CN-115840189-B - Sound source orientation method, control method and control device of mobile robot

CN115840189BCN 115840189 BCN115840189 BCN 115840189BCN-115840189-B

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 steps of controlling the robot body to receive a sound source signal sent by the base station; under the condition that the robot body receives sound source signals sent by the base station, acquiring signal attenuation parameters of the robot body for receiving the sound source signals in different directions, determining association relations among the sound source signals received in different directions according to the signal attenuation parameters, and determining the sound source directions corresponding to the base station according to the association relations. The application solves the problem of inaccurate orientation of the base station in the moving process of the mobile robot, and realizes an accurate and efficient mobile robot control method.

Inventors

LI XIAOQIANG
PAN JIANGUANG
WANG JIANBIAO
LIU ZHENGYU
MA ZIANG
CHEN TAO

Assignees

杭州华橙软件技术有限公司

Dates

Publication Date: 20260508
Application Date: 20221129

Claims (11)

1. A sound source directing method of a mobile robot, wherein the mobile robot comprises a robot body and a base station, the method comprising: The method comprises the steps of controlling the robot body to receive sound source signals sent by the base station, wherein the robot body is provided with at least two sound receiving units, 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; 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 acquiring a preset signal attenuation model corresponding to the sound receiving unit; calculating cross-correlation function results among all sound source signals received by the sound receiving units according to the sound source signals, the signal attenuation parameters and the sound source receiving moments by utilizing the signal attenuation model, and calculating sound arrival time differences among the sound source receiving moments according to the cross-correlation function results; Determining the distance difference between the sound receiving units in each group of the sound receiving assemblies according to the sound arrival time difference; calculating according to the distance difference to obtain initial sound source direction information corresponding to each group of sound receiving components; Obtaining comparison results of all the initial sound source direction information; And distributing weight values for all the initial sound source direction information according to the comparison result, and carrying out fusion processing on all the initial sound source direction information based on the weight values to obtain the fused sound source direction.
2. A control method of a mobile robot including a robot body and a base station, the method comprising: The method comprises the steps of controlling the robot body to receive sound source signals sent by the base station, wherein the robot body is provided with at least two sound receiving units, 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; 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; calculating cross-correlation function results among all sound source signals received by the sound receiving units according to the sound source signals, the signal attenuation parameters and the sound source receiving moments by utilizing the signal attenuation model, and calculating sound arrival time differences among the sound source receiving moments according to the cross-correlation function results; Determining the distance difference between the sound receiving units in each group of the sound receiving assemblies according to the sound arrival time difference; calculating according to the distance difference to obtain initial sound source direction information corresponding to each group of sound receiving components; Obtaining comparison results of all the initial sound source direction information; Distributing weight values for all the initial sound source direction information according to the comparison result, and carrying out fusion processing on all the initial sound source direction information based on the weight values to obtain the fused sound source direction; 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.
3. The method according to claim 2, wherein the robot body is further provided with a signal receiving device, the base station is further provided with a signal transmitting device, and the method further comprises: When the robot body receives a start signal sent by the base station through the signal receiving device, controlling the robot body to enter a waiting receiving state, and acquiring the starting moment of the signal receiving device for receiving the start signal; controlling the robot body to receive the sound source signal sent by the base station under the condition that the robot body is in a waiting receiving state, 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.
4. The method according to claim 3, wherein the robot body is provided with at least two sound receiving units, and the determining the signal propagation distance according to the sound source emission time comprises: Acquiring a preset signal attenuation model; performing smoothing filtering on the signal attenuation model to obtain an average amplitude function, and calculating to obtain initial sound source position information according to the average amplitude function; Calculating a sound source receiving time of the robot body according to the initial sound source position information, and calculating a sound source shortest transmission time according to the sound source transmitting time and the sound source receiving time, wherein the sound source shortest transmission time refers to the time when the sound source signal propagates to a nearest sound receiving unit, and the nearest sound receiving unit is a unit nearest to the base station in all the sound receiving units; and calculating 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.
5. The control method according to any one of claims 2 to 4, wherein the base station is further provided with a sensing device, and wherein the controlling the robot body to move to the base station based on 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 utilizing a preset positioning algorithm; And under the condition that the real-time distance is detected to be smaller than a preset threshold value, acquiring a sensing signal of the sensing equipment for the robot body, and controlling the robot body to continuously move to the base station according to the sensing signal.
6. The control device of the mobile robot comprises a robot body and a base station and is characterized by comprising a receiving module, a sound source positioning module, a sound source orientation module and a mobile module; the receiving module is used for controlling the robot body to receive sound source signals sent by the base station, wherein the robot body is provided with at least two sound receiving units, 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; 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, acquiring a preset signal attenuation model corresponding to the sound receiving units, acquiring sound source receiving moments of the sound source signals received by the sound receiving units in different directions, calculating to obtain 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 moments by the sound source attenuation model, calculating to obtain sound arrival time differences among the sound source receiving moments according to the cross-correlation function results, determining distance differences among the sound receiving units in each group of sound receiving assemblies according to the sound arrival time differences, calculating to obtain initial sound source direction information corresponding to each group of sound receiving assemblies according to the distance differences, acquiring comparison results of all the initial sound source direction information, distributing weight values for all the initial sound source direction information according to the comparison results, and carrying out fusion processing on all the initial sound source direction information based on the weight values to obtain the fused sound source direction; 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.
7. A mobile robot comprising a robot body, a base station, and a control device for a mobile robot according to claim 6.
8. The mobile robot of claim 7, wherein at least two sound receiving units are arranged on the robot body, and the base station is provided with a sound generating unit, wherein the sound generating unit is used for generating the sound source signal, and the sound receiving unit is used for collecting the sound source signal of the sound generating unit.
9. The mobile robot of claim 8, wherein each two sound receiving units are a group of sound receiving components, at least two groups of sound receiving components are arranged on the robot body, a shortest connecting line between two sound receiving units in each group of sound receiving components passes through a center point of the robot body, and the shortest connecting lines corresponding to the two groups of sound receiving components are mutually perpendicular.
10. 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 directing method of a mobile robot according to claim 1 and/or the control method of a mobile robot according to any of claims 2 to 5.
11. A storage medium, characterized in that the storage medium has stored therein a computer program, wherein the computer program is arranged to execute the sound source directing method of a mobile robot according to claim 1 and/or the control method of a mobile robot according to any of claims 2 to 5 at run-time.

Description

Sound source orientation method, control method and control device of mobile robot Technical Field The present application relates to the field of robots, and in particular, to a sound source orientation method, a control method, and a control device for a mobile robot. Background Currently, mobile robots are widely used in industries such as industry, agriculture, medical treatment, service, and the like. 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, integration and the like when the electric quantity is low, and therefore, the mobile robot needs 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 by transmitting signals of an infrared sensor or a laser radar or the like mounted on the base station. However, in the case that a shielding object exists between the mobile robot and the base station, the base station cannot be positioned in the mode, so that the problem of low orientation accuracy of the base station in the process of controlling the mobile robot to move is caused, and inaccurate positioning of the base station is caused. At present, no effective solution is proposed for the problem of inaccurate orientation of a base station in the process of controlling the mobile robot to move 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, which 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 technology. In a first aspect, an embodiment of the present application provides a sound source orientation method of 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 association relations 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 association relation. In some embodiments, the robot body is provided with at least two sound receiving units, the association relation comprises a cross-correlation function result, and the method further comprises: acquiring a signal attenuation model corresponding to the preset sound receiving unit; Calculating cross-correlation function results among all the sound source signals received by the sound receiving units according to the sound source signals, the signal attenuation parameters and the sound source receiving moments by utilizing the signal attenuation model, and calculating sound arrival time differences among the sound source receiving moments according to the cross-correlation function results; And calculating a 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 components, at least two groups of sound receiving components are arranged on the robot body, and the method further comprises: 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 initial sound source direction information corresponding to each group of sound receiving components according to the distance difference, and carrying out fusion processing on all the initial sound source direction information to determine the sound source direction. In some embodiments, the fusing all the initial sound source direction information to determine the sound source direction includes: Obtaining comparison results of all the initial sound source direction information; And distributing weight values for all the initial sound source direction information according to the comparison result, and carrying out 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, and the method includes: Controlling the robot body to receive a sound source signa