CN115248418A

CN115248418A - Ultrasonic positioning method, positioning device and computer readable storage medium

Info

Publication number: CN115248418A
Application number: CN202110466895.8A
Authority: CN
Inventors: 李凯
Original assignee: ZTE Corp
Current assignee: ZTE Corp
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2022-10-28

Abstract

The embodiment of the invention provides an ultrasonic positioning method, a positioning device and a computer readable storage medium, wherein the ultrasonic positioning method receives an ultrasonic signal sent by an object to be searched through an ultrasonic signal receiver, and the ultrasonic signal receiver comprises: the ultrasonic signal processing device comprises a first ultrasonic signal receiver, a second ultrasonic signal receiver and a third ultrasonic signal receiver; acquiring the receiving time of the ultrasonic signal receiver for receiving the ultrasonic signal sent by the searched object; obtaining the location of the searched object according to the receiving time of the ultrasonic signal receiver; in some implementation processes, a plurality of ultrasonic signal receivers of the terminal receive ultrasonic signals sent by the searched object, and then positioning is carried out according to the receiving time of the ultrasonic signals received by each ultrasonic receiver, so that accurate positioning is realized on the basis of not increasing the hardware of the searched object or the terminal, the positioning precision is improved, and the problems of high cost and low positioning precision in the object searching and positioning technology are solved.

Description

Ultrasonic positioning method, positioning device and computer readable storage medium

Technical Field

The embodiment of the invention relates to the technical field of positioning, in particular to but not limited to an ultrasonic positioning method, a positioning device and a computer-readable storage medium.

Background

With the rapid development of the performances of various terminals and equipment and the popularization of the technology of the Internet of things, the object searching is positioned into a function which can be realized; at present, the object-searching application is still in an early stage, namely, the object-searching positioning concept is newer, and the object-searching positioning scheme is fewer and complex; currently, the related locating technologies include bluetooth locating, UWB (Ultra Wide Band ) locating, and the like.

The method has the main limitations that a special Beacon facility needs to be arranged, the coverage area is not wide, the precision is low, and a lot of mobile users do not open Bluetooth equipment frequently, so that the positioning failure is caused. The UWB positioning technology needs to be distributed with a special UWB emitter network, the distance is determined through 3-point positioning according to the time of arrival of a wireless pulse ultra-wideband (IR-UWB) signal, the object-finding positioning effect is achieved, however, the UWB positioning technology needs to be distributed with a large number of UWB emitters and special receiving equipment, the hardware cost is greatly increased, and the universality is low. The existing object searching and positioning technology has the problems of high cost and low precision.

Disclosure of Invention

The ultrasonic positioning method, the positioning device and the computer readable storage medium provided by the embodiment of the invention mainly solve the technical problems that in the related technology, the object-searching positioning needs to add a separate hardware, so that the cost is high and the object-searching positioning precision is low.

In order to solve the above technical problem, an embodiment of the present invention provides an ultrasonic positioning method, including: receiving an ultrasonic signal emitted by an object to be searched through an ultrasonic signal receiver, wherein the ultrasonic signal receiver comprises: the ultrasonic signal processing device comprises a first ultrasonic signal receiver, a second ultrasonic signal receiver and a third ultrasonic signal receiver; acquiring the receiving time of the ultrasonic signal receiver for receiving the ultrasonic signal sent by the searched object; and obtaining the location of the searched object according to the receiving time of the ultrasonic signal receiver.

The embodiment of the invention also provides a positioning device, which comprises a processor, a memory and a communication bus; the communication bus is used for realizing connection communication between the processor and the memory; the processor is configured to execute one or more computer programs stored in the memory to implement the steps of the ultrasonic positioning method as described above.

Embodiments of the present invention also provide a computer storage medium, which stores one or more programs that are executable by one or more processors to implement the steps of the ultrasonic positioning method as described above.

According to the ultrasonic positioning method, the positioning device and the computer readable storage medium provided by the embodiment of the invention, the ultrasonic signal receiver receives the ultrasonic signal sent by the searched object, and the ultrasonic signal receiver comprises: the ultrasonic signal processing device comprises a first ultrasonic signal receiver, a second ultrasonic signal receiver and a third ultrasonic signal receiver; acquiring the receiving time of the ultrasonic signal receiver for receiving the ultrasonic signal sent by the searched object; the method comprises the steps of obtaining the location of an object to be searched according to the receiving time of an ultrasonic signal receiver, receiving ultrasonic signals sent by the object to be searched through a plurality of ultrasonic signal receivers existing in a terminal in some implementation processes, then locating according to the receiving time of the ultrasonic signals received by each ultrasonic receiver, locating through a plurality of methods on the basis of not increasing the hardware of the object to be searched or the terminal, achieving accurate location, improving location accuracy, and further solving the problems that in the related art, the object searching and locating technology needs to increase independent hardware, so that cost is high, and object searching and locating accuracy is low.

Additional features and corresponding advantages of the invention are set forth in the description which follows, and it is understood that at least some of the advantages will be apparent from the description of the invention.

Drawings

Fig. 1 is a schematic basic flowchart of an ultrasonic positioning method according to a first embodiment of the present invention;

fig. 2 is a schematic diagram of a basic structure of a terminal according to a first embodiment of the present invention;

fig. 3 is a schematic diagram of a basic structure of an object to be sought according to a first embodiment of the present invention;

FIG. 4 is a schematic diagram of a basic flow chart of an ultrasonic positioning method according to a second embodiment of the present invention;

fig. 5 is a schematic diagram of signal reception and transmission in an ultrasonic positioning method according to a second embodiment of the present invention;

FIG. 6 is a schematic view of a basic flow chart of an ultrasonic positioning method according to a third embodiment of the present invention;

FIG. 7 is a schematic diagram of signal reception and transmission in the ultrasonic positioning method according to the third embodiment of the present invention

Fig. 8 is a schematic view of a basic structure of a positioning device according to a fourth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

The first embodiment is as follows:

in order to solve the problems of high cost and low object-finding positioning accuracy caused by the addition of separate hardware in the existing object-finding positioning technology, please refer to fig. 1, this embodiment provides an ultrasonic positioning method, which includes but is not limited to:

s101, receiving an ultrasonic signal sent by an object to be searched through an ultrasonic signal receiver, wherein the ultrasonic signal receiver comprises: the ultrasonic signal processing device comprises a first ultrasonic signal receiver, a second ultrasonic signal receiver and a third ultrasonic signal receiver;

it should be understood that the terminal receives the ultrasonic signal emitted from the sought object through the ultrasonic signal receiver, wherein the terminal may be implemented in various forms. For example, the terminal described in the present invention may include mobile terminals such as a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a navigation device, a wearable device, and the like, and fixed terminals such as a Digital TV, a desktop computer, and the like. The types of ultrasonic signal receivers include, but are not limited to: the microphone mic, the receiver, the speaker spaker, the sound production panel and the like can receive or generate ultrasonic frequency bands which can not be heard by human ears, and the mic, the receiver and the sound production panel of the terminal are usually arranged at different parts, so that a hardware basis is provided for the invention without adding extra hardware cost; for example, mic of the terminal is arranged at the top of the terminal, receiver is arranged on one side of the bottom of the terminal, and speker is arranged on the other side of the bottom of the terminal, the mic on the terminal is used as a first ultrasonic signal receiver, the receiver is used as a second ultrasonic signal receiver, and the speker is used as a third ultrasonic signal receiver. It should be understood that the sought object may be any of the above terminals, or other devices or tags (tags) with ultrasonic signal transmitters. For example, referring to fig. 2 and 3, fig. 2 is a terminal, where the terminal includes a mic20, a receiver21, and a post mic22, and the mic20, the receiver21, and the post mic22 can be used as an ultrasonic signal receiver and/or an ultrasonic signal transmitter; fig. 3 is a sought object apparatus 3, which includes a receiver30 and a MIC31, the sought object apparatus 3 can send out an ultrasonic signal through the receiver30 and/or the MIC31, and can also receive a wake-up signal through the receiver30 and/or the MIC 31.

In some examples of this embodiment, before receiving, by the ultrasonic signal receiver, the ultrasonic signal emitted by the object to be sought, the method further includes: sending a wake-up signal to the sought object, wherein the wake-up signal is used for waking up the sought object; in some examples of this embodiment, when the terminal searches for an object to be searched, the terminal first sends a wake-up signal to the object to be searched (the terminal may send the wake-up signal through the ultrasonic signal receiver, or send the wake-up signal through a special wake-up module), so that when the object to be searched receives the wake-up signal, the object to be searched is woken up from a sleep mode, a standby mode, or the like, and then the object to be searched sends an ultrasonic signal; the awakening signal is agreed by the terminal and the sought object in advance and can be identified by the sought object; in some examples, the wake-up signal is an ultrasonic signal added with digital information by the terminal performing digital modulation of a single carrier or multiple carriers using an ultrasonic Frequency band (20000 Hz-1000000 Hz), such as ASK (Amplitude Shift Keying), FSK (Frequency Shift Keying), PSK (Phase Shift Keying), and the like, wherein the digital signal includes: the encryption information and/or the ID information and/or the coding information and/or the handshake information and the like enable the searched object to demodulate the received wake-up signal when receiving the wake-up signal, identify the handshake information and the like and send an ultrasonic signal in response; for example, when the wake-up signal is an ultrasonic signal with code, the ultrasonic signal with code is a code which is agreed in advance by the terminal and the searched object and can be identified by the searched object. It should be appreciated that in some examples, the sought object may be directly sent out ultrasonic wave signals periodically/periodically, and does not need to be sent out when receiving a wake-up signal sent out by the terminal; it should be understood that the sought object may be a module sending out an ultrasonic signal to receive the wake-up signal, or a receiving module may be provided to receive the wake-up signal.

In some examples of this embodiment, the receiving, by three ultrasonic signal receivers, an ultrasonic signal emitted by an object to be sought includes: the same ultrasonic signal sent by the sought object is received through the first ultrasonic signal receiver, the second ultrasonic signal receiver and the third ultrasonic signal receiver, or different ultrasonic signals sent by the sought object are received through the first ultrasonic signal receiver, the second ultrasonic signal receiver and the third ultrasonic signal receiver respectively. It should be understood that the ultrasonic signal sent by the sought object carries information such as a code or an ID, and the code or the ID may be predetermined by the terminal and the sought object in advance and can be identified by the terminal, and through the code or the ID of the ultrasonic signal, the first ultrasonic signal receiver, the second ultrasonic signal receiver, and the third ultrasonic signal receiver can receive the same ultrasonic signal or respectively receive different ultrasonic signals. In some examples, the sought object performs digital modulation of single carrier or multiple carrier, such as ASK, FSK, PSK, etc., using the ultrasonic frequency band (20000 Hz-1000000 Hz), and adds digital information to implement digital communication with the terminal, thereby enabling the terminal to determine that the ultrasonic signal is an ultrasonic signal emitted by the sought object, where the digital information includes but is not limited to: encryption information and/or ID information and/or encoding information, etc.

S102, acquiring the receiving time of the ultrasonic signal receiver for receiving the ultrasonic signal sent by the searched object;

in some examples of this embodiment, the acquiring a receiving time at which the ultrasonic signal receiver receives the ultrasonic signal emitted by the object to be sought includes: respectively acquiring the time when the first ultrasonic signal receiver, the second ultrasonic signal receiver and the third ultrasonic signal receiver receive the same ultrasonic signal, and respectively recording the time as a first receiving time, a second receiving time and a third receiving time, or respectively acquiring the time when the first ultrasonic signal receiver receives the first ultrasonic signal, the time when the second ultrasonic signal receiver receives the second ultrasonic signal and the time when the third ultrasonic signal receiver receives the third ultrasonic signal, and respectively recording the time as a first receiving time, a second receiving time and a third receiving time. It should be understood that the receiving time refers to the current time at the terminal when the corresponding ultrasonic signal receiver receives the ultrasonic signal.

S103, obtaining the positioning of the searched object according to the receiving time of the ultrasonic signal receiver.

In some examples of this embodiment, before obtaining the location of the sought object according to the receiving time of the ultrasonic signal receiver, further comprises: and judging whether the time of the terminal and the searched object is synchronous or not, and whether the ultrasonic signals received by the ultrasonic signal receivers carry timestamp information or not. In some examples, the terminal may determine, through information in the ultrasonic signal, whether the terminal is synchronized with the time of the sought object, and whether the ultrasonic signal carries timestamp information.

In some examples of this embodiment, when the terminal is synchronized with the time of the sought object and the ultrasonic signal carries time stamp information, and the ultrasonic signal receiver receives the same ultrasonic signal, the obtaining the location of the sought object according to the receiving time of the ultrasonic signal receiver includes: acquiring the sending time of the same received ultrasonic signal from the timestamp information of the received ultrasonic signal; respectively obtaining the difference values of the first receiving time, the second receiving time and the third receiving time and the sending time, and obtaining the first distance, the second distance and the third distance between the first ultrasonic signal receiver, the second ultrasonic signal receiver and the searched object according to the difference values; drawing a circle by taking the first ultrasonic signal receiver as a circle center and the first distance as a radius to obtain a first circular arc; drawing a circle by taking the second ultrasonic signal receiver as the center of the circle and the second distance as the radius to obtain a second arc; drawing a circle by taking the third ultrasonic signal receiver as a circle center and the third distance as a radius to obtain a third arc; and obtaining the positioning of the searched object according to the first circular arc, the second circular arc and the third circular arc. It should be understood that the sending time of the ultrasonic signal, that is, the time when the sought object sends the ultrasonic signal can be obtained from the time stamp information of the ultrasonic signal; then obtaining the difference value between the first receiving time and the sending time, recording the difference value as a first time difference, obtaining the difference value between the second receiving time and the sending time, recording the difference value as a second time difference, obtaining the difference value between the third receiving time and the sending time, and recording the difference value as a third time difference; the time difference, that is, the transmission time of the ultrasonic signal from the searched object to the ultrasonic signal receiver, is obtained according to the environment, for example, the transmission speed of the ultrasonic signal in the air is 340 m/s, and the terminal can obtain the distance (transmission speed x time difference) between the terminal and the searched object according to the time difference, so that the terminal can obtain the first distance, the second distance, and the third distance between the first ultrasonic signal receiver, the second ultrasonic signal receiver, and the third ultrasonic signal receiver and the searched object respectively according to the first time difference, the second time difference, and the third time difference, and the terminal can obtain the first arc by taking the first ultrasonic signal receiver as a circle center, the first distance is a circle radius, obtain the first arc by taking the second ultrasonic signal receiver as a circle center, the second distance is a circle radius, obtain the second arc by taking the third ultrasonic signal receiver as a circle center, draw the third arc by taking the third distance as a circle radius, then obtain the intersection of the three arcs, and obtain the location function of the searched object.

In some examples of this embodiment, when the ultrasonic signals received by the ultrasonic signal receivers are the same ultrasonic signal; or when the time of the terminal and the sought object is not synchronous or the ultrasonic signal does not carry timestamp information and the ultrasonic signals received by the ultrasonic signal receivers are the same ultrasonic signal, the obtaining the location of the sought object according to the receiving time of the ultrasonic signal receivers comprises: respectively acquiring a first difference value between the first receiving time and the second receiving time, a second difference value between the second receiving time and the third receiving time, and a third difference value between the first receiving time and the third receiving time; and obtaining the positioning of the searched object according to a hyperbola constructed by the first difference, the second difference and the third difference. It should be understood that, a first ultrasonic signal receiver, a second ultrasonic signal receiver, and a third ultrasonic signal receiver in the terminal respectively receive the same ultrasonic signal sent by the sought object, and by obtaining the time when the ultrasonic signal receiver receives the ultrasonic signal, the terminal can respectively obtain three sets of time differences, that is, a first difference between the time when the first ultrasonic signal receiver receives the ultrasonic signal and the time when the second ultrasonic signal receiver receives the ultrasonic signal, a second difference between the time when the second ultrasonic signal receiver receives the ultrasonic signal and the time when the third ultrasonic signal receiver receives the ultrasonic signal, and a third difference between the time when the first ultrasonic signal receiver receives the ultrasonic signal and the time when the third ultrasonic signal receiver receives the ultrasonic signal; the terminal can calculate a first distance difference, a second distance difference and a third distance difference corresponding to the first difference, the second difference and the third difference according to the three groups of time differences, the terminal can obtain a first hyperbola focusing on the first ultrasonic signal receiver and the second ultrasonic signal receiver according to the first distance difference, can obtain a second hyperbola focusing on the second ultrasonic signal receiver and the third ultrasonic signal receiver according to the second distance difference, can obtain a third hyperbola focusing on the first ultrasonic signal receiver and the third ultrasonic signal receiver according to the third distance difference, and the terminal determines the intersection positions of the first hyperbola, the second hyperbola and the third hyperbola, wherein the intersection position is the position of an object to be searched, so that the function of searching the terminal is realized.

In some examples of this embodiment, when the terminal is synchronized with the time of the sought object and the ultrasonic signal carries timestamp information, and the ultrasonic signal receiver receives different ultrasonic signals, acquiring the receiving time of the ultrasonic signal receiver receiving the ultrasonic signal sent by the sought object further includes: the acquiring the receiving time of the ultrasonic signal receiver for receiving the ultrasonic signal sent by the searched object comprises: respectively acquiring the time when the first ultrasonic signal receiver receives the first ultrasonic signal, the time when the second ultrasonic signal receiver receives the second ultrasonic signal and the time when the third ultrasonic signal receiver receives the third ultrasonic signal, and respectively recording the time as first receiving time, second receiving time and third receiving time; the obtaining the location of the sought object according to the receiving time of the ultrasonic signal receiver comprises: acquiring corresponding sending time from the timestamp information of the first ultrasonic signal, the second ultrasonic signal and the third ultrasonic signal; obtaining the difference values between the first receiving time and the second receiving time and between the third receiving time and the corresponding sending time, and obtaining the first distance, the second distance and the third distance between the first ultrasonic signal receiver, the second ultrasonic signal receiver and the searched object according to the difference values; drawing a circle by taking the first ultrasonic signal receiver as a circle center and the first distance as a radius to obtain a first arc; drawing a circle by taking the second ultrasonic signal receiver as the center of the circle and the second distance as the radius to obtain a second arc; drawing a circle by taking the third ultrasonic signal receiver as a circle center and the third distance as a radius to obtain a third arc; and determining the intersection points of the first circular arc, the second circular arc and the third circular arc to obtain the location of the searched object. That is, the ultrasonic locating system can receive different ultrasonic signals through three different ultrasonic signal receivers, then calculate the distance and obtain the locating of the searched object.

The ultrasonic positioning method provided by the embodiment of the invention receives the ultrasonic signal sent by the searched object through the ultrasonic signal receiver, and the ultrasonic signal receiver comprises the following steps: the ultrasonic signal processing device comprises a first ultrasonic signal receiver, a second ultrasonic signal receiver and a third ultrasonic signal receiver; acquiring the receiving time of the ultrasonic signal receiver for receiving the ultrasonic signal sent by the searched object; obtaining the location of the searched object according to the receiving time of the ultrasonic signal receiver; the method comprises the steps of obtaining the location of an object to be searched according to the receiving time of an ultrasonic signal receiver, receiving ultrasonic signals sent by the object to be searched through a plurality of ultrasonic signal receivers existing in a terminal in some implementation processes, then locating according to the receiving time of the ultrasonic signals received by each ultrasonic receiver, and locating on the basis of not increasing the hardware of the object to be searched or the terminal, wherein the terminal and the object to be searched only need 1-time communication, and the location is carried out through a plurality of methods, so that the location accuracy is improved, the location precision is improved, and the problems that in the related technology, the cost is high and the object searching location precision is low due to the fact that independent hardware needs to be added in the object searching location technology are solved.

The second embodiment:

for a better understanding of the present invention, the present implementation provides a more specific example to illustrate the invention:

please refer to fig. 4, which includes but is not limited to:

s201, a terminal sends out a wake-up signal to an object to be searched, wherein the wake-up signal is used for waking up the object to be searched;

in some examples of this embodiment, please refer to fig. 5, a first mic2, a first receiver3, a second mic11, and a third mic15 are disposed on a terminal 1, a second receiver8, and a fourth mic10 are disposed on an object 9, a wake-up signal 13 is first sent out through the first receiver3, the wake-up signal 13 may be an ultrasonic signal (> 20000 Hz) with a code, the code is identifiable by the object 9 in advance, and the object 9 receives the coded ultrasonic signal through the fourth mic10 and is woken up from a sleep mode.

S202, receiving an ultrasonic signal sent by an object to be searched;

in some examples of the embodiment, and the terminal 1 is time-synchronized with the sought object 9, and the ultrasonic signal emitted by the sought object 9 carries time stamp information, it should be understood that the terminal 1 may be time-synchronized with the sought object 9, and the ultrasonic signal emitted by the sought object 9 carries time stamp information; the terminal 1 may also judge whether the time of the ultrasonic signal is synchronous with the time of the searched object 9 when receiving the ultrasonic signal, and whether the ultrasonic signal sent by the searched object 9 carries time stamp information; after being awakened by the object 9, the ultrasonic signal 4, the ultrasonic signal 12 and the ultrasonic signal 14 are sent out through the second receiver8, wherein the ultrasonic signal 4, the ultrasonic signal 12 and the ultrasonic signal 14 can be received by the first mic2, the second mic11 and the third mic15 of the terminal 1, and the ultrasonic signal 4, the ultrasonic signal 12 and the ultrasonic signal 14 can be different ultrasonic signals or the same ultrasonic signal.

S203, obtaining the transmission time of the ultrasonic signal received by the terminal to obtain the distance between the terminal and the searched object;

in some examples of this embodiment, each ultrasonic signal receiver can receive an ultrasonic signal emitted by the object to be searched 9, here, taking the example that the first mic2 of the terminal 1 receives the ultrasonic signal 4, the second mic11 receives the ultrasonic signal 12, and the third mic15 receives the ultrasonic signal 14, when receiving the ultrasonic signal, the time of the terminal 1 itself and the timestamp information carried by each ultrasonic signal are obtained, and then the terminal 1 can respectively know the transmission time of the ultrasonic signal 4 transmitted to the first mic2, the transmission time of the ultrasonic signal 12 transmitted to the second mic11, and the transmission time of the ultrasonic signal 14 transmitted to the third mic15, and further respectively calculate the distances d1, d2, and d3 between the first mic2, the second mic11, and the third mic15 and the second receiver8 (distance = transmission time x transmission speed 340 m/s).

And S204, acquiring the positioning of the searched object according to the distance.

In some examples of this embodiment, the terminal 1 calculates three arcs 7, 6, and 5 intersecting at a point with the first mic2, the second mic11, and the third mic15 as centers of circles and the radii d1, d2, and d3 as radii, where the intersection is the determined position, and the determined position is actually the position of the second receiver8 of the sought object 9, so as to know the position of the sought object 9, obtain the location of the sought object 9, and implement the function of finding an object by using the terminal.

It should be understood that the coded ultrasound signals emitted and received by the terminal 1 comprise: the ultrasonic frequency band (20000 Hz-1000000 Hz) is used for carrying out single carrier or multi-carrier digital modulation, such as ASK, FSK, PSK and the like, and digital information is added to realize digital communication with the searched object 9. The digital information may include necessary communication information such as encryption information, time stamp information, and ID identification handshake. When receiving a response coded ultrasonic signal sent by an object to be searched (or a tag) 9, the terminal 1 demodulates the response coded ultrasonic signal to obtain time stamp information in the response coded ultrasonic signal; it should be understood that the reply coded ultrasound signals sent and received by the sought object 9 include: the ultrasonic frequency band (20000 Hz-1000000 Hz) is used for carrying out single carrier or multi-carrier digital modulation, such as ASK, FSK, PSK and the like, and digital information is added to realize digital communication with the terminal 1. The digital information may include necessary communication information such as encryption information, time stamp information, and ID identification handshake. The object 9 demodulates the encoded ultrasonic information transmitted from the receiving terminal 1, recognizes the handshake information, and responds.

Example three:

for a better understanding of the present invention, the present implementation provides a more specific example illustrating the ultrasonic positioning method, which is illustrated with reference to fig. 6, which includes but is not limited to:

s301, a terminal sends out a wake-up signal to a sought object, wherein the wake-up signal is used for waking up the sought object;

in some examples of this embodiment, please refer to fig. 7, a first mic2, a first receiver3, a second mic11, and a third mic15 are disposed on a terminal 1, a second receiver8, and a fourth mic10 are disposed on an object 9, a wake-up signal 13 is first sent out through the first receiver3, the wake-up signal 13 may be an ultrasonic signal (> 20000 Hz) with a code, the code is agreed with the object 9 in advance and can be identified, and the object 9 receives the coded ultrasonic signal through the fourth mic10 and is woken up from a sleep mode.

S302, receiving an ultrasonic signal sent by an object to be searched;

in some examples of the embodiment, and the terminal 1 is time-synchronized with the sought object 9, and the ultrasonic signal emitted by the sought object 9 carries time stamp information, it should be understood that the terminal 1 may be time-synchronized with the sought object 9, and the ultrasonic signal emitted by the sought object 9 carries time stamp information; the terminal 1 may also judge whether the time of the ultrasonic signal is synchronous with the time of the searched object 9 when receiving the ultrasonic signal, and whether the ultrasonic signal sent by the searched object 9 carries time stamp information; after being awakened by the object 9, the ultrasonic signal 4, the ultrasonic signal 12 and the ultrasonic signal 14 are sent out through the second receiver8, wherein the ultrasonic signal 4, the ultrasonic signal 12 and the ultrasonic signal 14 can be received by the first mic2, the second mic11 and the third mic15 of the terminal 1, and the ultrasonic signal 4, the ultrasonic signal 12 and the ultrasonic signal 14 are the same ultrasonic signal.

S303, acquiring the time difference of the transmission time according to the receiving time;

in some examples of this embodiment, three mics of the first mic2, the second mic11 and the third mic15 inside the terminal 1 respectively receive the ultrasonic signal sent by the second receiver8, and this ultrasonic signal carries a code, so that the terminal determines that what one mic2, the second mic11 and the third mic15 received is the same ultrasonic signal, and by obtaining the timestamp signal of the terminal 1, the terminal 1 can respectively obtain three sets of time differences: Δ t1, Δ t2, Δ t3. Wherein, Δ t1 is the ultrasonic arrival time from the second receiver8 to the second mic11 minus the ultrasonic arrival time from the second receiver8 to the first mic 2; Δ t2 is the ultrasonic arrival time of the second receiver8 to the third mic15 minus the ultrasonic arrival time of the second receiver8 to the second mic 11; Δ t3 is the ultrasonic arrival time of the second receiver8 to the third mic15 minus the ultrasonic arrival time of the second receiver8 to the first mic 2.

S304, acquiring a corresponding distance difference according to the time difference of the transmission time;

in some examples of the present embodiment, the terminal 1 can calculate distance differences d1, d2, and d3 corresponding to Δ t1, Δ t2, and Δ t3, respectively, based on the three sets of time differences (distance difference = time difference × transmission speed 340 m/s).

S305, obtaining the positioning of the searched object according to the distance difference.

In some examples of the present embodiment, the terminal 1 can obtain the hyperbola 6 (defined by referring to the hyperbola) with the first and second mics 2 and 11 as the focal points according to the distance difference d1, and similarly can obtain the hyperbola 5 with the second and third mics 11 and 15 as the focal points according to the distance difference d2, and can obtain the hyperbola 7 with the third and

first mics

15 and 2 as the focal points according to the distance difference d 3. The terminal 1 calculates the intersection point positions of the three hyperbolas 5, 6 and 7, and the intersection point position is the position of the second receiver8, so that the position of the searched object 9 is known, the positioning of the searched object 9 is obtained, and the function of searching objects by the terminal is realized.

According to the ultrasonic positioning method provided by the embodiment, a terminal sends a wake-up signal to an object to be searched, the wake-up signal is used for waking up the object to be searched, the terminal receives the ultrasonic signal sent by the object to be searched, obtains the time difference of transmission time according to the receiving time, obtains the corresponding distance difference according to the time difference of the transmission time, and obtains the positioning of the object to be searched according to the distance difference; because the terminal and the searched object only need to communicate for 1 time, the time synchronization of the terminal and the searched object is not needed, and the ultrasonic signal sent by the searched object is not needed to carry a time signal, the relative position of the terminal and the searched object can be calculated, the positioning precision is not influenced by the terminal or the searched object (the relative movement, the positioning precision can be within 10 cm), and the positioning precision is improved under the condition of not increasing the hardware cost.

Example four:

the present embodiment further provides a positioning apparatus, as shown in fig. 8, which includes a processor 801, a memory 802, and a communication bus 803, wherein:

the communication bus 803 is used for realizing connection communication between the processor 801 and the memory 802;

the processor 801 is configured to execute one or more computer programs stored in the memory 802 to implement at least one step of the ultrasonic positioning method in the first embodiment, the second embodiment, and the third embodiment.

The present embodiments also provide a computer-readable storage medium including volatile or non-volatile, removable or non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, computer program modules or other data. Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash Memory or other Memory technology, CD-ROM (Compact disk Read-Only Memory), digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer.

The computer-readable storage medium in this embodiment may be used to store one or more computer programs, and the stored one or more computer programs may be executed by a processor to implement at least one step of the ultrasonic positioning method in the first and second embodiments and the third embodiment.

It will be apparent to those skilled in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software (which may be implemented in computer program code executable by a computing device), firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit.

In addition, communication media typically embodies computer readable instructions, data structures, computer program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to one of ordinary skill in the art. Thus, the present invention is not limited to any specific combination of hardware and software.

The foregoing is a more detailed description of the embodiments of the present invention, and the specific embodiments are not to be considered as limiting the invention. For those skilled in the art to which the invention pertains, numerous simple deductions or substitutions may be made without departing from the spirit of the invention, which shall be deemed to belong to the scope of the invention.

Claims

1. An ultrasonic positioning method comprising:

receiving an ultrasonic signal emitted by an object to be sought through an ultrasonic signal receiver, the ultrasonic signal receiver comprising: the ultrasonic signal processing device comprises a first ultrasonic signal receiver, a second ultrasonic signal receiver and a third ultrasonic signal receiver;

acquiring the receiving time of the ultrasonic signal receiver for receiving the ultrasonic signal sent by the searched object;

and obtaining the location of the searched object according to the receiving time of the ultrasonic signal receiver.

2. The ultrasonic locating method of claim 1, wherein before receiving the ultrasonic signal from the object by the ultrasonic signal receiver, further comprising: sending a wake-up signal to the sought object, wherein the wake-up signal is used for waking up the sought object.

3. The ultrasonic positioning method according to claim 1 or 2, wherein the receiving of the ultrasonic signal emitted from the object to be sought by the ultrasonic signal receiver comprises:

receiving the same ultrasonic signal sent by the searched object through the first ultrasonic signal receiver, the second ultrasonic signal receiver and the third ultrasonic signal receiver;

or the like, or, alternatively,

different ultrasonic signals sent by the searched object are received through the first ultrasonic signal receiver, the second ultrasonic signal receiver and the third ultrasonic signal receiver respectively, wherein the different ultrasonic signals comprise a first ultrasonic signal, a second ultrasonic signal and a third ultrasonic signal.

4. The ultrasonic positioning method according to claim 3, wherein the acquiring the reception time of the ultrasonic signal transmitted by the object to be sought by the ultrasonic signal receiver comprises:

respectively acquiring the time when the first ultrasonic signal receiver, the second ultrasonic signal receiver and the third ultrasonic signal receiver receive the same ultrasonic signal, and respectively recording the time as a first receiving time, a second receiving time and a third receiving time;

or the like, or, alternatively,

and respectively acquiring the time when the first ultrasonic signal receiver receives the first ultrasonic signal, the time when the second ultrasonic signal receiver receives the second ultrasonic signal and the time when the third ultrasonic signal receiver receives the third ultrasonic signal, and respectively recording the time as the first receiving time, the second receiving time and the third receiving time.

5. The ultrasonic positioning method according to claim 4, wherein before obtaining the position of the sought object based on the reception time of the ultrasonic signal receiver, further comprising:

and judging whether the time of the terminal and the searched object is synchronous or not and whether the ultrasonic signals received by the ultrasonic signal receivers carry timestamp information or not.

6. An ultrasonic positioning method according to claim 5, wherein when the terminal synchronizes with the time of the sought object, carries the time stamp information in the ultrasonic signal, and the ultrasonic signal receiver receives the same ultrasonic signal, the obtaining the position of the sought object from the reception time of the ultrasonic signal receiver comprises:

acquiring the sending time of the same received ultrasonic signal from the timestamp information of the received ultrasonic signal;

respectively obtaining the difference values of the first receiving time, the second receiving time and the third receiving time and the sending time, and obtaining the first distance, the second distance and the third distance between the first ultrasonic signal receiver, the second ultrasonic signal receiver and the searched object according to the difference values;

drawing a circle by taking the first ultrasonic signal receiver as a circle center and the first distance as a radius to obtain a first circular arc; drawing a circle by taking the second ultrasonic signal receiver as the center of the circle and the second distance as the radius to obtain a second arc; drawing a circle by taking the third ultrasonic signal receiver as the center of the circle and the third distance as the radius to obtain a third arc;

and determining the intersection points of the first circular arc, the second circular arc and the third circular arc to obtain the positioning of the searched object.

7. An ultrasonic positioning method according to claim 5, wherein when the ultrasonic signal received by the ultrasonic signal receiver is the same ultrasonic signal, said obtaining the position of the sought object based on the reception time of the ultrasonic signal receiver comprises:

respectively obtaining a first difference value between the first receiving time and the second receiving time, a second difference value between the second receiving time and the third receiving time, and a third difference value between the first receiving time and the third receiving time;

obtaining corresponding first distance difference, second distance difference and third distance difference according to the first difference, the second difference and the third difference;

acquiring a first hyperbola focusing on the first ultrasonic signal receiver and the second ultrasonic signal receiver according to the first distance difference; acquiring a second hyperbolic curve with the second ultrasonic signal receiver and the third ultrasonic signal receiver as focal points according to the second distance difference; acquiring a third hyperbola focusing on the first ultrasonic signal receiver and the third ultrasonic signal receiver according to the third distance difference;

and determining the intersection point of the first hyperbola, the second hyperbola and the third hyperbola to obtain the location of the searched object.

8. An ultrasonic positioning method according to claim 5, wherein when the terminal is synchronized with the time of the sought object, the ultrasonic signal carries the time stamp information therein, and the ultrasonic signal receiver receives the different ultrasonic signal;

the obtaining the location of the sought object according to the receiving time of the ultrasonic signal receiver comprises: acquiring corresponding sending time from the timestamp information of the first ultrasonic signal, the second ultrasonic signal and the third ultrasonic signal; obtaining the difference values between the first receiving time and the second receiving time and between the third receiving time and the corresponding sending time, and obtaining the first distance, the second distance and the third distance between the first ultrasonic signal receiver, the second ultrasonic signal receiver and the searched object according to the difference values;

drawing a circle by taking the first ultrasonic signal receiver as a circle center and the first distance as a radius to obtain a first arc; drawing a circle by taking the second ultrasonic signal receiver as the center of the circle and the second distance as the radius to obtain a second arc; drawing a circle by taking the third ultrasonic signal receiver as the center of the circle and the third distance as the radius to obtain a third arc;

9. A positioning device comprising a processor, a memory, and a communication bus;

the communication bus is used for realizing connection communication between the processor and the memory;

the processor is configured to execute one or more computer programs stored in the memory to implement the steps of the ultrasonic localization method of any of claims 1 to 8.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more computer programs executable by one or more processors to implement the steps of the ultrasonic localization method of any one of claims 1 to 8.