobile robot is determined, and the positioning accuracy is high.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application, or may be learned by the practice of the embodiments. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a schematic view of a positioning method of a prior art mobile robot;
fig. 2 is a block diagram showing the structures of an acoustic wave transmitting apparatus and an acoustic wave receiving apparatus according to an embodiment of the present application and their connection relations;
fig. 3 shows a flowchart of an acoustic positioning method of a mobile robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
One embodiment of the present application provides a mobile robot system, including a mobile robot, a sound wave emitting device and a sound wave receiving device, the sound wave emitting device is disposed on the mobile robot. As shown in fig. 2, the acoustic wave transmission device includes a processor 1, and a memory 1, an acoustic source (acoustic wave transmission module), a clock holding unit 1, and a wireless communication unit 1, which are electrically connected to the processor 1, respectively. The acoustic wave receiving apparatus includes a processor 2, and a clock holding unit 2 and a wireless communication unit 2 and at least three sound receiving sensors (acoustic wave receiving modules) which are electrically connected to the processor 2, respectively.
The processor 1 and the processor 2 respectively control the wireless communication unit 1 and the wireless communication unit 2 to perform high-precision time synchronization once at a certain time interval, and the synchronization method comprises the following steps: both processor 1 and processor 2 are synchronized to the same high precision clock on the network or are interconnected through two wireless communication units, achieving high precision time synchronization of processor 1 and processor 2. The time synchronization post-processor 1 and the processor 2 respectively realize the holding of high-precision time synchronization signals through a clock holding unit 1 and a clock holding unit 2 (the clock holding unit can be a crystal or an oscillating circuit).
The processor 1 controls the sound source to emit a sound wave and records the emission time, and the emission time signal is sent to the wireless communication unit 2 by the wireless communication unit 1 in a wireless communication mode. The wireless communication unit 2 transmits the received transmission timing signal to the processor 2. The processor 2 records the time at which each sound receiving transducer receives the sound signal. The processor 2 calculates the time difference between the time when the sound signal is received by each sound receiving sensor and the transmission time, and the speed v of sound is 340m/s, and calculates the distance of sound wave propagation, based on the transmission time signal received by the wireless communication unit 2 and the time when the sound signal is received by each sound receiving sensor.
And the position of the sound source at any point on the space can be positioned by using the known conditions. Assuming that the position of a sound source on a mobile robot in space is O (x, y, z), at least three sound receiving sensors are arranged at three position fixing points A (a) on a charging stand1,b1,c1)，B(a2,b2,c2)，C(a3,b3,c3) If any one point on the charging stand is selected as the origin, the position of A, B, C is known (point a may also be selected as the origin). At time t, the sound source emits a sound wave signal, and the processor 1 transmits the time t signal to the wireless communication unit 2 through the wireless communication unit 1, and transmits the signal to the processor 2 through the wireless communication unit 2. The three sound receiving sensors at A, B, C of the charging stand receive sound wave signals at t times respectivelya、tb、tc. The following acoustic transmission distance calculation equation is listed:
the processor 2 solves the three unknowns x, y and z by using the three equations, so that the position of the point O in the space can be obtained, and the position coordinate of the point O can be used as the position coordinate of the mobile robot.
Through the steps, the position coordinates of a series of discrete points of the mobile robot in the moving process are calculated, the discrete points are connected to obtain the motion track of the mobile robot, an indoor map can be manufactured according to the motion track, and indoor navigation is further achieved. The moving direction of the robot relative to the charging seat can be calculated according to the moving track.
In some embodiments, the sound wave emitted from the sound source may be infrasonic wave, audible sound wave, or ultrasonic wave, the sound wave emitting module may be an electroacoustic transducer such as a loudspeaker, and the sound receiving sensor may be an acoustoelectric transducer such as a microphone.
In some embodiments, the wireless communication units may transmit the flag signal for synchronization as a transmission time, and may also communicate with each other as communication units.
As shown in fig. 2, an embodiment of the present application provides an acoustic wave receiving apparatus, configured to be set in a fixed location, including a processor 2, and a memory 2 electrically connected to the processor 2, a wireless communication unit 2, and at least three acoustic wave receiving modules (in this embodiment, sound receiving sensors 1); the wireless communication unit 2 is used for receiving a sound wave transmitting time signal from a sound wave transmitting device; the at least three sound wave receiving modules are used for receiving sound waves from the sound wave transmitting device; the processor 2 is used for recording the sound wave receiving time of the at least three sound wave receiving modules;
the memory 2 is used for storing a computer program;
the processor 2 is further configured to execute the computer program to implement:
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
The embodiment also provides a sound wave positioning method 01 of the mobile robot, which is applied to a sound wave receiving device, wherein the sound wave receiving device comprises at least three sound wave receiving modules; as shown in fig. 3, the method includes:
s11, receiving a sound wave transmitting time signal from the sound wave transmitting device; the sound wave transmitting device is arranged on the mobile robot;
s12, receiving sound waves from the sound wave transmitting device through the at least three sound wave receiving modules; wherein the at least three acoustic wave receiving modules are arranged at fixed positions;
s13, recording the sound wave receiving time of the at least three sound wave receiving modules;
s14, calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and S15, calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
In some embodiments, the step S14 of calculating the distance between each of the sound wave receiving modules and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave velocity includes:
and multiplying the difference between the sound wave receiving time and the sound wave transmitting time by the sound wave speed to obtain the distance between the sound wave receiving module and the sound wave transmitting device.
In some embodiments, before receiving the sound wave emission time from the sound wave emission device at S11, the method further includes:
and S10, synchronizing the time of the sound wave receiving device and the sound wave transmitting device.
In some embodiments, the synchronizing the timings of S10, the sound wave receiving device and the sound wave transmitting device comprises:
the sound wave receiving device is wirelessly connected with the sound wave transmitting device, the time of the sound wave transmitting device is obtained, and the time of the sound wave receiving device is adjusted to be the same as that of the sound wave transmitting device; alternatively, the first and second electrodes may be,
synchronizing both the acoustic wave receiving means and the acoustic wave transmitting means to the same clock on the network.
Another embodiment of the present application provides an acoustic wave positioning method 02 for a mobile robot, which is applied to an acoustic wave receiving device, where the acoustic wave receiving device is disposed at a fixed position on the mobile robot, and includes at least three acoustic wave receiving modules, and the method includes:
s21, receiving a sound wave transmitting time signal from the sound wave transmitting device;
s22, receiving sound waves from the sound wave transmitting device through the at least three sound wave receiving modules;
s23, recording the sound wave receiving time of the at least three sound wave receiving modules;
s24, calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and S25, calculating the position coordinates of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinates of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
As shown in fig. 2, the present embodiment further provides an acoustic positioning method 03 for a mobile robot, including:
s31, the sound wave transmitting device transmits sound waves and sends sound wave transmitting time signals to the sound wave receiving device; the sound wave transmitting device is arranged on the mobile robot, the sound wave receiving device comprises at least three sound wave receiving modules, and the at least three sound wave receiving modules are arranged at fixed positions;
s32, the sound wave receiving device receives a sound wave transmitting time signal from the sound wave transmitting device;
s33, the at least three sound wave receiving modules receive sound waves from the sound wave transmitting device;
the following steps are realized by the sound wave receiving device:
s34, recording the sound wave receiving time of the at least three sound wave receiving modules;
s35, calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and S36, calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
According to the sound wave positioning method of the mobile robot, the sound wave can be utilized to realize accurate positioning of the mobile robot and determine the specific position of the mobile robot in a three-point positioning mode, the positioning accuracy is high, and the problem that the specific position of the mobile robot cannot be accurately determined in the prior art is solved.
As shown in fig. 2, another embodiment of the present application provides an acoustic wave receiving apparatus, configured to be disposed at a fixed location on a mobile robot, including a processor 2, and a memory 2 electrically connected to the processor 2, a wireless communication unit 2, and at least three acoustic wave receiving modules; the wireless communication unit is used for receiving a sound wave transmitting time signal from the sound wave transmitting device; the at least three sound wave receiving modules are used for receiving sound waves from the sound wave transmitting device; the processor 2 is used for recording the sound wave receiving time of the at least three sound wave receiving modules;
the memory 2 is used for storing a computer program;
the processor 2 is further configured to execute the computer program to implement:
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinate of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinate of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
Another embodiment of the present application provides a mobile robot system, including a mobile robot, an acoustic wave transmitting device, and the acoustic wave receiving device described above, where the acoustic wave receiving device is disposed on the mobile robot.
Another embodiment of the present application provides an acoustic positioning method 04 for a mobile robot, including:
s41, the sound wave transmitting device transmits sound waves and sends sound wave transmitting time signals to the sound wave receiving device; the sound wave receiving device is arranged at a fixed position on the mobile robot and comprises at least three sound wave receiving modules;
s42, the sound wave receiving device receives a sound wave transmitting time signal from the sound wave transmitting device;
s43, the at least three sound wave receiving modules receive sound waves from the sound wave transmitting device;
the following steps are realized by the sound wave receiving device:
s44, recording the sound wave receiving time of the at least three sound wave receiving modules;
s45, calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and S46, calculating the position coordinates of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinates of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
In another embodiment of the present application, the mobile robot is a household sweeper, and the sound wave positioning method of the mobile robot includes the following specific implementation steps:
the first step is as follows: the sweeper is provided with an ultrasonic sound source, and three ultrasonic receivers are arranged at the fixed position of the charging seat;
the second step is that: the sweeping robot and the charging seat are fixed at a time interval, the local time and the network time are synchronized in a high-precision mode through the WIFI module, and high-precision time signals are kept through respective crystal oscillators.
The third step: when the sweeping robot needs to know the position of the robot, the processor controls the sound source to emit ultrasonic signals, records the sending time t and sends the time t to the three ultrasonic receivers on the charging seat through WIFI;
the fourth step: the charging base receives the time t sent by the WIFI;
the fifth step: the processor of the charging seat records the time of the multiple sound sensors on the charging seat for receiving the sound signals respectively;
and a sixth step: substituting the time into the sound wave transmission distance calculation equation to calculate the position of the sound source, thereby obtaining the position of the sweeper;
the seventh step: the position information of the sweeping robot can be continuously monitored by repeating the steps, and the functions of indoor map building, action path tracking, sweeping navigation, automatic recharging and the like can be realized according to the position information of the sweeping robot.
According to the technical scheme of the embodiment, three or more ultrasonic receivers are arranged on the charging seat, and a sound source is arranged at the robot end, so that three-point space positioning is realized, the space corresponding relation between the sweeper and the charging seat is established, a plane or space map is established according to the movement path of the sweeper, and a sweeping strategy can be established according to the space map. According to the technical scheme, the position relation, including direction and distance, of the sweeper and the charging seat can be accurately determined in a low-cost mode.
It should be noted that:
the term "module" is not intended to be limited to a particular physical form. Depending on the particular application, a module may be implemented as hardware, firmware, software, and/or combinations thereof. Furthermore, different modules may share common components or even be implemented by the same component. There may or may not be clear boundaries between the various modules.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. In addition, this application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the creation apparatus of a virtual machine according to embodiments of the present application. The present application may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The above-mentioned embodiments only express the embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A sound wave positioning method of a mobile robot is applied to a sound wave receiving device, and is characterized in that the sound wave receiving device comprises at least three sound wave receiving modules; the method comprises the following steps:
receiving a sound wave transmitting time signal from a sound wave transmitting device; the sound wave transmitting device is arranged on the mobile robot;
receiving sound waves from the sound wave transmitting device through the at least three sound wave receiving modules; wherein the at least three acoustic wave receiving modules are arranged at fixed positions;
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
2. The method according to claim 1, wherein said calculating the distance between each of said at least three sound wave receiving modules and said sound wave emitting device according to the sound wave emitting time, the sound wave receiving time of said at least three sound wave receiving modules and the sound wave velocity comprises:
and multiplying the difference between the sound wave receiving time and the sound wave transmitting time by the sound wave speed to obtain the distance between the sound wave receiving module and the sound wave transmitting device.
3. The method of claim 1, wherein prior to said receiving an acoustic emission time from an acoustic emission device, said method further comprises:
synchronizing the time of the sound wave receiving device and the sound wave transmitting device.
4. The method of claim 3, wherein said synchronizing the timing of said acoustic receiver means and said acoustic transmitter means comprises:
the sound wave receiving device is wirelessly connected with the sound wave transmitting device, the time of the sound wave transmitting device is obtained, and the time of the sound wave receiving device is adjusted to be the same as that of the sound wave transmitting device; alternatively, the first and second electrodes may be,
synchronizing both the acoustic wave receiving means and the acoustic wave transmitting means to the same clock on the network.
5. A sound wave positioning method of a mobile robot is applied to a sound wave receiving device, and is characterized in that the sound wave receiving device is arranged at a fixed position on the mobile robot and comprises at least three sound wave receiving modules, and the method comprises the following steps:
receiving a sound wave transmitting time signal from a sound wave transmitting device;
receiving sound waves from the sound wave transmitting device through the at least three sound wave receiving modules;
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinate of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinate of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
6. A method for acoustic positioning of a mobile robot, comprising:
the sound wave transmitting device transmits sound waves and sends sound wave transmitting time signals to the sound wave receiving device; the sound wave transmitting device is arranged on the mobile robot, the sound wave receiving device comprises at least three sound wave receiving modules, and the at least three sound wave receiving modules are arranged at fixed positions;
the sound wave receiving device receives a sound wave transmitting time signal from the sound wave transmitting device;
the at least three sound wave receiving modules receive sound waves from the sound wave transmitting device;
the following steps are realized by the sound wave receiving device:
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
7. A method for acoustic positioning of a mobile robot, comprising:
the sound wave transmitting device transmits sound waves and sends sound wave transmitting time signals to the sound wave receiving device; the sound wave receiving device is arranged at a fixed position on the mobile robot and comprises at least three sound wave receiving modules;
the sound wave receiving device receives a sound wave transmitting time signal from the sound wave transmitting device;
the at least three sound wave receiving modules receive sound waves from the sound wave transmitting device;
the following steps are realized by the sound wave receiving device:
recording the sound wave receiving time of the at least three sound wave receiving modules;
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinate of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinate of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
8. The sound wave receiving device is characterized by being arranged at a fixed position and comprising a processor, a memory electrically connected with the processor, a wireless communication unit and at least three sound wave receiving modules; the wireless communication unit is used for receiving a sound wave transmitting time signal from the sound wave transmitting device; the at least three sound wave receiving modules are used for receiving sound waves from the sound wave transmitting device; the processor is used for recording the sound wave receiving time of the at least three sound wave receiving modules;
the memory for storing a computer program;
the processor is further configured to execute the computer program to implement:
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinates of the sound wave transmitting device according to the distance between each sound wave receiving module and the sound wave transmitting device and the position coordinates of each sound wave receiving module so as to determine the position of the mobile robot.
9. The sound wave receiving device is used for being arranged at a fixed position on a mobile robot and comprises a processor, a memory electrically connected with the processor, a wireless communication unit and at least three sound wave receiving modules; the wireless communication unit is used for receiving a sound wave transmitting time signal from the sound wave transmitting device; the at least three sound wave receiving modules are used for receiving sound waves from the sound wave transmitting device; the processor is used for recording the sound wave receiving time of the at least three sound wave receiving modules;
the memory for storing a computer program;
the processor is further configured to execute the computer program to implement:
calculating the distance between each sound wave receiving module and the sound wave transmitting device according to the sound wave transmitting time, the sound wave receiving time of the at least three sound wave receiving modules and the sound wave speed;
and calculating the position coordinate of each sound wave receiving module according to the distance between each sound wave receiving module and the sound wave transmitting device, the position coordinate of the sound wave transmitting device and the relative position relationship of the at least three sound wave receiving modules so as to determine the position of the mobile robot.
10. A mobile robot system comprising a mobile robot, a sound wave transmitting device and the sound wave receiving device according to claim 8 or 9, wherein the sound wave transmitting device is provided on the mobile robot.
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| CN111815844A (en) * | 2020-07-22 | 2020-10-23 | 中国人民解放军海军航空大学 | Intelligent machine tour guide and control method, control device and storage medium thereof |
| US11386888B2 (en) | 2020-07-17 | 2022-07-12 | Blue Ocean Robotics Aps | Method of adjusting volume of audio output by a mobile robot device |
| CN114879144A (en) * | 2022-05-24 | 2022-08-09 | 深圳心寰科技有限公司 | Acoustic positioning method, acoustic positioning system, readable storage medium and terminal equipment |
| CN117368844A (en) * | 2023-09-28 | 2024-01-09 | 河北振创电子科技有限公司 | Wall climbing robot positioning method and device, electronic equipment and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US11386888B2 (en) | 2020-07-17 | 2022-07-12 | Blue Ocean Robotics Aps | Method of adjusting volume of audio output by a mobile robot device |
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