CN115840189A

CN115840189A - Sound source orientation method, control method and control device for mobile robot

Info

Publication number: CN115840189A
Application number: CN202211507329.8A
Authority: CN
Inventors: 黎晓强; 泮建光; 王健彪; 刘征宇; 马子昂; 陈韬
Original assignee: Hangzhou Huacheng Software Technology Co Ltd
Current assignee: Hangzhou Huacheng Software Technology Co Ltd
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-03-24

Abstract

The application relates to a sound source orientation method, a control method and a control device of a mobile robot, wherein the mobile robot comprises a robot body and a base station, and the sound source orientation method of the mobile robot comprises the following steps: controlling the robot body to receive a sound source signal sent by the base station; under the condition that a robot body receives sound source signals sent by a base station, acquiring signal attenuation parameters of the robot body for receiving the sound source signals in different directions, determining the incidence relation among the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source direction corresponding to the base station according to the incidence relation. By the method and the device, the problem of inaccurate base station orientation in the moving process of the mobile robot is solved, and an accurate and efficient mobile robot control method is realized.

Description

Sound source orientation method, control method and control device of mobile robot

Technical Field

The present application relates to the field of robotics, and in particular, to a sound source orientation method, a control method, and a control device for a mobile robot.

Background

At present, mobile robots are widely used in industries such as industry, agriculture, medical treatment, and service. In practical application, a base station is configured for the mobile robot, so that the mobile robot can actively return to the base station for charging, cleaning, integrating and the like when the power is low, and therefore the mobile robot is required to be accurately positioned to the base station in the process of autonomously moving back to the base station. In the related art, the relative distance between a base station and a mobile robot is generally determined by positioning with a transmission signal such as an infrared sensor or a laser radar mounted on the base station. However, under the condition that a shielding object exists between the mobile robot and the base station, the base station cannot be located by adopting the method, so that the problem of low orientation accuracy of the base station in the process of controlling the mobile robot to move occurs, and further the base station is inaccurately located.

At present, no effective solution is provided aiming at the problem of inaccurate base station orientation in the process of controlling the movement of the mobile robot in the related technology.

Disclosure of Invention

The embodiment of the application provides a sound source orientation method, a control method and a control device of a mobile robot, and aims to at least solve the problem of inaccurate positioning of a base station in the process of controlling the mobile robot to move in the related art.

In a first aspect, an embodiment of the present application provides a sound source orientation method for a mobile robot, where the mobile robot includes a robot body and a base station, and the method includes:

controlling the robot body to receive a sound source signal sent by the base station;

under the condition that the robot body receives the sound source signals, acquiring signal attenuation parameters of the robot body for receiving the sound source signals in different directions, and determining the association relation between the sound source signals received in different directions according to the signal attenuation parameters;

and determining the sound source direction corresponding to the base station according to the incidence relation.

In some embodiments, at least two sound receiving units are arranged on the robot body; the correlation comprises a cross-correlation function result; the method further comprises the following steps:

acquiring a preset signal attenuation model corresponding to the sound receiving unit;

acquiring sound source receiving time when the sound receiving unit receives the sound source signals in different directions; calculating cross-correlation function results among the sound source signals received by all the sound receiving units according to the sound source signals, the signal attenuation parameters and the sound source receiving time by using the signal attenuation model, and calculating the sound arrival time difference among the sound source receiving times according to the cross-correlation function results;

and calculating to obtain the distance difference between the sound receiving units along the propagation direction of the sound source signal according to the sound arrival time difference, and determining the sound source direction according to the distance difference.

In some embodiments, each two sound receiving units are a group of sound receiving assemblies, and at least two groups of sound receiving assemblies are arranged on the robot body; the method further comprises the following steps:

determining the distance difference between the sound receiving units in each group of the sound receiving assemblies according to the sound arrival time difference;

and calculating to obtain initial sound source direction information corresponding to each group of sound receiving components according to the distance difference, and performing fusion processing on all the initial sound source direction information to determine the sound source direction.

In some embodiments, said fusing all of said initial sound source direction information to determine said sound source direction includes:

obtaining a comparison result of all the initial sound source direction information;

distributing weight values to all the initial sound source direction information according to the comparison result, and performing fusion processing on all the initial sound source direction information based on the weight values to obtain the fused sound source direction.

In a second aspect, an embodiment of the present application provides a method for controlling a mobile robot, where the mobile robot includes a robot body and a base station, the method includes:

under the condition that the robot body receives the sound source signal sent by the base station, determining a signal propagation distance between the base station and the robot body according to the received sound source signal; acquiring signal attenuation parameters of the robot body for receiving the sound source signals in different directions, determining the incidence relation between the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source direction corresponding to the base station according to the incidence relation;

and calculating the position information of the base station according to the signal propagation distance and the sound source direction, and controlling the robot body to move to the base station according to the calculated position information of the base station.

In some embodiments, the robot body is further provided with a signal receiving device, and the base station is further provided with a signal transmitting device; the method further comprises the following steps:

under the condition that the robot body receives a starting signal sent by the base station through the signal sending device through the signal receiving device, the robot body is controlled to enter a waiting receiving state, and the starting time of the signal receiving device for receiving the starting signal is obtained;

under the condition that the robot body is in a waiting receiving state, controlling the robot body to receive the sound source signal sent by the base station and acquiring a time period between the starting time and the sound source sounding time of the sound source signal sent by the base station;

and under the condition that the robot body receives the sound source signal sent by the base station, acquiring the sound source emission time of the base station according to the starting time and the time period, and determining the signal propagation distance according to the sound source emission time.

In some embodiments, at least two sound receiving units are arranged on the robot body; the determining the signal propagation distance according to the sound source emission time comprises:

acquiring a preset signal attenuation model;

carrying out smooth filtering processing on the signal attenuation model to obtain an average amplitude function, and calculating according to the average amplitude function to obtain initial sound source position information;

calculating to obtain the sound source receiving time of the robot body according to the initial sound source position information, and calculating to obtain the shortest sound source propagation time according to the sound source transmitting time and the sound source receiving time; the shortest propagation time of the sound source refers to the time for the sound source signal to propagate to the nearest sound receiving unit, wherein the nearest sound receiving unit is the unit which is closest to the base station in all the sound receiving units;

and calculating to obtain the shortest propagation distance of the sound source according to the shortest propagation time of the sound source, and determining the signal propagation distance according to the shortest propagation distance of the sound source.

In some of these embodiments, the base station is further provided with a sensing device; the controlling the robot body to move to the base station according to the calculated position information of the base station comprises:

acquiring a real-time distance between the robot body and the base station in the process of controlling the robot body to move to the base station according to the position information by using a preset positioning algorithm;

and under the condition that the real-time distance is smaller than a preset threshold value, acquiring a sensing signal of the sensing equipment aiming at the robot body, and controlling the robot body to continuously move to the base station according to the sensing signal.

In a third aspect, an embodiment of the present application provides a control apparatus for a mobile robot, where the mobile robot includes a robot body and a base station, the apparatus including: the device comprises a receiving module, a sound source positioning module and a moving module;

the receiving module is used for controlling the robot body to receive the sound source signal sent by the base station;

the sound source positioning module is used for determining a signal propagation distance between the base station and the robot body according to the received sound source signal under the condition that the robot body receives the sound source signal sent by the base station;

the sound source orientation module is used for acquiring signal attenuation parameters of the sound source signals received by the robot body in different directions, determining the incidence relation among the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source direction corresponding to the base station according to the incidence relation; and the moving module is used for calculating the position information of the base station according to the signal propagation distance and the sound source direction and controlling the robot body to move to the base station according to the calculated position information of the base station.

In a fourth aspect, an embodiment of the present application provides a mobile robot, including: a robot body, a base station, and a control device for a mobile robot according to the second aspect.

In some embodiments, the robot body is provided with at least two sound receiving units, and the base station is provided with a sound production unit; the sound production unit is used for producing the sound source signal, and the sound receiving unit is used for collecting the sound source signal of the sound production unit.

In some embodiments, each two sound receiving units are a group of sound receiving components, and at least two groups of sound receiving components are arranged on the robot body; the shortest connecting line between the two sound receiving units in each group of sound receiving assemblies passes through the central point of the robot body, and the shortest connecting lines corresponding to the two groups of sound receiving assemblies are perpendicular to each other.

In a fifth aspect, embodiments of the present application provide an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the sound source orientation method for a mobile robot according to the first aspect and/or the control method for a mobile robot according to the second aspect.

In a sixth aspect, the present application provides a storage medium, on which a computer program is stored, which when executed by a processor, implements the sound source orientation method for a mobile robot as described in the first aspect above, and/or the control method for a mobile robot as described in the second aspect above.

Compared with the related art, the sound source orientation method, the control method and the control device of the mobile robot provided by the embodiment of the application comprise the robot body and the base station, and the robot body is controlled to receive the sound source signal sent by the base station; under the condition that the robot body receives a sound source signal sent by a base station, determining a signal propagation distance between the base station and the robot body according to the received sound source signal; the method comprises the steps of obtaining signal attenuation parameters of a robot body for receiving sound source signals in different directions, determining incidence relations among the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source direction according to the incidence relations, so that the noise influence can be effectively reduced based on the signal attenuation parameters, the phenomenon that the sound source signal fluctuation is large due to factors such as noise in the sound source signal transmission process, the sound source positioning precision is influenced is avoided, the sound source positioning precision is favorably improved, and the accurate sound source positioning method of the mobile robot is realized; meanwhile, the position information of the base station is calculated according to the signal propagation distance and the sound source direction, and the robot body is controlled to move to the base station according to the calculated position information of the base station, so that the problem of inaccurate positioning of the base station in the moving process of the mobile robot is solved, and the accurate and efficient mobile robot control method is realized.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more concise and understandable description of the application, and features, objects, and advantages of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a flowchart of a sound source orientation method of a mobile robot according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a mobile robot in accordance with an embodiment of the present application;

FIG. 3 is a schematic diagram of a far-field model of a sound source signal according to an embodiment of the present application;

fig. 4 is a flowchart of a control method of a mobile robot according to an embodiment of the present application;

fig. 5 is a flowchart of a control method of a mobile robot according to a preferred embodiment of the present application;

fig. 6 is a block diagram of a control apparatus of a mobile robot according to an embodiment of the present application;

fig. 7 is a block diagram of a mobile robot according to an embodiment of the present application;

fig. 8 is a block diagram of the inside of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

The embodiment provides a sound source orientation method for a mobile robot, which includes a robot body and a base station, wherein the mobile robot includes, but is not limited to, various sweeping robots or other movable robot equipment. Fig. 1 is a flowchart of a sound source orientation method for a mobile robot according to an embodiment of the present application, where the flowchart includes the following steps:

step S110, controlling the robot body to receive the sound source signal sent by the base station.

The base station can generate a sound source signal through a sound production unit arranged on the base station and emit the sound source signal outwards; meanwhile, the robot body can collect sound source signals generated by the base station through the sound collecting unit arranged on the robot body. It is understood that the base station further comprises a charging module, a cleaning module and the like for charging and cleaning the matched robot body.

Step S120, when the robot body receives the sound source signal, acquiring signal attenuation parameters of the robot body receiving the sound source signal in different directions, and determining an association relationship between the sound source signals received in different directions according to the signal attenuation parameters.

Step S130, determining the sound source direction corresponding to the base station according to the association relationship.

In steps S120 to S130, the association is used to represent a degree of correlation between sound source signal sequences received by the robot body from different directions; the correlation can be calculated by adding or multiplying the signal sequences. After the robot body receives the sound source signals generated and transmitted by the base station, the robot body can analyze and process the sound source information, and determine the signal attenuation parameters of the robot body for receiving the sound source signals in different directions, or the signal attenuation parameters corresponding to a plurality of sound receiving units arranged on the robot body, and then analyze and process the sound source signal sequences received in different directions according to the corresponding signal attenuation parameters, so as to determine the sound source direction of the robot body corresponding to the base station. Specifically, fig. 2 is a schematic diagram of a mobile robot according to an embodiment of the present application, where as shown in fig. 2, the mobile robot includes a robot body and a base station, and an obstacle exists between the robot body and the base station; through the above steps, the direction of the base station relative to the robot body, that is, the sound source direction, can be calculated, so that in the subsequent steps, the accurate position information of the base station can be calculated through the signal sensing distance d and the sound source direction.

Through the steps from S110 to S120, the robot body is controlled to receive the sound source signal sent by the base station, and the sound source direction is determined according to the signal attenuation parameters of the sound source signal received by the robot body in different directions and the sound source signal, so that the noise influence can be effectively reduced based on the signal attenuation parameters, the phenomenon that the sound source signal is greatly fluctuated due to factors such as noise in the sound source signal propagation process, and then the sound source positioning precision is influenced is avoided, the sound source positioning precision is favorably improved, and the accurate sound source positioning method of the mobile robot is realized.

In some embodiments, at least two sound receiving units are arranged on the robot body; wherein, the sound receiving unit comprises a microphone, a sound receiver and the like. The determining the sound source direction according to the signal attenuation parameter of the sound source signal received by the robot body in different directions and the received sound source signal further comprises the following steps:

step S121, obtaining a preset signal attenuation model corresponding to the sound receiving unit.

The signal attenuation model is used for representing a constraint relation among a sound source signal generated by a base station, a sound source signal received by the robot and a signal attenuation parameter; for example, the formula applied by the signal attenuation model may be as shown in equation 1:

x _i (n)＝α _i d(n-v _i )+v _i (n) formula 1

In the above formula 1, i is used to represent the ith sound receiving unit M _i And i is a positive integer; n is used to represent the current time; tau is _i For indicating the time of arrival of the sound source signal generated by the base station at the ith sound-receiving unit, i.e. sound-receiving unit M _i A sound source receiving time when the sound source signal is received; d (n) is used to represent the sound source signal generated by the base station; alpha (alpha) ("alpha") _i The signal attenuation parameter is used for representing that the ith sound receiving unit receives the signal of the sound source; v. of _i (n) for indicating the ith statementGaussian white noise corresponding to the element; x is the number of _i (n) is used for representing the sound source signal received by the ith sound receiving unit.

Step S122, obtaining the sound source receiving time when the sound receiving unit receives the sound source signal in different directions; and determining the distance difference of each sound receiving unit along the propagation direction of the sound source signal according to the signal attenuation parameter and the sound source receiving time by using the signal attenuation model, and determining the sound source direction according to the distance difference.

The method comprises the steps of obtaining a sound source receiving time when each sound receiving unit receives a sound source signal, so as to determine the sound arrival time difference between the sound receiving units based on the sound source receiving time, and calculating the distance difference between the sound receiving units along the sound source signal propagation direction according to a signal attenuation parameter and the sound arrival time difference.

The correlation includes a cross-correlation function result; the determining the distance difference of each sound receiving unit along the propagation direction of the sound source signal according to the signal attenuation parameter and the sound source receiving time further comprises the following steps: calculating to obtain a cross-correlation function result among the sound receiving units according to the sound source signal, the signal attenuation parameter and the sound source receiving time, and calculating to obtain a sound arrival time difference among the sound source receiving times according to the cross-correlation function result; and calculating the distance difference according to the arrival time difference.

Specifically, the cross-correlation function between the sound receiving units can be calculated by the following formula:

in the above formula 2, j is used to represent the jth sound receiving unit M _j And j is a positive integer different from i; tau is _j For indicating the time of arrival of the acoustic source signal generated by the base station at the jth sound-receiving unit, i.e. sound-receiving unit M _j A sound source receiving time when the sound source signal is received;

for representing sound-receiving units M _i And a sound receiving unit M _j A cross correlation function between; x is the number of _i (n) for representing a sound-receiving unit M _i Received sound source signal, x _j (n-tau) for representing a sound-receiving unit M _j The received acoustic source signal, E, is used to calculate a mathematical expectation. It is assumed in the present embodiment that the sound source signal reaches the sound receiving unit M _i And a sound receiving unit M _j With a time difference of arrival of tau therebetween _ij Then, by substituting the above equation 1 into the above equation 2, the following equation can be calculated:

in the above formula 3, R _D (τ-τ _ij ) Is the autocorrelation function of d (n); tau epsilon (-tau) _max ,τ _max )，τ _max For the sound source signal to reach the sound-receiving unit M _i And a sound receiving unit M _j Maximum time difference therebetween, and τ _max = d/c, c is the speed of sound propagation in air; at τ = τ _ij Time, cross correlation function

If there is a maximum value, the sound arrival time difference can be calculated by the above formula, as shown in the following formula 4:

in this embodiment, assume that the period of the sound source signal is T, when τ _max >T/2 at (-tau) _max ,τ _max ) There are many peaks within the range; therefore, to obtain a more accurate estimate of the time difference of arrival, τ needs to be calculated _max Is limited so that the cross-correlation function has one and only one peak falling in (-tau) _max ,τ _max ) Namely:

in the above formula 5, l is used to represent the sound receiving unit M fixedly mounted on the robot body _i And a sound receiving unit M _j The spacing therebetween; the spacing l needs to satisfy the following condition:

for example, in the embodiment, if the sound generating unit with the wavelength λ of 0.756M is adopted, the sound receiving unit M _i And a sound receiving unit M _j The mounting interval therebetween may be set to 0.3m to satisfy the requirement shown in the above equation 6.

In this embodiment, four sound collecting units are disposed on the robot body as an example, fig. 3 is a schematic diagram of a far-field model of a sound source signal according to an embodiment of the present application, as shown in fig. 3, a wave front of a sound wave tends to be a plane, and the sound collecting units M _i And a sound receiving unit M _j Distance difference d between them along the direction of propagation of the sound source signal _ij As shown in equation 7:

taking the far-field model of the sound source signal shown in FIG. 3 as an example, the base station and the sound receiving unit M ₁ And M ₂ The angle alpha between the first direction axis, i.e. the X-axis, of the robot coordinate system ₁₂ The calculation formula of (c) is shown in equation 8:

it should be noted that the direction angle α is ₁₂ Based on the assumption that the base station sound source is located in the first quadrant of the robot coordinate system, and the quadrant of the sound source can be determined according to the distance difference d between the sound receiving units _ij Positive and negative of (2) are determined. Taking FIG. 2 as an example, d ₁₂ Is positive and d ₃₄ If the negative pole is negative, the sound source is located in the first quadrant, d ₁₂ Is negative and d ₃₄ Is a negative ruleThe sound source being located in the second quadrant, d ₁₂ Is negative and d ₃₄ For regular sound sources in the third quadrant, d ₁₂ Is positive and d ₃₄ The sound source is located in the fourth quadrant for regularization.

Therefore, using the above equation 8, the quadrant and the direction angle of the sound source can be determined according to the calculated distance difference and the geometric relationship between the base station and each sound receiving unit, that is, the sound source direction can be finally determined. It can be understood that the base station forms an angle α with the coordinate axes of the two sound receiving units _ij The estimated value of (2) has different errors in different distances and directions, and particularly when the distance between the base station and the sound receiving unit is increased, the error angle is reduced and approaches to 0; when the distance between the base station and the sound receiving unit is increased to be twice the distance between the two sound receiving units, the error angle is only 0.2 degrees, so that the calculation method is still effective when the distance between the base station and the sound receiving unit is longer.

Through the steps S121 to S122, the signal attenuation model is used to determine the distance difference between the propagation distance of each sound receiving unit and the base station according to the signal attenuation parameter and the sound source receiving time, so that the sound source direction of the base station relative to the robot body can be determined through the sound source orientation method, only the cross-correlation operation needs to be performed on each signal attenuation model for one direction finding, higher orientation accuracy can be obtained, the calculation amount of base station positioning is reduced, and the accuracy and efficiency of base station positioning in the process of controlling the mobile robot to move are effectively improved.

In some embodiments, each two sound receiving units are regarded as a group of sound receiving components, and the sound receiving components are at least two groups; specifically, referring to fig. 2, the robot body in fig. 2 is provided with two sets of sound receiving components, wherein one set of sound receiving components includes a microphone M ₁ And a microphone M ₂ The other group of sound receiving components comprises a microphone M ₃ And a microphone M ₄ (ii) a The determining the distance difference of each sound receiving unit along the propagation direction of the sound source signal according to the signal attenuation parameter and the sound source receiving time, and determining the sound source direction according to the distance difference further includes the following steps:

determining the distance difference between the sound receiving units in each group of the sound receiving assemblies according to the signal attenuation parameters and the sound source receiving time; and calculating to obtain initial sound source direction information corresponding to each group of sound receiving components according to the distance difference, and performing fusion processing on all the initial sound source direction information to determine the sound source direction. In order to improve the calculation accuracy of the sound source direction of the sound source signal, a plurality of groups of sound receiving components can be set, the distance difference between two sound receiving units corresponding to each group of sound receiving components along the sound source signal propagation direction is calculated respectively, and the initial sound source direction information obtained by calculating the distance difference correspondingly is subjected to fusion processing. For example, referring to fig. 2, the distance differences d corresponding to each set of sound receiving components can be calculated ₁₂ And d ₁₂ And further according to d ₁₂ And d ₁₂ Respectively calculating to obtain initial sound source direction information alpha ₁₂ And alpha ₃₄ (ii) a Then, in order to improve the directional accuracy of the sound source direction, the initial sound source direction information is fused, and the fusion mode may be that all the initial sound source direction information α is fused ₁₂ And alpha ₃₄ Taking the average value and using the calculated average value as the final sound source direction, or the fusion mode can be that the initial sound source direction information alpha is used ₁₂ And alpha ₃₄ And performing weighted calculation to obtain the fused sound source direction.

Further, the above-mentioned fusing all the initial sound source direction information to obtain the sound source direction information further includes the following steps: obtaining the comparison result of all the initial sound source direction information; distributing weight values to all the initial sound source direction information according to the comparison result, and carrying out fusion processing on the initial sound source direction information based on the weight values to obtain the fused sound source direction. Considering that the larger the calculated value of the initial sound source direction information corresponding to each group of sound receiving assemblies is, the higher the corresponding measurement accuracy is, the numerical comparison may be performed on the initial sound source direction information calculated through the above steps to obtain a comparison result, and according to the result of the numerical comparison, a weight value is assigned to each initial sound source direction information, that is, the initial sound source direction information with the larger numerical value is assigned to the initial sound source direction information with the higher numerical valueThe assigned weight value is correspondingly larger, and then the final sound source direction is obtained by carrying out weighted calculation on each initial sound source direction information based on the assigned weight value. Specifically, taking the robot body provided with four sound receiving units shown in fig. 2 as an example, the initial sound source direction information is calculated to be α ₁₂ And alpha ₃₄ In order to improve the directional accuracy of the sound source direction angle, the initial sound source direction information corresponding to the two sets of sound receiving components needs to be fused, as shown in the following formula 9:

in the above equation 9, (sin) ² α ₁₂ +cos ² α ₃₄ ) 2 and (cos) ² α ₁₂ +sin ² α ₃₄ ) Each of 2 represents alpha ₁₂ And alpha ₃₄ The weighted value of (2) is calculated in a weighted fusion manner, so that the larger proportion of the larger value in the initial sound source direction information in the weighted fusion result is larger, a more accurate sound source orientation method can be realized, and the accuracy of sound source orientation is effectively improved.

Through the embodiment, the corresponding initial sound source direction information is obtained through calculation of the multiple groups of sound receiving components, and fusion processing is performed on all the initial sound source direction information, so that the problem of sound source orientation error caused by errors easily existing when sound source orientation is performed through a single group of sound receiving components is solved, and the sound source orientation accuracy is effectively improved.

The embodiment provides a control method of a mobile robot, which comprises a robot body and a base station, wherein the mobile robot comprises but is not limited to various sweeping robots or other movable robot equipment. Fig. 4 is a flowchart of a control method of a mobile robot according to an embodiment of the present application, where as shown in fig. 4, the flowchart includes step S110 shown in fig. 1, and further includes the following steps:

step S410, under the condition that the robot body receives the sound source signal sent by the base station, determining the signal propagation distance between the base station and the robot body according to the received sound source signal; and acquiring signal attenuation parameters of the sound source signals received by the robot body in different directions, determining the incidence relation among the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source direction corresponding to the base station according to the incidence relation.

After the robot body receives the sound source signal generated and transmitted by the base station, the robot body can analyze and process the sound source information to determine the signal propagation distance between the base station and the robot body. And determining signal attenuation parameters of the robot body for receiving sound source signals in different directions, or determining signal attenuation parameters corresponding to a plurality of sound receiving units arranged on the robot body, and further analyzing and processing the sound source signals according to the corresponding signal attenuation parameters so as to determine the sound source direction of the robot body corresponding to the base station. Referring to fig. 2, the mobile robot includes a robot body and a base station, and an obstacle exists between the robot body and the base station; through the above steps, the signal sensing distance d between the robot body and the base station and the direction of the base station relative to the robot body, that is, the sound source direction, can be calculated, so that accurate position information of the base station can be calculated through the signal sensing distance d and the sound source direction in the subsequent steps.

Step S420, calculating the position information of the base station according to the signal propagation distance and the sound source direction, and controlling the robot body to move to the base station according to the calculated position information of the base station.

The accurate position information of the base station can be obtained through calculation according to the signal sensing distance d and the sound source direction, and finally the robot body can be controlled to move to the base station according to the position information; for example, in the process of automatically moving the robot body to the base station according to the position information, path planning and automatic navigation may be performed according to the position information by a Simultaneous Localization and Mapping (SLAM) algorithm, or path planning information that the robot body moves from the current position to the position of the base station may be generated by two-dimensional code Localization, reflective column Localization, or other Localization algorithms, so that the robot body may reach the actual position of the base station by an automatic driving manner. It can be understood that the base station further comprises a charging pile, a cleaning module and the like, so that corresponding operations such as recharging or automatic cleaning can be performed after the robot body moves back to the base station.

Through the steps from S410 to S420, the robot body is controlled to receive the sound source signal sent by the base station, the signal sensing distance between the base station and the robot body is determined according to the received sound source signal, the sound source direction is determined according to the signal attenuation parameter of the sound source signal received by the robot body in different directions and the sound source signal, and finally the accurate position information of the base station is determined according to the sound source direction and the signal propagation distance, so that the robot body is controlled to move to the base station, the base station can be accurately positioned at a longer distance through the sound source signal, the problem that when the mobile robot automatically returns to the base station by means of infrared positioning and the like, the failure of positioning the base station caused by the existence of shielding objects between the mobile robot and the base station is avoided, meanwhile, the noise influence is reduced through the signal attenuation parameter, the positioning accuracy is effectively improved, the problem of inaccurate positioning of the base station in the moving process of the mobile robot is solved, and the accurate and efficient mobile robot control method is realized.

In some embodiments, the robot body is further provided with a signal receiving device, and the base station is further provided with a signal transmitting device; the signal transmitting device may be a 433MHz radio frequency transmitter or other devices for transmitting signals, and the signal receiving device may be a 433MHz radio frequency receiver or other devices for receiving signals. The control method of the mobile robot further comprises the following steps:

step S431, when the robot body receives the start signal transmitted by the base station through the signal transmitting device through the signal receiving device, controls the robot body to enter a waiting state, and obtains a start time when the signal receiving device receives the start signal.

Wherein the base station starts transmittingBefore sound, firstly, a starting signal is sent as a sound source starting mark through a signal sending device of a base station, the robot body waits for receiving after receiving the starting signal through a signal receiving device, and the starting time when the signal receiving device receives the starting signal is recorded, wherein the starting time can be t ₀ And (4) showing. It should be added that, in order to facilitate the base station to determine the sending start signal in time so that the robot body can perform base station positioning and automatically return to the base station, the base station may receive state information such as a remaining circuit fed back by the robot body through the signal transceiver device, and the base station determines whether the sending start signal is needed to enable the robot body to enter a waiting receiving state and perform base station positioning according to the state information; alternatively, the base station may send the start signal to the robot body according to a preset default period, where the default period may be predetermined according to information such as a cruising time of the robot body.

Step S432, when the robot body is in the waiting state, controlling the robot body to receive the sound source signal sent by the base station, and acquiring a time period between the start time and a sound source sounding time when the base station sends the sound source signal.

Step S433, when the robot body receives the sound source signal sent by the base station, obtaining the sound source emission time of the base station according to the start time and the time period, and determining the signal propagation distance according to the sound source emission time.

Specifically, when the robot body enters a wait-to-receive state and waits for a period of time τ ₀ Thereafter, the base station starts to emit the sound source signal outwards, so the actual sound source emission time of the base station is t ₁ ＝t ₀ +τ ₀ . Transmitting acoustic source signals at a base station for a period of time tau ₁ Then, the robot body receives the sound source signal, and the sound source receiving time is t ₂ And determining the sound arrival time difference according to the sound source transmitting time and the sound source receiving time, and further calculating the signal propagation distance according to the sound arrival time difference and the sound source propagation speed.

Through the steps S431 to S433, before the base station transmits the sound source signal, the signal transceiver device is used to transmit the start signal to the robot body in advance, so that the robot body can enter a waiting and receiving state in time, and meanwhile, the actual sound source transmitting time of the base station can be accurately recorded, thereby avoiding the problem of inaccurate base station positioning caused by wrong recording of the sound source transmitting time, and further improving the accuracy of base station positioning in the process of controlling the robot to move.

In some embodiments, the robot body is provided with two sound receiving units; the above determining the signal propagation distance according to the sound source emission time further comprises the following steps:

step S434, calculating a sound source receiving time of the robot body according to the initial sound source position information, and calculating a shortest sound source propagation time according to the sound source transmitting time and the sound source receiving time; the shortest propagation time of the sound source refers to the time when the sound source signal propagates to the nearest sound receiving unit, and the nearest sound receiving unit is the unit closest to the base station in all the sound receiving units.

Wherein the sound source emission time t can be determined by the steps ₁ And the sound source reception time t ₂ (ii) a Since the sound source reception timing fluctuates greatly due to the influence of noise, it is necessary to reduce the influence of noise on the sound source reception timing. In the present embodiment, it is assumed that the sound receiving unit M ₁ 、M ₂ 、M ₃ And M ₄ The received sound source signals are x respectively ₁ (n)、x ₂ (n)、x ₃ (n) and x ₄ (n) selecting the sound source signal received by the sound receiving unit with the highest peak value, namely the sound receiving unit closest to the sound source, and setting the selected sound source signal as x _max (n), and the sound source signal received by the sound receiving unit with the lowest peak value, i.e. the sound receiving unit farthest from the sound source, is set to x _min (n) reception time t of sound source for noise reduction ₂ Let us:

x(n)＝x _max (n)+x _min (n) formula 10

Smoothing and filtering x (n) to obtain an average amplitude function, obtaining the initial position L of the sound by using a fixed threshold value method,namely the initial sound source position information, the sound source receiving time t can be obtained by solving ₂ As shown in the following formula:

t ₂ ＝LT _s equation 11

Wherein, T _s Is the sampling period of the robot body. Therefore, the sound source signal propagates from the base station to the sound source shortest sensing time τ of the sound receiving unit closest to the base station _min As shown in equation 12:

τ _min ＝t ₂ -t ₁ equation 12

Step S435, calculating the shortest propagation distance of the sound source according to the shortest propagation time of the sound source, and determining the propagation distance of the signal according to the shortest propagation distance of the sound source.

Specifically, the above-mentioned sound source closest propagation distance d', that is, the calculation formula of the distance from the sound source to the closest sound receiving unit is shown as the following formula:

d′＝c·τ _min equation 13

And taking the nearest propagation distance of the sound source as a signal propagation distance, and solving the distance between the base station and the robot body according to the signal propagation distance, the direction angle theta of the sound source and the geometric relationship among all the sound receiving units fixedly mounted on the robot body so as to obtain the accurate coordinates of the base station in the robot coordinate system.

Through the steps S434 to S435, the shortest propagation time of the sound source is determined according to the calculated sound source receiving time, and the signal propagation distance is determined according to the shortest propagation distance of the sound source calculated according to the shortest sensing time of the sound source, so that the influence of noise on the sound source receiving time is reduced, and the accuracy of base station positioning is improved.

In some embodiments, the base station is further provided with a sensing device; the step of controlling the robot body to move to the base station according to the calculated position information of the base station further comprises the following steps:

step S421, obtaining a real-time distance between the robot body and the base station in a process of controlling the robot body to move to the base station according to the position information by using a preset positioning algorithm.

Specifically, when the distance between the current mobile robot and the base station is long, the robot body can be controlled to move to the base station according to the position information by using a SLAM algorithm, a two-dimensional code positioning algorithm, a reflective column positioning method or other positioning algorithms, and the real-time distance between the robot body and the base station is recorded in the moving process.

Step S422, when it is detected that the real-time distance is smaller than the preset threshold, acquiring a sensing signal of the sensing device for the robot body, and controlling the robot body to continue moving to the base station according to the sensing signal.

The preset threshold may be set in advance in combination with actual conditions, for example, the preset threshold may be set to 1m. When the current real-time distance is detected to be greater than or equal to the preset threshold value, the distance between the robot body and the base station is still long, and the base station positioning and the robot body autonomous movement should be carried out by continuously adopting the sound source positioning method; when the current real-time distance is detected to be smaller than the preset threshold value, the fact that the distance between the robot body and the base station is close and no shelter exists to influence the positioning of the base station is shown, and therefore the positioning mode can be switched from the sound source signal positioning mode to the sensing signal positioning mode. For example, the sensing device may be an infrared transmitter, that is, the base station transmits an infrared pulse signal to the robot body through the infrared transmitter provided thereon, and the robot body receives the infrared pulse signal through the infrared receiver provided thereon to locate the position of the base station. Alternatively, the sensing device may be a sensing device such as a laser radar, so that the robot body can locate the position of the base station in a short distance based on the sensing signal of each sensing device.

Through the steps S421 to S422, when it is detected that the real-time distance is smaller than the preset threshold, the robot body is controlled to continue to move to the base station according to the sensing signal of the sensing device arranged on the base station for the robot body, so that the positioning mode is autonomously switched from the sound source signal positioning mode to the sensing signal positioning mode with higher precision and efficiency in the short-distance positioning process, and the accuracy and efficiency of positioning the base station in the process of controlling the mobile robot to move are further improved.

The following describes in detail an embodiment of the present application with reference to an actual application scenario, where a mobile robot includes a robot body and a base station, the robot body includes a signal receiving device and a plurality of sound receiving units, and the base station includes a signal transmitting device and a sound generating unit; fig. 5 is a flowchart of a control method of a mobile robot according to a preferred embodiment of the present application, as shown in fig. 5, the flowchart including the steps of:

step S501, starting a control flow; the mobile robot performs initialization setting.

In step S502, the base station transmits a start signal through the signal transmitting device and transmits a sound source signal through the sound emitting unit.

Step S503, the robot body receives the starting signal through the signal receiving unit to enter a waiting receiving state, and receives the sound source signal through the sound receiving unit; and the robot body judges whether the currently received sound source signal belongs to effective audio according to the wavelength of the sound source signal and the sound source period.

And a step S504, if the determination result in the step S503 is yes, performing sound source orientation according to the signal attenuation parameter and the sound source signal to determine a sound source direction, and determining a signal propagation distance between the base station and the robot body according to the sound source signal. If the determination result in the step S504 is no, the process returns to the step S501.

And step S505, calculating and outputting the base station coordinates of the base station in the robot coordinate system according to the sound source direction and the signal sensing distance, and performing coordinate conversion on the base station coordinates to convert the base station coordinates into the global coordinate system and obtain the base station coordinates in the global coordinate system. Specifically, the base station positioning method includes a sound source orientation method and a sound source distance estimation method; the sound source orientation method comprises the steps of calculating a binary thread array between every two of a plurality of sound receiving units, and obtaining a direction angle of a sound source through fusion processing; the sound source distance estimation method is characterized in that the distance from a sound source to a sound receiving unit is calculated according to the time consumed by the sound source to sound until the sound receiving unit receives a sound source signal, and the base station coordinates of a base station in a robot coordinate system are obtained through a geometrical relationship.

Step S506, the robot body moves to the base station according to the base station coordinates to execute operations such as recharging or cleaning; the control flow is ended.

It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.

The present embodiment further provides a control device for a mobile robot, where the mobile robot includes a robot body and a base station, and the device is used to implement the foregoing embodiments and preferred embodiments, and the description of the device is omitted. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware or a combination of software and hardware is also possible and contemplated.

Fig. 6 is a block diagram of a control device of a mobile robot according to an embodiment of the present application, and as shown in fig. 6, the control device includes: a receiving module 62, a sound source localization module 64, a sound source orientation module 66, and a movement module 68. The receiving module 62 is configured to control the robot body to receive the sound source signal sent by the base station; the sound source positioning module 64 is configured to, when the robot body receives the sound source signal sent by the base station, determine a signal propagation distance between the base station and the robot body according to the received sound source signal; the sound source orientation module 66 is configured to obtain signal attenuation parameters of the robot body receiving the sound source signals in different directions, determine an association relationship between the sound source signals received in different directions according to the signal attenuation parameters, and determine a sound source direction corresponding to the base station according to the association relationship; the moving module 68 is configured to calculate the location information of the base station according to the signal propagation distance and the sound source direction, and control the robot body to move to the base station according to the calculated location information of the base station.

Through the embodiment, the receiving module 62 controls the robot body to receive the sound source signal sent by the base station, the sound source positioning module 64 determines the signal sensing distance between the base station and the robot body according to the received sound source signal, determines the sound source direction according to the signal attenuation parameter of the sound source signal received by the robot body in different directions and the sound source signal, and finally determines the accurate position information of the base station by the moving module 68 according to the sound source direction and the signal propagation distance, so as to control the robot body to move to the base station, and can accurately position the base station at a longer distance through the sound source signal, thereby avoiding the occurrence of failure of positioning the base station due to the existence of a shielding object between the mobile robot and the base station when the mobile robot automatically returns to the base station by using an infrared positioning mode and the like, reducing the noise influence through the signal attenuation parameter, effectively improving the positioning accuracy, thereby solving the problem of inaccurate positioning of the base station in the moving process of the mobile robot, and realizing an accurate and efficient mobile robot control device.

The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.

The present embodiment also provides a mobile robot, and fig. 7 is a block diagram of a mobile robot according to an embodiment of the present application, and as shown in fig. 7, the mobile robot includes: a robot body 72 and a base station 76, and a control device 74 of a mobile robot in any of the above device embodiments. It is understood that the control device 74 may be connected to the robot body 72 and the base station 76; or, the control device 74 may also be integrated on the robot body 72 and communicatively connected to the base station 76, and compared with an implementation manner in the related art in which the robot body coordinates are calculated by a sound source calculation unit integrated on the base station 76 and the calculated robot body 72 coordinates are sent to the robot body 72 by a wireless unit, which results in lower positioning efficiency and is susceptible to noise interference, the embodiment of the present application can implement accurate positioning of the base station 76 at the end of the robot body 72, thereby effectively improving the efficiency of positioning the base station 76.

Through the embodiment, the robot body 72 is controlled by the control device 74 to receive the sound source signal sent by the base station 76, the signal sensing distance between the base station and the robot body 72 is determined according to the received sound source signal, the sound source direction is determined according to the signal attenuation parameter of the sound source signal received by the robot body 72 in different directions and the sound source signal, and finally the accurate position information of the base station 76 is determined according to the sound source direction and the signal propagation distance, so that the robot body 72 is controlled to move to the base station, the sound source signal can be accurately positioned to the base station 76 at a longer distance, the situation that the base station fails to be positioned due to the existence of a shielding object between the mobile robot and the base station 76 when the mobile robot automatically returns to the base station 76 in an infrared positioning mode and the like is avoided, meanwhile, the noise influence is reduced through the signal attenuation parameter, the positioning accuracy is effectively improved, and the problem that the positioning of the base station 76 is inaccurate in the moving process of the mobile robot is solved.

In some embodiments, the robot body 72 is provided with at least two sound receiving units, and the base station 76 is provided with a sound emitting unit; wherein, this sound generating unit is used for producing this sound source signal, and this receipts sound unit is used for gathering this sound source signal of this sound generating unit.

In some embodiments, each two sound receiving units are a group of sound receiving components, and the robot body is provided with at least two groups of sound receiving components; wherein, the shortest connecting line between two sound collecting units in each group of sound collecting components passes through the central point of the robot body 72, and the shortest connecting lines corresponding to the two groups of sound collecting components are mutually perpendicular. Specifically, referring to fig. 2, in this case, a group of sound receiving componentsComprising two sound receiving units M ₁ And M ₂ The other group of sound receiving components comprises two sound receiving units M ₃ And M ₄ Wherein, the four sound receiving units are arranged at the edge of the robot body in a cross shape by taking the circle of the robot body 72 as a central point, so that M is ₁ And M ₂ The connecting line between the two lines is coincident with the X axis of the first direction axis of the robot coordinate system, and M is ₃ And M ₄ The line between them coincides with the second directional axis Y-axis of the robot coordinate system, thereby facilitating the calculation of accurate base station 76 position information. Further, M ₁ And M ₂ A distance therebetween, and M ₃ And M ₄ The distances between the sound receiving units meet the requirement shown in the above formula 6, so that each sound receiving unit on the robot body 72 can receive an effective sound source.

The embodiment further provides a computer device, which may be a server, and fig. 8 is a structural diagram of an interior of the computer device according to the embodiment of the present application, as shown in fig. 8. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer device is used for storing location information of the base station. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the control method of the mobile robot.

Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

The present embodiment also provides an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

s1, controlling the robot body to receive a sound source signal sent by the base station.

S2, under the condition that the robot body receives the sound source signal sent by the base station, determining a signal propagation distance between the base station and the robot body according to the received sound source signal; and acquiring signal attenuation parameters of the sound source signals received by the robot body in different directions, determining the incidence relation among the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source direction corresponding to the base station according to the incidence relation.

And S3, calculating the position information of the base station according to the signal propagation distance and the sound source direction, and controlling the robot body to move to the base station according to the calculated position information of the base station.

It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.

In addition, in combination with the control method of the mobile robot in the above embodiments, the embodiments of the present application may be implemented by providing a storage medium. The storage medium has a computer program stored thereon; the computer program, when executed by a processor, implements the sound source localization method of any of the above embodiments, and/or the control method of any of the above embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A sound source orientation method of a mobile robot, the mobile robot comprising a robot body and a base station, the method comprising:

and determining the sound source direction corresponding to the base station according to the association relation.

2. The sound source localization method according to claim 1, wherein at least two sound collecting units are provided on the robot body; the correlation comprises a cross-correlation function result; the method further comprises the following steps:

and calculating the distance difference between the sound receiving units along the propagation direction of the sound source signal according to the sound arrival time difference, and determining the direction of the sound source according to the distance difference.

3. The sound source orientation method according to claim 2, wherein every two sound collecting units are a set of sound collecting components, and at least two sets of sound collecting components are arranged on the robot body; the method further comprises the following steps:

4. The sound source orientation method according to claim 3, wherein the fusing all the initial sound source direction information to determine the sound source direction comprises:

obtaining the comparison result of all the initial sound source direction information;

distributing weighted values to all the initial sound source direction information according to the comparison result, and fusing all the initial sound source direction information based on the weighted values to obtain the fused sound source direction.

5. A method of controlling a mobile robot including a robot body and a base station, the method comprising:

6. The control method according to claim 5, wherein the robot body is further provided with a signal receiving device, and the base station is further provided with a signal transmitting device; the method further comprises the following steps:

7. The control method according to claim 6, wherein at least two sound receiving units are provided on the robot body; the determining the signal propagation distance according to the sound source emission time comprises:

acquiring a preset signal attenuation model;

calculating to obtain the sound source receiving time of the robot body according to the initial sound source position information, and calculating to obtain the shortest sound source propagation time according to the sound source transmitting time and the sound source receiving time; the shortest propagation time of the sound source refers to the time when the sound source signal propagates to the nearest sound receiving unit, and the nearest sound receiving unit is the unit closest to the base station in all the sound receiving units;

8. The control method according to any one of claims 5 to 7, characterized in that the base station is further provided with a sensing device; the controlling the robot body to move to the base station according to the calculated position information of the base station comprises:

9. A control apparatus of a mobile robot including a robot body and a base station, characterized by comprising: the system comprises a receiving module, a sound source positioning module, a sound source orientation module and a moving module;

the sound source orientation module is used for acquiring signal attenuation parameters of the sound source signals received by the robot body in different directions, determining the incidence relation among the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source direction corresponding to the base station according to the incidence relation;

and the moving module is used for calculating the position information of the base station according to the signal propagation distance and the sound source direction and controlling the robot body to move to the base station according to the calculated position information of the base station.

10. A mobile robot, characterized in that the mobile robot comprises: a robot body and a base station, and a control device for a mobile robot according to claim 9.

11. The mobile robot according to claim 10, wherein the robot body is provided with at least two sound receiving units, and the base station is provided with a sound emitting unit; the sound production unit is used for producing the sound source signal, and the sound receiving unit is used for collecting the sound source signal of the sound production unit.

12. The mobile robot of claim 11, wherein each two of the sound-collecting units is a set of sound-collecting components, and at least two sets of sound-collecting components are disposed on the robot body; and the shortest connecting line between two sound collecting units in each group of sound collecting assemblies passes through the central point of the robot body, and the shortest connecting lines corresponding to the two groups of sound collecting assemblies are mutually vertical.

13. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the sound source localization method of a mobile robot of any of claims 1 to 4 and/or the control method of a mobile robot of any of claims 5 to 8.

14. A storage medium having stored thereon a computer program, wherein the computer program is arranged to execute the sound source localization method of a mobile robot according to any of claims 1 to 4 and/or the control method of a mobile robot according to any of claims 5 to 8 when running.