CN111257834A - Sound wave receiving device, sound wave transmitting device and sound wave positioning system - Google Patents
Sound wave receiving device, sound wave transmitting device and sound wave positioning system Download PDFInfo
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- CN111257834A CN111257834A CN202010131013.8A CN202010131013A CN111257834A CN 111257834 A CN111257834 A CN 111257834A CN 202010131013 A CN202010131013 A CN 202010131013A CN 111257834 A CN111257834 A CN 111257834A
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- sound wave
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a sound wave receiving device, a sound wave transmitting device and a sound wave positioning system, wherein the sound wave receiving device comprises: the device comprises a first communication module, a first processor and a plurality of sound wave receiving units; the first communication module receives a wireless communication signal and records corresponding first receiving time; the sound wave receiving unit receives the sound wave signals and records corresponding second receiving time; the first processor obtains and calculates the position information of the sound wave transmitting device according to the preset sound wave transmission speed, the first receiving time, the preset position information of each sound wave receiving unit and the recorded second receiving time; the wireless communication signal and the acoustic wave signal are simultaneously transmitted by the acoustic wave transmitting device. According to the scheme, the difference between the time of receiving the wireless communication signals and the time of receiving the sound wave signals by each sound wave receiving unit is calculated, and the time of wireless communication in a short distance is ignored, so that the position of any point sound wave transmitting device in the space can be positioned.
Description
Technical Field
The invention belongs to the technical field of sound wave positioning, and particularly relates to a sound wave receiving device, a sound wave transmitting device and a sound wave positioning 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 all of the conventional sound wave localization methods, a sound wave receiving device (e.g., a microphone) is mounted in a robot device to perform sound source direction localization, and thus an accurate position of the robot cannot be obtained. For example, in the prior art, as shown in fig. 1, a robot end is used to place two microphones or a multi-microphone mode, and a sound source is at the charging base end, and the distance between the robot position 1 and the robot position 2 is equal to that of the sound source. When the robot recognizes a sound wave signal emitted by a sound source, only angle information between the sound source 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 known, for example, the robot cannot know whether the robot is at the position 1 or the position 2 in fig. 1.
Therefore, the existing sound wave positioning method can only obtain the direction and the approximate position of the sound source, and cannot realize accurate positioning.
Disclosure of Invention
In view of this, embodiments of the present invention provide an acoustic wave receiving device, an acoustic wave transmitting device, and an acoustic wave positioning system, so as to solve the problem that accurate positioning cannot be achieved in acoustic wave positioning in the prior art.
An acoustic wave receiving apparatus according to an embodiment of a first aspect of the present invention includes: the device comprises a first communication module, a first processor and a plurality of sound wave receiving units; wherein the first communication module and each of the acoustic wave receiving units are connected to the first processor;
the first communication module is used for receiving wireless communication signals and recording corresponding first receiving time;
the sound wave receiving unit is used for receiving the sound wave signals and recording corresponding second receiving time;
the first processor is used for obtaining and calculating the position information of the sound wave transmitting device according to the preset sound wave transmission speed, the first receiving time, the preset position information of each sound wave receiving unit and the recorded second receiving time;
wherein the wireless communication signal and the acoustic wave signal are transmitted simultaneously by the acoustic wave transmitting device.
In the acoustic wave receiving apparatus according to the embodiment of the first aspect of the present invention, the received wireless communication signal and the acoustic wave signal are simultaneously transmitted by the acoustic wave transmitting apparatus, the time for receiving the wireless communication signal and the time difference for receiving the acoustic wave signal by each acoustic wave receiving unit are calculated, and the position of the acoustic wave transmitting apparatus at any point in space can be located by ignoring the time for wireless communication over a short distance.
In some embodiments of the present invention, the first processor is specifically configured to:
calculating the time difference between the second receiving moment recorded by the sound wave receiving unit and the first receiving moment for each sound wave receiving unit;
calculating to obtain the distance between each sound wave receiving unit and the sound wave transmitting device according to the time difference and the preset sound wave transmission speed;
and calculating the position information of the sound wave transmitting device according to the preset position information corresponding to each sound wave receiving unit and the distance.
In some embodiments of the present invention, the acoustic wave receiving apparatus further comprises:
and the first drawing module is used for drawing an environment map according to the position information of the sound wave transmitting device.
In some embodiments of the invention, the sound wave receiving unit is a microphone.
An acoustic wave transmission apparatus according to an embodiment of the second aspect of the present invention includes: the system comprises a sound source module, a second processor and a second communication module; the second communication module and the sound source module are both connected with the second processor;
the sound source module is used for transmitting sound wave signals;
the second communication module is used for transmitting wireless communication signals;
and the second processor is used for controlling the sound source module and the second communication module to simultaneously transmit sound wave signals and wireless communication signals.
In some embodiments of the present invention, the acoustic wave emitting device further comprises:
and the second drawing module is used for acquiring the position information of the sound wave transmitting device and drawing an environment map according to the position information of the sound wave transmitting device.
The sound wave transmitting device according to the embodiment of the second aspect of the present invention transmits the wireless communication signal and the sound wave signal at the same time, so that the sound wave receiving device can ignore the time of wireless communication over a short distance when calculating the difference between the time of receiving the wireless communication signal and the time of receiving the sound wave signal by each sound wave receiving unit, and can locate the position of the sound wave transmitting device at any point in space.
An acoustic wave positioning system according to an embodiment of a third aspect of the present invention includes the acoustic wave receiving apparatus of the first aspect and the acoustic wave transmitting apparatus of the second aspect.
In some embodiments of the present invention, the sound wave receiving device is disposed on a moving object, and the sound wave emitting device is disposed at a fixed position.
In some embodiments of the present invention, the sound wave emitting device is disposed on a moving object, and the sound wave receiving device is disposed at a fixed position.
In some embodiments of the present invention, the distance between the sound wave receiving device and the sound wave transmitting device is within a preset distance range.
In the acoustic wave positioning system according to the third aspect of the present invention, the wireless communication signal and the acoustic wave signal received by the acoustic wave receiving device are simultaneously transmitted by the acoustic wave transmitting device, the time for receiving the wireless communication signal and the time difference for receiving the acoustic wave signal by each acoustic wave receiving unit are calculated, and the position of the acoustic wave transmitting device at any point in space can be positioned by ignoring the time for wireless communication over a short distance.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of a conventional acoustic positioning system;
fig. 2 is a schematic structural view of an acoustic wave receiving apparatus of the present invention;
FIG. 3 is a schematic view showing the structure of an acoustic wave emitting apparatus according to the present invention;
fig. 4 shows a schematic diagram of an acoustic positioning system of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention provides a sound wave receiving device, a sound wave transmitting device and a sound wave positioning system. After the sound wave receiving device receives the wireless communication signals and the sound wave signals, the time difference between the receiving time of the wireless communication signals and the time difference between the receiving time of the sound wave signals and the receiving time of the sound wave signals by the sound wave receiving units can be directly calculated, and the distance between each sound wave receiving unit and the sound wave transmitting device can be obtained by multiplying the transmission speed of the sound wave signals. Since the position information of each acoustic wave receiving unit is known, the position information of the acoustic wave transmitting device can be accurately calculated.
Example one
As shown in fig. 2, an acoustic wave receiving apparatus 100 of the present invention includes: a first communication module 110, a first processor 120, and a plurality of acoustic wave receiving units 130; wherein the first communication module 110 and each of the sound wave receiving units 130 are connected to the first processor 120.
The first communication module 110 is configured to receive a wireless communication signal and record a corresponding first receiving time;
the sound wave receiving unit 130 is configured to receive a sound wave signal and record a corresponding second receiving time; specifically, the sound wave receiving unit 130 may include an acoustic-electric transducer such as a microphone.
The first processor 120 is configured to obtain and calculate position information of the acoustic wave transmitting device according to a preset acoustic wave transmission speed, the first receiving time, and preset position information and recorded second receiving time of each acoustic wave receiving unit;
specifically, the preset sound wave transmission speed may be obtained by looking up a table according to physical indexes such as temperature and air pressure of the sound wave transmission environment, and the speed of the sound wave in the space is 340m/s in a normal case. And the propagation speed of the electromagnetic wave is 3 x 10^8 m/s. The preset position information of each sound wave receiving unit is set in advance.
In this embodiment, the wireless communication signal and the acoustic wave signal are transmitted simultaneously by the acoustic wave transmitting device, and the wireless communication signal is a time-synchronized marking signal. Of course, the first communication module 110 may also be used as a communication unit to realize mutual communication with other wireless communication modules.
In a specific implementation manner of this embodiment, the first processor 120 is specifically configured to:
calculating the time difference between the second receiving time recorded by the sound wave receiving unit and the first receiving time for each sound wave receiving unit;
calculating to obtain the distance between each sound wave receiving unit and the sound wave transmitting device according to the time difference and the preset sound wave transmission speed;
and calculating the position information of the sound wave transmitting device according to the preset position information corresponding to each sound wave receiving unit and the distance.
In a specific implementation manner of this embodiment, the acoustic wave receiving apparatus 100 may further include:
and the first drawing module 140 is used for drawing an environment map according to the position information of the sound wave transmitting device. The first drawing module 140 may be separately provided or integrated into the first processor 120. The number of the sound wave receiving units 130 can be set according to the type of the map to be drawn, for example, when a plane map is drawn, at least two sound wave receiving units are required; if a space map is drawn, at least three sound wave receiving units are required to be arranged.
The above-described acoustic wave receiving device is further described below with a specific embodiment.
The sound wave transmitting device simultaneously transmits a sound wave signal and a wireless communication signal, and the first communication module 110 and the plurality of sound wave receiving units 130 on the sound wave receiving device respectively receive the wireless communication signal and the sound wave signal transmitted on the sound wave transmitting device, record the receiving time, and send the respective receiving time to the first processor 120. The speed of sound wave in space is 340m/s, and the speed of radio wave is 3 x 10^8 m/s. In a home indoor environment, because the communication distance is relatively close and is generally less than 15m, the transmission time of radio waves is 5 x 10 (-8) m/s, namely 0.5 ns; the transmission time of the sound wave is 15/340-44.1 ms, which is much longer than 0.5 ns. By using the principle, the sound wave transmitting module simultaneously transmits the sound wave signal and the wireless communication signal, and the time for receiving the wireless communication signal and the time difference for receiving the sound wave signal by each sound wave receiving unit are calculated in the sound wave receiving device. The position of any sound source in space can be positioned by neglecting the time of wireless communication in short distance. Assuming that the position of the sound source in space on the sound wave transmitting device is O (x, y, z), three sound wave receiving units arranged on the sound wave receiving device correspond to three position fixing points A (a)1,b1,c1)，B(a2,b2,c2)，C(a3,b3,c3) If any one point on the acoustic wave receiving device is selected as the origin, the position of A, B, C is known (point a may be selected as the origin). At time t, the sound wave receiving device receives the wireless communication signal, and A, B, C receives the sound wave signal at times ta、tb、tc. According to the following formula:
the three unknowns x, y and z are solved by the 3 equations, and then the position of the O point in the space can be obtained. If the sound wave receiving device is disposed on the moving object, the above processes are continuously performed during the moving process of the object, so that a series of discrete points can be obtained, and the motion trajectory of the moving object can be known by connecting all the points, and the first mapping module 140 can make an environment map according to the motion trajectory, thereby realizing navigation according to the environment map.
According to the sound wave receiving device provided by the embodiment of the invention, the received wireless communication signal and the sound wave signal are simultaneously transmitted by the sound wave transmitting device, the time difference between the receiving time of the wireless communication signal and the time difference between the sound wave receiving units receiving the sound wave signal is calculated, and the position of any point of the sound wave transmitting device in the space can be positioned by neglecting the time of wireless communication in a short distance.
Example two
The embodiment of the invention also provides an acoustic wave transmitting device 200 used with the acoustic wave receiving device 100. As shown in fig. 3, the acoustic wave transmission device 200 includes: a sound source module 210, a second processor 220, and a second communication module 230; wherein the second communication module 230 and the sound source module 210 are both connected to the second processor 220;
the sound source module 210 is configured to emit a sound wave signal; the sound source module may be an electro-acoustic transducer such as a horn, and the sound source module may include at least one of: the infrasonic wave emitting unit, the sonic wave emitting unit, and the ultrasonic wave emitting unit, that is, the above sound source may be infrasonic wave, sonic wave, ultrasonic wave.
The second communication module 230, configured to transmit a wireless communication signal; the communication module may also be configured to receive communication signals.
The second processor 220 is configured to control the sound source module 210 and the second communication module 230 to simultaneously transmit a sound wave signal and a wireless communication signal.
In a specific implementation manner of this embodiment, the acoustic wave transmitting device 200 may further include:
and the second drawing module 240 is configured to obtain the position information of the acoustic wave emitting device, and draw an environment map according to the position information of the acoustic wave emitting device. In practical applications, the second communication module 230 may be used to receive the position information of the acoustic wave transmitting device sent by the acoustic wave receiving device through the communication module, so as to map the environment.
The sound wave transmitting device of the embodiment of the invention simultaneously transmits the wireless communication signals and the sound wave signals, so that the sound wave receiving device can neglect the time of wireless communication in a short distance when the difference between the time of receiving the wireless communication signals and the time of receiving the sound wave signals by each sound wave receiving unit is calculated, and the position of any point of the sound wave transmitting device in the space can be positioned.
Example 3
Based on the first embodiment and the second embodiment, an acoustic positioning system is further provided in the embodiment of the present invention, as shown in fig. 4, including the acoustic receiving device 100 in the first embodiment and the acoustic transmitting device 200 in the second embodiment.
In an embodiment of the present invention, the sound wave receiving device 100 is disposed on a moving object, for example, a sweeping robot. The sound wave emitting device 200 is disposed at a fixed position, for example, on a charging pile of a sweeping robot.
In a specific implementation manner of this embodiment, the acoustic wave emitting device 200 may also be disposed on a moving object, for example, a sweeping robot. The sound wave receiving device 100 is disposed at a fixed position, for example, on a charging pile of a sweeping robot.
In a specific implementation manner of this embodiment, the distance between the acoustic wave receiving device 100 and the acoustic wave transmitting device 200 is within a preset distance range. Since, when the distance between the acoustic wave receiving apparatus 100 and the acoustic wave transmitting apparatus 200 is too large, the time for wireless communication over a long distance cannot be ignored, it is necessary to set the distance between the acoustic wave receiving apparatus 100 and the acoustic wave transmitting apparatus 200 within a certain distance range to ensure the accuracy of calculating the position of the acoustic wave transmitting apparatus.
Taking the application of the household sweeper as an example, the specific implementation steps are as follows:
the first step is as follows: a sound wave transmitting device is arranged at the end of a sweeper (a sweeping robot for short), a sound wave receiving device is arranged at the fixed position of the charging base end, and the number of sound wave receiving units in the sound wave receiving device is three;
the second step is that: when the sweeper needs to know the position of the sweeper, the processor controls to send a wireless communication signal and a sound wave signal at the same time;
the third step: the charging seat respectively starts to time the time difference of the sound wave signals reaching the three sound wave receiving units after receiving the wireless communication signals;
the fourth step: the charging base calculates the position of the sound source according to a preset formula so as to obtain the position of the sweeper, and sends the position information of the sweeper to the sweeper in a wireless communication mode;
the fifth step: the sweeper can realize the functions of indoor map building, action path tracking, sweeping navigation, automatic recharging and the like according to the position information of the sweeper.
Through the scheme, the space corresponding relation between the sweeper and the charging seat can be established, and then a plane or a space map is established according to the movement path of the sweeper. And establishing a cleaning strategy according to the map. This scheme can realize the position relation of accurate positioning machine of sweeping the floor and charging seat by lower cost's mode, including direction and distance.
In the sound wave positioning system of the embodiment of the invention, the wireless communication signals and the sound wave signals received by the sound wave receiving device are simultaneously transmitted by the sound wave transmitting device, the time for receiving the wireless communication signals and the time difference for receiving the sound wave signals by each sound wave receiving unit are calculated, and the position of any point of the sound wave transmitting device in the space can be positioned by neglecting the time for wireless communication in a short distance.
The invention can realize positioning and navigation by utilizing sound waves, and has low cost and high precision.
It should be noted that:
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.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
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 noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An acoustic wave receiving apparatus, comprising: the device comprises a first communication module, a first processor and a plurality of sound wave receiving units; wherein the first communication module and each of the acoustic wave receiving units are connected to the first processor;
the first communication module is used for receiving wireless communication signals and recording corresponding first receiving time;
the sound wave receiving unit is used for receiving the sound wave signals and recording corresponding second receiving time;
the first processor is used for obtaining and calculating the position information of the sound wave transmitting device according to the preset sound wave transmission speed, the first receiving time, the preset position information of each sound wave receiving unit and the recorded second receiving time;
wherein the wireless communication signal and the acoustic wave signal are transmitted simultaneously by the acoustic wave transmitting device.
2. The acoustic wave receiving device according to claim 1, wherein the first processor is specifically configured to:
calculating the time difference between the second receiving moment recorded by the sound wave receiving unit and the first receiving moment for each sound wave receiving unit;
calculating to obtain the distance between each sound wave receiving unit and the sound wave transmitting device according to the time difference and the preset sound wave transmission speed;
and calculating the position information of the sound wave transmitting device according to the preset position information corresponding to each sound wave receiving unit and the distance.
3. The acoustic wave receiving device according to claim 1, further comprising:
and the first drawing module is used for drawing an environment map according to the position information of the sound wave transmitting device.
4. The acoustic wave receiving apparatus according to any one of claims 1 to 3, wherein the acoustic wave receiving unit is a microphone.
5. An acoustic wave transmission device, comprising: the system comprises a sound source module, a second processor and a second communication module; the second communication module and the sound source module are both connected with the second processor;
the sound source module is used for transmitting sound wave signals;
the second communication module is used for transmitting wireless communication signals;
and the second processor is used for controlling the sound source module and the second communication module to simultaneously transmit sound wave signals and wireless communication signals.
6. The acoustic wave transmitting device according to claim 5, further comprising:
and the second drawing module is used for acquiring the position information of the sound wave transmitting device and drawing an environment map according to the position information of the sound wave transmitting device.
7. An acoustic wave positioning system comprising the acoustic wave receiving apparatus according to any one of claims 1 to 4 and the acoustic wave transmitting apparatus according to any one of claims 5 to 6.
8. The acoustic positioning system of claim 7, wherein the acoustic receiver is disposed on a moving object and the acoustic transmitter is disposed in a fixed location.
9. The acoustic positioning system of claim 7, wherein the acoustic transmitter is disposed on a moving object and the acoustic receiver is disposed in a fixed location.
10. The acoustic positioning system of any of claims 7-9, wherein the distance between the acoustic receiver means and the acoustic transmitter means is within a preset distance range.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112180378A (en) * | 2020-09-28 | 2021-01-05 | 北京小米松果电子有限公司 | Method and device for determining distance between devices and storage medium |
| CN112816941A (en) * | 2021-01-05 | 2021-05-18 | 南京中兴力维软件有限公司 | Voiceprint positioning method, device, equipment and storage medium |
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| CN102540144A (en) * | 2012-01-05 | 2012-07-04 | 厦门大学 | Ultrasonic wave and wireless-based jointed location method |
| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112180378A (en) * | 2020-09-28 | 2021-01-05 | 北京小米松果电子有限公司 | Method and device for determining distance between devices and storage medium |
| CN112180378B (en) * | 2020-09-28 | 2024-04-02 | 北京小米松果电子有限公司 | Method, device and storage medium for determining distance between devices |
| CN112816941A (en) * | 2021-01-05 | 2021-05-18 | 南京中兴力维软件有限公司 | Voiceprint positioning method, device, equipment and storage medium |
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