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

Abstract

Embodiments of the present invention provide 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 sought through an ultrasonic signal receiver, and the ultrasonic signal receiver includes: a first ultrasonic signal receiving the receiver, the second ultrasonic signal receiver, and the third ultrasonic signal receiver; obtain the receiving time of the ultrasonic signal receiver when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought; obtain the location of the object to be sought according to the receiving time of the ultrasonic signal receiver; In some implementations, the ultrasonic signal sent by the object to be sought is received by multiple ultrasonic signal receivers existing in the terminal itself, and then the positioning is performed according to the receiving time of the ultrasonic signal received by each ultrasonic receiver, without adding the object to be sought or the terminal. On the basis of the hardware, accurate positioning is achieved, and the positioning accuracy is improved, thereby solving the problems of high cost and low positioning accuracy in the object-seeking positioning technology.

Description

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

technical field

Embodiments of the present invention relate to, but are not limited to, the field of positioning technology, and specifically, but are not limited to, an ultrasonic positioning method, a positioning device, and a computer-readable storage medium.

Background technique

With the rapid development of the performance of various terminals and equipment, and the promotion of the Internet of Things technology, object-finding positioning has become an achievable function; currently, the application of object-seeking is still in the early stage. First, the concept of object-finding and positioning is relatively new, and second, There are few and complex object locating solutions; currently, related object locating technologies include Bluetooth positioning, UWB (Ultra Wide Band, wireless pulse ultra-wideband technology) positioning, and the like.

Among them, the Bluetooth positioning technology requires the layout of a beacon (Beacon) network, and each beacon creates a signal area. The main limitation of this method is that it needs to deploy a dedicated Beacon facility, its coverage is not wide, the accuracy is low, and many mobile users do not The Bluetooth device is often turned on, which causes the positioning failure. UWB positioning technology requires the layout of a dedicated UWB transmitter network. According to the arrival time of the wireless pulse ultra-wideband (IR-UWB) signal, the distance is measured through 3-point positioning to achieve the effect of finding objects and positioning, but the UWB positioning technology requires a large number of UWB transmitters. , and requires a dedicated receiving device, which greatly increases the hardware cost and has low versatility. The existing object-finding and positioning technology has the problems of high cost and low precision.

SUMMARY OF THE INVENTION

The ultrasonic positioning method, the positioning device, and the computer-readable storage medium provided by the embodiments of the present invention mainly solve the technical problem that, in the related art, separate hardware needs to be added for object-finding positioning, resulting in high cost and low object-finding positioning accuracy. .

In order to solve the above technical problems, an embodiment of the present invention provides an ultrasonic positioning method, which includes: receiving an ultrasonic signal sent by an object to be sought through an ultrasonic signal receiver, and the ultrasonic signal receiver includes: a first ultrasonic signal receiver, a second ultrasonic signal receiver, and a second ultrasonic signal receiver. an ultrasonic signal receiver and a third ultrasonic signal receiver; obtain the receiving time when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought; obtain the object to be sought according to the receiving time of the ultrasonic signal receiver positioning.

An embodiment of the present invention further provides a positioning device, the positioning device includes a processor, a memory and a communication bus; the communication bus is used to implement connection and communication between the processor and the memory; the processor is used to execute the storage in the memory One or more computer programs to implement the steps of the ultrasonic positioning method as described above.

Embodiments of the present invention further provide a computer storage medium, where the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned The steps of the ultrasonic localization method.

According to the ultrasonic positioning method, the positioning device, and the computer-readable storage medium provided by the embodiments of the present invention, the ultrasonic signal sent by the object to be sought is received through the ultrasonic signal receiver, and the ultrasonic signal receiver includes: a first ultrasonic signal receiver, a second ultrasonic signal Signal receiver and third ultrasonic signal receiver; obtain the receiving time of the ultrasonic signal receiver when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought; obtain the positioning of the object to be sought according to the receiving time of the ultrasonic signal receiver, in some implementation processes The ultrasonic signal sent by the object to be sought is received by multiple ultrasonic signal receivers in the terminal itself, and then the positioning is carried out according to the receiving time of the ultrasonic signal received by each ultrasonic receiver. Without adding the object to be sought or the hardware of the terminal, Moreover, by performing positioning through various methods, accurate positioning is achieved and the positioning accuracy is improved, thereby solving the problems of the related art that the object-seeking positioning technology needs to add separate hardware, resulting in high cost and low object-seeking positioning accuracy.

Other features of the present invention and corresponding benefits are set forth in later parts of the specification, and it should be understood that at least some of the benefits will become apparent from the description of the present specification.

Description of drawings

FIG. 1 is a schematic flow chart of the basic flow of the ultrasonic positioning method according to the first embodiment of the present invention;

FIG. 2 is a schematic diagram of a basic structure of a terminal according to Embodiment 1 of the present invention;

3 is a schematic diagram of the basic structure of the object to be sought according to Embodiment 1 of the present invention;

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

5 is a schematic diagram of signal reception and transmission of the ultrasonic positioning method according to Embodiment 2 of the present invention;

6 is a schematic flow chart of the basic flow of the ultrasonic positioning method according to Embodiment 3 of the present invention;

7 is a schematic diagram of signal reception and transmission of the ultrasonic positioning method according to Embodiment 3 of the present invention

FIG. 8 is a schematic diagram of a basic structure of a positioning device according to Embodiment 4 of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Example 1:

In order to solve the problem that the existing object-seeking and positioning technology needs to add separate hardware, which leads to high cost and low object-seeking positioning accuracy, please refer to FIG. 1. This implementation proposes an ultrasonic positioning method, which includes but is not limited to:

S101. Receive an ultrasonic signal sent by an object to be sought through an ultrasonic signal receiver, where the ultrasonic signal receiver includes: 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 sent by the object to be sought through the ultrasonic signal receiver, wherein the terminal may be implemented in various forms. For example, the terminals described in the present invention may include mobile phones, tablet computers, notebook computers, handheld computers, personal digital assistants (Personal Digital Assistant, PDA), portable media players (Portable Media Player, PMP), navigation devices, Wearable devices, mobile terminals such as mobile terminals, and stationary terminals such as digital TVs and desktop computers. The types of ultrasonic signal receivers include but are not limited to: microphone mic, earpiece receiver, speaker speaker, sounding panel, etc. The mic, receiver, speaker, and sounding panel used by the terminal can receive or generate ultrasonic frequency bands that are inaudible to the human ear, and The mic, receiver, and speaker of the terminal are usually set in different parts, thereby providing a hardware basis for the present invention without adding additional hardware costs; for example, the mic of the terminal is set on the top of the terminal, and the receiver is set on the bottom side of the terminal, The speaker is set on the other side of the bottom of the terminal, and the mic on the terminal is used as the first ultrasonic signal receiver, the receiver is used as the second ultrasonic signal receiver, and the speaker is used as the third ultrasonic signal receiver. It should be understood that the object to be sought may also be any one of the above-mentioned terminals, or other devices or tags with ultrasonic signal transmitters. For example, please refer to Figures 2 and 3. Figure 2 is a terminal. The terminal includes upper mic20, receiver21, and rear mic22. The upper mic20, receiver21, and rear mic22 can all be used as ultrasonic signal receivers and/or ultrasonic signals. Transmitter; FIG. 3 is a device 3 to be sought, which includes receiver30 and mic31. The device to be sought 3 can send ultrasonic signals through receiver30 and/or MIC31, and can also receive wake-up signals through receiver30 and/or mic31.

In some examples of this embodiment, before receiving the ultrasonic signal sent by the object to be sought through the ultrasonic signal receiver, the method further includes: sending a wake-up signal to the object to be sought, where the wake-up signal is used to wake up the object to be sought; In some examples of this embodiment, when searching for the object to be sought, the terminal first sends a wake-up signal to the object to be sought (the terminal can send a wake-up signal through an ultrasonic signal receiver, or can send a wake-up signal through a special wake-up module), so that the When the object to be sought receives the wake-up signal, it will be awakened from sleep mode, sleep mode, standby mode, etc., and then the object to be sought will send out an ultrasonic signal; the wake-up signal is agreed in advance between the terminal and the object to be sought, and can be recognized by the object to be sought. In some examples, the wake-up signal is a single-carrier or multi-carrier digital modulation performed by the terminal using an ultrasonic frequency band (20000Hz-1000000Hz), such as ASK (Amplitude Shift Keying, amplitude shift keying), FSK (Frequency Shift Keying, frequency Shift keying), PSK (Phase Shift Keying, phase shift keying) and other modulation, adding digital information to the ultrasonic signal, wherein the digital signal includes: encrypted information and/or ID information and/or encoded information and/or handshake information, etc., When the object to be sought receives the wake-up signal, it can demodulate the received wake-up signal, identify the handshake information, etc. and respond to send out an ultrasonic signal; for example, when the wake-up signal is an encoded ultrasonic signal, the encoded The ultrasonic signal is a code agreed in advance between the terminal and the object to be sought, and can be recognized by the object to be sought. It should be understood that, in some examples, the object to be sought may directly send out ultrasonic signals periodically/timely, and it is not necessary to send out ultrasonic signals when the wake-up signal sent by the terminal is received; To find the object, the wake-up signal can be received by a module that sends out an ultrasonic signal, or a receiving module can be set to receive the wake-up signal.

In some examples of this embodiment, the receiving the ultrasonic signal sent by the object to be sought through three ultrasonic signal receivers includes: using the first ultrasonic signal receiver and the second ultrasonic signal receiver and the first ultrasonic signal receiver and the first ultrasonic signal receiver. Three ultrasonic signal receivers receive the same ultrasonic signal sent by the object to be sought, or receive the same ultrasonic signal through the first ultrasonic signal receiver, the second ultrasonic signal receiver and the third ultrasonic signal receiver respectively. Different ultrasonic signals from the object being sought. It should be understood that the ultrasonic signal sent by the object to be sought carries information such as a code or ID, and the code or ID can be agreed in advance between the terminal and the object to be sought, and can be recognized by the terminal. or ID, so that the first ultrasonic signal receiver, the second ultrasonic signal receiver, and the third ultrasonic signal receiver can receive the same ultrasonic signal or receive different ultrasonic signals respectively. In some examples, the object to be sought uses the ultrasonic frequency band (20000Hz-1000000Hz) to perform single-carrier or multi-carrier digital modulation, such as ASK, FSK, PSK and other modulation, adding digital information to realize digital communication with the terminal, thereby enabling the terminal to It is determined that the ultrasonic signal is an ultrasonic signal sent by the object to be sought, and the digital information includes but is not limited to: encrypted information and/or ID information and/or encoded information.

S102, obtaining the receiving time when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought;

In some examples of this embodiment, the acquiring the receiving time when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought includes: acquiring the first ultrasonic signal receiver and the second ultrasonic wave respectively. The time when the signal receiver and the third ultrasonic signal receiver receive the same ultrasonic signal, and record it as the first receiving time, the second receiving time, and the third receiving time, or obtain the first ultrasonic signal receiver separately The time when the first ultrasonic signal is received, 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 are recorded as the first reception respectively. time, second reception time, third reception time. It should be understood that the receiving time refers to the current time on the terminal when the corresponding ultrasonic signal receiver receives the ultrasonic signal.

S103. Obtain the location of the object to be sought according to the receiving time of the ultrasonic signal receiver.

In some examples of this embodiment, before obtaining the location of the object to be sought according to the receiving time of the ultrasonic signal receiver, the method further includes: judging whether the times of the terminal and the object to be sought are synchronized, and each of the Whether the ultrasonic signal received by the ultrasonic signal receiver carries timestamp information. In some examples, the terminal can determine whether the time of the terminal and the object to be sought is synchronized by the information in the ultrasonic signal, and whether the ultrasonic signal carries time stamp information.

In some examples of this embodiment, when the time of the terminal and the object to be sought are synchronized, and the ultrasonic signal carries time stamp information, and the ultrasonic signal receiver receives the same ultrasonic signal, the Obtaining the location of the object to be sought by the receiving time of the ultrasonic signal receiver includes: obtaining the sending time of the same received ultrasonic signal from the timestamp information of the received ultrasonic signal; obtaining the first receiving time respectively; time and the second receiving time and the difference between the third receiving time and the sending time, and obtain the first ultrasonic signal receiver, the second ultrasonic signal receiver, the The first distance, the second distance, and the third distance between the third ultrasonic signal receiver and the object to be sought; take the first ultrasonic signal receiver as the center, and draw a circle with the first distance as the radius to obtain the first an arc; taking the second ultrasonic signal receiver as the center, and the second distance as the radius, draw a circle to obtain a second arc; taking the third ultrasonic signal receiver as the center, the third distance is A circle is drawn with the radius to obtain a third arc; the location of the object to be sought is obtained according to the first arc, the second arc and the third arc. It should be understood that the sending time of the ultrasonic signal, that is, the time when the object to be sought sends the ultrasonic signal, can be obtained from the timestamp information of the ultrasonic signal; and then the difference between the first receiving time and the sending time is obtained. , and record it as the first time difference, obtain the difference between the second receiving time and the sending time, and record it as the second time difference, obtain the difference between the third receiving time and the sending time, and record it as The third time difference; among them, the time difference is the transmission time of the ultrasonic signal from the object to be found to the ultrasonic signal receiver. The transmission speed of the ultrasonic signal can be calculated according to the environment. For example, the transmission speed of the ultrasonic signal in the air is 340 meters. /sec, the terminal can obtain the distance between the terminal and the object to be sought (transmission speed x time difference) according to the time difference, so the terminal can obtain the The first, second, and third distances between the first ultrasonic signal receiver, the second ultrasonic signal receiver, and the third ultrasonic signal receiver and the object to be sought, and receive the first ultrasonic signal Take the second ultrasonic signal receiver as the center and the second distance as the radius to draw a circle to obtain the second arc, take the third ultrasonic signal receiver as The center of the circle, the third distance is the radius, draw a circle, obtain the third arc, and then obtain the intersection of the three arcs, and use the intersection as the location of the object to be sought, and obtain the location of the object to be sought. Function.

In some examples of this embodiment, when the ultrasonic signal received by each of the ultrasonic signal receivers is the same ultrasonic signal; or when the time between the terminal and the object to be sought is not synchronized or the ultrasonic signal When the time stamp information is not carried and the ultrasonic signals received by each of the ultrasonic signal receivers are the same ultrasonic signal, the obtaining the location of the object to be sought according to the receiving time of the ultrasonic signal receivers includes: separately obtaining The first difference between the first reception time and the second reception time, the second difference between the second reception time and the third reception time, the first reception time and the third reception time The third difference value of time; the location of the object to be sought is obtained according to the hyperbola constructed by the first difference value, the second difference value and the third difference value. It should be understood that the first ultrasonic signal receiver, the second ultrasonic signal receiver, and the third ultrasonic signal receiver in the terminal respectively receive the same ultrasonic signal sent by the object to be sought, and the ultrasonic signal is received by the ultrasonic signal receiver. time, the terminal can obtain three sets of time differences respectively, that is, the time when the first ultrasonic signal receiver receives the ultrasonic signal minus the first difference between the time when the second ultrasonic signal receiver receives the ultrasonic signal, and the second ultrasonic signal receives the time difference. The second difference between the time when the receiver receives the ultrasonic signal minus the time when the third ultrasonic signal receiver receives the ultrasonic signal, the time when the first ultrasonic signal receiver receives the ultrasonic signal minus the time when the third ultrasonic signal receiver receives the ultrasonic signal The third difference of the time of the signal; the terminal can calculate the first distance difference, the second distance difference, and the 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 According to the first distance difference, the first hyperbola with the first ultrasonic signal receiver and the second ultrasonic signal receiver as the focus can be obtained, and according to the second distance difference, the second ultrasonic signal receiver and the third ultrasonic signal receiver can be obtained. The second hyperbola that is the focus, the third hyperbola that takes the first ultrasonic signal receiver and the third ultrasonic signal receiver as the focus can be obtained according to the third distance difference, and the terminal determines the first hyperbola, the second hyperbola, the third hyperbola The intersection point of the three hyperbolas, the bottom position is the position of the object to be sought, which realizes the function of terminal object seeking.

In some examples of this embodiment, when the time of the terminal and the object to be sought are synchronized, and the ultrasonic signal carries time stamp information, the ultrasonic signal receiver acquires the ultrasonic signal when receiving different ultrasonic signals. The receiving time when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought further includes: acquiring the receiving time when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought includes: acquiring the ultrasonic signal respectively. The time when the first ultrasonic signal receiver received the first ultrasonic signal, the time when the second ultrasonic signal receiver received the second ultrasonic signal, and the third ultrasonic signal receiver received the third ultrasonic signal The time of the ultrasonic signal is recorded as the first receiving time, the second receiving time, and the third receiving time; the obtaining the location of the object to be sought according to the receiving time of the ultrasonic signal receiver includes: from the first receiving time The corresponding sending time is obtained from the timestamp information of an ultrasonic signal, the second ultrasonic signal, and the third ultrasonic signal; the first receiving time, the second receiving time, and the third receiving time are obtained corresponding to their respective The difference value of the transmission time, and the first distance between the first ultrasonic signal receiver, the second ultrasonic signal receiver, the third ultrasonic signal receiver and the object to be sought is obtained according to the difference value. , the second distance, the third distance; draw a circle with the first ultrasonic signal receiver as the center and the first distance as the radius to obtain the first arc; take the second ultrasonic signal receiver as the center, so The second distance is a radius to draw a circle to obtain a second arc; the third ultrasonic signal receiver is taken as the center of the circle, and the third distance is a radius to draw a circle to obtain a third arc; determine the first arc and the intersection of the second arc and the third arc to obtain the location of the object to be sought. That is, the present application can also receive different ultrasonic signals through three different ultrasonic signal receivers, and then obtain the distance to obtain the location of the object to be sought.

The ultrasonic positioning method provided by the embodiment of the present invention receives the ultrasonic signal sent by the object to be sought through an ultrasonic signal receiver, and the ultrasonic signal receiver includes: a first ultrasonic signal receiver, a second ultrasonic signal receiver, and a third ultrasonic signal receiver ; Obtain the receiving time when the ultrasonic signal receiver receives the ultrasonic signal sent by the object to be sought; obtain the positioning of the object to be sought according to the receiving time of the ultrasonic signal receiver; obtain the positioning of the object to be sought according to the receiving time of the ultrasonic signal receiver, in In some implementations, the ultrasonic signal sent by the object to be sought is received by multiple ultrasonic signal receivers existing in the terminal itself, and then the positioning is performed according to the receiving time of the ultrasonic signal received by each ultrasonic receiver, without adding the object to be sought or the terminal. On the basis of the hardware, and because the terminal and the object to be sought only need one communication, positioning is carried out by various methods, which improves the accuracy of positioning and improves the positioning accuracy, thereby solving the problem that the object-seeking and positioning technology in the related art needs to increase the separate hardware, resulting in high cost and low accuracy of object-finding and positioning.

Embodiment 2:

In order to better understand the present invention, this implementation provides a more specific example to illustrate the present invention:

See Figure 4, which includes but is not limited to:

S201. The terminal sends a wake-up signal to the object to be sought, where the wake-up signal is used to wake up the object to be sought;

In some examples of this embodiment, as shown in FIG. 5 , the terminal 1 is provided with a first mic2, a first receiver3, a second mic11 and a third mic15, and the object 9 is provided with a second receiver8, a fourth receiver mic10, first send out a wake-up signal 13 through the first receiver3, the wake-up signal 13 can be an ultrasonic signal with a code (>20000Hz), the code is pre-agreed with the object 9 to be identified, and the object to be sought 9 can be identified. The fourth mic10 receives the encoded ultrasonic signal and wakes up from the sleep mode.

S202, receiving the ultrasonic signal sent by the object to be sought;

In some examples of this embodiment, and the time of the terminal 1 and the object to be sought 9 are synchronized, the ultrasonic signal sent by the object to be sought 9 carries time stamp information. It should be understood that the terminal 1 can make an appointment with the object to be found 9 Good time synchronization, and the ultrasonic signal sent by the object to be sought 9 carries timestamp information; it can also be that the terminal 1 determines whether the time of the object to be sought 9 is synchronized when receiving the ultrasonic signal, and the ultrasonic signal sent by the object to be found 9 Whether the time stamp information is carried in the device; after being awakened by the object 9, the ultrasonic signal 4, ultrasonic signal 12 and ultrasonic signal 14 are sent out through the second receiver8, among which the first mic2, the second mic11 and the third mic15 of the terminal 1 can all receive As for the ultrasonic signal 4, ultrasonic signal 12, and ultrasonic signal 14, the ultrasonic signal 4, ultrasonic signal 12, and ultrasonic signal 14 can be different ultrasonic signals, or can be the same ultrasonic signal.

S203, obtain the transmission time of the ultrasonic signal received by the terminal, and obtain the distance from the object to be sought;

In some examples of this embodiment, each ultrasonic signal receiver can receive the ultrasonic signal sent by the object 9 to be sought. Here, the first mic2 of the terminal 1 receives the ultrasonic signal 4, the second mic11 receives the ultrasonic signal 12, Taking the ultrasonic signal 14 received by the third mic15 as an example, 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 that the ultrasonic signal 4 is transmitted to the first mic2 The transmission time of the ultrasonic signal 12 to the second mic11, the transmission time of the ultrasonic signal 14 to the third mic15, and then calculate the distance between the first mic2, the second mic11 and the third mic15 and the second receiver8 respectively. d1, d2, d3 (distance = transmission time x transmission speed 340 m/s).

S204. Acquire the location of the object to be sought according to the distance.

In some examples of this embodiment, the terminal 1 uses the first mic2, the second mic11, and the third mic15 as the center of the circle, and d1, d2, and d3 as the radii, and calculates three arcs 7, 6, and 5 that intersect at one point. , the intersection point is the determined position, and the determined position is actually the position of the second receiver 8 of the object to be sought 9, so as to know the position of the object to be sought 9, obtain the location of the object to be sought 9, and realize the terminal object search function.

It should be understood that the encoded ultrasonic signals sent and received by the terminal 1 include: using the ultrasonic frequency band (20000Hz-1000000Hz) to perform single-carrier or multi-carrier digital modulation, such as modulation of ASK, FSK, PSK, etc. The digital communication of HUNTER 9. The digital information may include necessary communication information such as encryption information, time stamp information, and ID identification handshake. When the terminal 1 receives the response-encoded ultrasonic signal sent by the object to be sought (or tag) 9, it will demodulate it to obtain the time stamp information therein; it should be understood that the response-encoded ultrasonic signal sent and received by the object to be sought 9 The signal includes: using the ultrasonic frequency band (20000Hz-1000000Hz) to carry out single-carrier or multi-carrier digital modulation, such as ASK, FSK, PSK and other modulation, adding digital information to realize digital communication with terminal 1. The digital information may include necessary communication information such as encryption information, time stamp information, and ID identification handshake. When the object 9 receives the encoded ultrasonic information sent by the terminal 1, it will demodulate it, identify the handshake information and respond.

Embodiment three:

In order to better understand the present invention, this implementation provides a more specific example to describe the ultrasonic positioning method, which is shown in FIG. 6 , including but not limited to:

S301. The terminal sends a wake-up signal to the object to be sought, where the wake-up signal is used to wake up the object to be sought;

In some examples of this embodiment, as shown in FIG. 7 , the terminal 1 is provided with a first mic2, a first receiver3, a second mic11 and a third mic15, and the object 9 is provided with a second receiver8 and a fourth mic10 , first send out the wake-up signal 13 through the first receiver3, the wake-up signal 13 can be a coded ultrasonic signal (>20000Hz), the code is pre-agreed with the object 9 to be identified, and the object 9 can be identified through The fourth mic10 receives the encoded ultrasonic signal and wakes up from the sleep mode.

S302. Receive the ultrasonic signal sent by the object to be sought;

In some examples of this embodiment, and the time of the terminal 1 and the object to be sought 9 are synchronized, the ultrasonic signal sent by the object to be sought 9 carries time stamp information. It should be understood that the terminal 1 can make an appointment with the object to be found 9 Good time synchronization, and the ultrasonic signal sent by the object to be sought 9 carries timestamp information; it can also be that the terminal 1 determines whether the time of the object to be sought 9 is synchronized when receiving the ultrasonic signal, and the ultrasonic signal sent by the object to be found 9 Whether the time stamp information is carried in the device; after being awakened by the object 9, the ultrasonic signal 4, ultrasonic signal 12 and ultrasonic signal 14 are sent out through the second receiver8, among which the first mic2, the second mic11 and the third mic15 of the terminal 1 can all receive To the above-mentioned ultrasonic signal 4, ultrasonic signal 12, and ultrasonic signal 14, the ultrasonic signal 4, ultrasonic signal 12, and ultrasonic signal 14 are the same ultrasonic signal.

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

In some examples of this embodiment, 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 the ultrasonic signal carries a code, so that the terminal can determine that a The mic2, the second mic11, and the third mic15 receive the same ultrasonic signal. By acquiring the timestamp signal of the terminal 1, the terminal 1 can obtain three sets of time differences: Δt1, Δt2, and Δt3, respectively. Among them, Δt1 is the ultrasonic arrival time of the second receiver8 to the second mic11 minus the ultrasonic arrival time of the second receiver8 to the first mic2; Δt2 is the ultrasonic arrival time of the second receiver8 to the third mic15 minus the second receiver8 to the second The ultrasonic arrival time of mic11; Δt3 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 mic2.

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

In some examples of this embodiment, the terminal 1 can calculate the distance differences d1, d2, and d3 corresponding to Δt1, Δt2, and Δt3 according to the three sets of time differences (distance difference=time difference×transmission speed 340 m/s).

S305. Acquire the location of the object to be sought according to the distance difference.

In some examples of this embodiment, the terminal 1 can obtain the hyperbola 6 with the first mic2 and the second mic11 as the focus according to the distance difference d1 (refer to the definition of the hyperbola), and similarly according to the distance difference d2, the second mic11 can be obtained. The hyperbola 5 with mic11 and the third mic15 as the focal points can be obtained according to the distance difference d3 with the hyperbola 7 with the third mic15 and the first mic2 as the focal points. The terminal 1 calculates the position of the intersection of the three hyperbolas 5, 6, and 7, and the intersection position is the position of the second receiver 8, so as to know the position of the object to be sought 9, obtain the location of the object to be sought 9, and realize the terminal search. function of things.

In the ultrasonic positioning method provided in this embodiment, the terminal sends a wake-up signal to the object to be sought, the wake-up signal is used to wake up the object to be sought, the terminal receives the ultrasonic signal sent by the object to be sought, and obtains the time difference of the transmission time according to the reception time , obtain the corresponding distance difference according to the time difference of the transmission time, and obtain the positioning of the object to be sought according to the distance difference; because the terminal and the object to be sought only need one communication, and the time synchronization between the terminal and the object to be sought is not required, nor the object to be sought. The transmitted ultrasonic signal carries the time signal, and the relative position of the terminal and the object to be sought can be calculated. The positioning accuracy is not affected by the relative motion of the terminal or the object to be sought (the positioning accuracy can be achieved within 10cm, without increasing the hardware cost. , the positioning accuracy is improved.

Embodiment 4:

This embodiment also provides a positioning device, 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 to realize the 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, so as to implement at least one step of the ultrasonic positioning methods in the first embodiment, the second embodiment and the third embodiment.

The present embodiments also provide a computer-readable storage medium embodied in any method or technology for storing information, such as computer-readable instructions, data structures, computer program modules, or other data volatile or nonvolatile, removable or non-removable media. Computer-readable storage media include but are not limited to RAM (Random Access Memory, random access memory), ROM (Read-Only Memory, read-only memory), EEPROM (Electrically Erasable Programmable read only memory, electrified Erasable Programmable read only memory) ), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), Digital Versatile Disc (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, Or any other medium that can be used to store the desired information and that 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 one or more computer programs stored in the storage medium may be executed by a processor, so as to implement the first embodiment, the second embodiment, and the third embodiment. at least one step in the ultrasonic localization method.

It can be seen that those skilled in the art should understand that all or some of the steps in the methods disclosed above, the functional modules/units in the system, and the device can be implemented as software (which can be implemented by computer program codes executable by a computing device). ), firmware, hardware, and their appropriate combination. 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 composed of several physical components Components execute cooperatively. Some or all 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 can include any information delivery, as is well known to those of ordinary skill in the art medium. Therefore, the present invention is not limited to any particular combination of hardware and software.

The above content is a further detailed description of the embodiments of the present invention in combination with specific embodiments, and it cannot be considered that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deductions or substitutions can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (10)

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;

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.

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.

Images