CN113640741A

CN113640741A - Positioning method, robot device, charging device and related system

Info

Publication number: CN113640741A
Application number: CN202010392508.6A
Authority: CN
Inventors: 钟印成; 任冠佼
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Weilan continental (Beijing) Technology Co.,Ltd.
Priority date: 2020-05-11
Filing date: 2020-05-11
Publication date: 2021-11-12

Abstract

The embodiment of the application discloses a positioning method, a robot device, a charging device and a related system, wherein the positioning method applied to the robot device comprises the following steps: the robot equipment is provided with at least one first sound wave device and at least one first wireless communication device; controlling the first sound wave device to send out a sound wave signal and controlling the first wireless communication device to send out an electromagnetic wave signal; acquiring the relative position of the robot device relative to a charging device; wherein the relative position is determined based on position information of a first acoustic wave device with respect to a charging apparatus, and a mounting position of the first acoustic wave device on the robot apparatus; the position information of the first sound wave device relative to the charging equipment is determined based on the sound wave signals and the receiving parameters of the electromagnetic wave signals at the charging equipment.

Description

Positioning method, robot device, charging device and related system

Technical Field

The present disclosure relates to positioning technologies, and in particular, to a positioning method applied to a robot device and/or a charging device, a robot device, a charging device, and a related system.

Background

In the related art, some robot devices, such as a sweeping robot, have an automatic recharging function, and the robot device positions itself relative to a charging device, moves to the charging device, and moves to the charging device for charging. Most robots can adopt at least one of infrared recharging, laser radar recharging, magnetic stripe guiding recharging and the like as the recharging scheme. The infrared recharging and the laser radar recharging are both optical-based positioning recharging schemes, the optical-based positioning recharging schemes are affected by ambient light and are not suitable for outdoor strong light environments, and optical devices such as sensors are high in requirement on cleanliness, dirty-resistant and grey-resistant and are not suitable for being used in outdoor complex environments. The cost of the lidar recharging is also high. The scheme that the magnetic stripe guide is returned and is filled needs to set up a plurality of magnetic stripes, and is comparatively loaded down with trivial details on the overall arrangement setting, and the magnetic stripe has the possibility of demagnetization moreover, is not fit for long-time use. In the automatic recharging function, positioning the position of the robot device relative to the charging device is a very important link, and how to better position the position of the robot device relative to the charging device becomes a technical problem to be solved urgently.

Disclosure of Invention

In order to solve the existing technical problem, embodiments of the present application provide a positioning method, a robot apparatus, a charging apparatus, and a related system.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the application provides a positioning method, which is used for robot equipment, wherein the robot equipment is provided with at least one first sound wave device and at least one first wireless communication device;

the method comprises the following steps:

controlling the first sound wave device to send out a sound wave signal and controlling the first wireless communication device to send out an electromagnetic wave signal;

acquiring the relative position of the robot device relative to a charging device;

wherein the relative position is determined based on position information of the first acoustic wave device with respect to a charging apparatus, and a mounting position of the first acoustic wave device on the robot apparatus;

the position information of the first sound wave device relative to the charging equipment is determined based on the sound wave signals and the receiving parameters of the electromagnetic wave signals at the charging equipment.

In the foregoing solution, the acquiring the relative position of the robot apparatus with respect to the charging apparatus includes:

receiving the receiving parameters of the sound wave signal and the electromagnetic wave signal sent by the charging equipment;

calculating the position information of the first sound wave device relative to the charging equipment according to the receiving parameters;

and determining the charging position of the robot equipment relative to the charging equipment according to the position information of the first sound wave device relative to the charging equipment and the installation position of the first sound wave device on the robot equipment.

In the foregoing solution, the robot apparatus includes at least two first acoustic wave devices and one first wireless communication device;

the controlling the first acoustic wave device to emit an acoustic wave signal and the controlling the first wireless communication device to emit an electromagnetic wave signal includes: controlling each first sound wave device to generate a sound wave signal in a time sharing mode; controlling the first wireless communication devices to generate electromagnetic wave signals when each first acoustic wave device generates an acoustic wave signal;

the calculating the position information of the first sound wave device relative to the charging equipment according to the receiving parameters comprises the following steps: and calculating the position information of each first sound wave device relative to the charging equipment according to the receiving parameters and the time-sharing sequence.

In the foregoing solution, the robot apparatus includes a first acoustic wave device and a first wireless communication device;

the controlling the first acoustic wave device to emit an acoustic wave signal and the controlling the first wireless communication device to emit an electromagnetic wave signal includes: controlling the first acoustic wave device to generate an acoustic wave signal twice, and controlling the first wireless communication device to generate an electromagnetic wave signal each time the first acoustic wave device generates an acoustic wave signal;

the calculating the position information of the first sound wave device relative to the charging equipment according to the receiving parameters comprises the following steps: calculating the position information of the first sound wave device relative to the charging equipment when generating corresponding infrasonic wave signals according to the receiving parameters;

based on the twice-calculated position information of the first acoustic wave device relative to the charging apparatus, position information of the first acoustic wave device relative to the charging apparatus is determined.

In the foregoing solution, the receiving parameters include:

time information that the acoustic wave signal is received by the charging device, and time information that the electromagnetic wave signal is received by the charging device.

and receiving the relative position of the robot device relative to the charging device, which is sent by the charging device.

The embodiment of the application provides a positioning method, which is used for a charging device, wherein the charging device is provided with at least one second sound wave device and at least one second wireless communication device;

the method comprises the following steps:

controlling the second sound wave device to receive sound wave signals sent by at least one first sound wave device of the robot equipment and controlling the second wireless communication device to receive electromagnetic wave signals sent by at least one first wireless communication device of the robot equipment;

acquiring receiving parameters of the sound wave signal and the electromagnetic wave signal;

wherein the receiving quantity is used for determining the position information of the first sound wave device relative to the charging equipment;

the relative position of the robot apparatus with respect to the charging apparatus is determined based on the position information of the first acoustic wave device with respect to the charging apparatus and the mounting position of the first acoustic wave device on the robot apparatus.

the controlling the second sound wave device to receive sound wave signals sent by at least one first sound wave device of the robot equipment and the controlling the second wireless communication device to receive electromagnetic wave signals sent by at least one first wireless communication device of the robot equipment comprises the following steps: controlling the second acoustic wave device to receive acoustic wave signals generated by the first acoustic wave devices in a time sharing mode; controlling a second wireless communication device to receive an electromagnetic wave signal generated by the first wireless communication device in a time sharing mode;

the method for determining the position information of the first sound wave device relative to the charging equipment comprises the following steps:

and based on the receiving parameters, sequentially calculating the position information of each first sound wave device generating sound wave signals in a time-sharing mode relative to the charging equipment according to the time-sharing sequence.

In the foregoing solution, the number of the second acoustic wave devices is the same as that of the first acoustic wave devices, and the number of the second wireless communication devices is the same as that of the first wireless communication devices;

each of the second acoustic devices receives an acoustic wave signal generated in a case where the respective first acoustic devices generate an acoustic wave signal in time division thereof.

In the foregoing aspect, the robot apparatus includes one of the first acoustic wave devices and one of the first wireless communication devices;

the method for controlling the second sound wave device to receive sound wave signals sent by at least one first sound wave device of the robot equipment and controlling the second wireless communication device to receive electromagnetic wave signals sent by at least one first wireless communication device of the robot equipment comprises the following steps: controlling the second sound wave device to receive sound wave signals generated twice by the first sound wave device and controlling the second wireless communication device to receive electromagnetic wave signals generated twice by the first wireless communication device;

calculating position information of the first acoustic wave device relative to the charging equipment at a corresponding time based on the received parameters generated by the acoustic wave signal and the electromagnetic wave signal at the corresponding time at each time;

In the foregoing solution, the receiving parameters include: time information that the second acoustic wave device receives the acoustic wave signal, and time information that the second wireless communication device receives the electromagnetic wave signal.

In the foregoing aspect, the method further includes:

and sending the receiving parameters to the robot equipment.

The embodiment of the application provides a robot device, which is provided with at least one first sound wave device and at least one first wireless communication device; the robot apparatus includes:

a memory for storing a computer program;

a processor for executing the computer program and, when executing the computer program, performing the steps of:

wherein the relative position is determined based on position information of a first acoustic wave device with respect to a charging apparatus, and a mounting position of the first acoustic wave device on the robot apparatus;

The embodiment of the application provides a charging device, wherein the charging device is provided with at least one second sound wave device and at least one second wireless communication device; the charging apparatus includes:

a memory for storing a computer program;

controlling a second sound wave device to receive sound wave signals sent by at least one first sound wave device of the robot equipment and controlling a second wireless communication device to receive electromagnetic wave signals sent by at least one first wireless communication device of the robot equipment;

The embodiment of the application provides a positioning system, which is characterized by at least comprising the robot device and a charging device.

The embodiment of the application provides a positioning method, a robot device, a charging device and a related system, wherein the positioning method applied to the robot device comprises the following steps: the robot equipment is provided with at least one first sound wave device and at least one first wireless communication device; controlling the first sound wave device to send out a sound wave signal and controlling the first wireless communication device to send out an electromagnetic wave signal; acquiring the relative position of the robot device relative to a charging device; wherein the relative position is determined based on position information of the first acoustic wave device with respect to a charging apparatus, and a mounting position of the first acoustic wave device on the robot apparatus; the position information of the first sound wave device relative to the charging equipment is determined based on the sound wave signals and the receiving parameters of the electromagnetic wave signals at the charging equipment.

In the embodiment of the present application, the positioning of the position of the robot apparatus relative to the charging apparatus is realized based on the sound wave signal emitted by the first sound wave device and the electromagnetic wave signal emitted by the first wireless communication device, which is equivalent to the positioning of the position of the robot apparatus relative to the charging apparatus based on the acoustics and the electromagnetic wave.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a first flowchart of an implementation of a positioning method applied to a robot device in an embodiment of the present application;

fig. 2 is a flowchart of a second implementation of the positioning method applied to the robot apparatus in the embodiment of the present application;

fig. 3 is a third flowchart of an implementation of the positioning method applied to the robot apparatus in the embodiment of the present application;

fig. 4 is a flowchart of a fourth implementation of the positioning method applied to the robot apparatus in the embodiment of the present application;

fig. 5 is a flowchart of a fifth implementation of the positioning method applied to the robot apparatus in the embodiment of the present application;

FIG. 6 is a schematic diagram of an application scenario in an embodiment of the present application;

FIG. 7 is a first schematic diagram of a robot device and a charging device in an embodiment of the present application;

FIG. 8 is a schematic diagram of a coordinate system of a robot according to an embodiment of the present disclosure;

FIG. 9 is a second schematic diagram of a robot apparatus and a charging apparatus in an embodiment of the present application;

fig. 10 is a flowchart of an implementation of a positioning method applied to a charging device in an embodiment of the present application;

fig. 11 is a hardware configuration diagram of a robot device and/or a charging device in 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 technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In the present application, the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict. The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.

The present application provides a first embodiment of a positioning method. The positioning method can be applied to robot equipment. The robotic device is equipped with at least one first acoustic wave device and at least one first wireless communication device. The first acoustic wave device can generate an acoustic wave signal, and specifically can be an acoustic wave generator. The first wireless communication device is capable of generating an electromagnetic wave signal, and may specifically be an electromagnetic wave generator.

As shown in fig. 1, the method includes:

s101: the robot equipment controls the first sound wave device to send out sound wave signals and controls the first wireless communication device to send out electromagnetic wave signals;

in this step, the robot apparatus may control the first acoustic wave device to generate an acoustic wave signal and control the first wireless communication device to send an electromagnetic wave signal when obtaining the positioning instruction. The positioning instruction is an instruction to position the robot apparatus with respect to the charging apparatus. The positioning instruction can be generated under the condition that the electric quantity of the robot device is insufficient, and the robot device is required to execute the positioning scheme of the embodiment of the application in response to the positioning instruction so that the robot device can automatically move to the charging device for charging.

S102: acquiring the relative position of the robot device relative to a charging device; wherein the relative position is determined based on position information of a first acoustic wave device with respect to a charging apparatus, and a mounting position of the first acoustic wave device on the robot apparatus; the position information of the first sound wave device relative to the charging equipment is determined based on the sound wave signals and the receiving parameters of the electromagnetic wave signals at the charging equipment.

The main body for executing S101 to S102 is a robot apparatus. In the foregoing aspect, the positioning of the position of the robot apparatus with respect to the charging apparatus based on the sound wave signal transmitted by the first sound wave device and the electromagnetic wave signal transmitted by the first wireless communication device is equivalent to the positioning of the position of the robot apparatus with respect to the charging apparatus based on the acoustics and the electromagnetic wave.

As an alternative embodiment, in S102, the relative position of the robot apparatus with respect to the charging apparatus may be obtained by the robot apparatus obtaining the position information of the first acoustic wave device with respect to the charging apparatus according to the obtained receiving parameters sent by the charging apparatus, and obtaining the position information of the first acoustic wave device with respect to the charging apparatus and the installation position of the first acoustic wave device on the robot apparatus. The relative position of the robot apparatus with respect to the charging apparatus may also be a position of the robot apparatus with respect to the charging apparatus obtained by an apparatus communicating with the robot apparatus, such as the charging apparatus, obtaining a reception parameter from an acoustic wave signal generated by the first acoustic wave device and an electromagnetic wave signal generated by the first wireless communication device, obtaining position information of the first acoustic wave device with respect to the charging apparatus from the reception parameter, and calculating from the position information of the first acoustic wave device with respect to the charging apparatus and a mounting position of the first acoustic wave device on the robot apparatus, the robot apparatus obtaining the position of the robot apparatus with respect to the charging apparatus by receiving a calculation result of the charging apparatus. Equivalently, in S102, position information of the first acoustic wave device relative to the charging device is obtained based on the acoustic wave signal and the receiving parameters of the electromagnetic wave signal at the charging device, and a scheme of determining the relative position of the robot device relative to the charging device based on the position information of each first acoustic wave device in the at least one first acoustic wave device relative to the charging device and the installation position of each first acoustic wave device on the robot device can be realized by the robot device itself; may also be implemented by a charging device. In the case of implementation by the charging device, the charging device informs the determined relative position information to the robot device to let the robot device know the relative position of itself with respect to the charging device. In case the above solution is implemented by a robotic device, it may be: the charging equipment sends the receiving parameters of the sound wave signal and the electromagnetic wave signal to the robot equipment; the robot equipment receives the receiving parameters of the sound wave signal and the electromagnetic wave signal sent by the charging equipment; calculating the position information of the first sound wave device relative to the charging equipment according to the receiving parameters; and determining the charging position of the robot equipment relative to the charging equipment according to the position information of the first sound wave device relative to the charging equipment and the installation position of the first sound wave device on the robot equipment. The position of the robot device relative to the charging device is calculated by the robot device, so that the robot device can conveniently and directly position the position of the robot device relative to the charging device.

It can be understood that, since the first acoustic wave device-acoustic wave generator is provided on the robot apparatus, the position of the robot apparatus provided with each acoustic wave generator with respect to the charging apparatus can be obtained from the positional information of each acoustic wave generator with respect to the charging apparatus and the mounting position of each acoustic wave generator on the robot apparatus, thereby achieving the positioning of the relative position of the robot apparatus (of the charging apparatus). The positioning scheme is based on acoustics and electromagnetic waves to realize the positioning of the relative position of the robot equipment, is not influenced by ambient light, is resistant to dirt and dust, is suitable for being used in a complex environment and is suitable for being used for a long time.

In an optional aspect, in the case that the position of the robot apparatus relative to the charging apparatus is determined, the positioning method further includes: and controlling the robot equipment to move towards the charging equipment according to the determined relative position so as to realize the automatic recharging function. Therefore, the automatic recharging function of the robot equipment based on the sound waves and the electromagnetic waves is realized. The automatic recharging function based on the sound waves and the electromagnetic waves can be free from the influence of ambient light, is dirt-resistant and dust-resistant, is suitable for being used in a complex environment and is suitable for being used for a long time.

It can be understood that since the propagation speeds of the electromagnetic wave and the acoustic wave in the air are different, no influence is generated between the electromagnetic wave and the acoustic wave. The number of acoustic wave generators and electromagnetic wave generators in the robot device may be the same or different. In order to avoid the problem that sound waves generated among sound wave generators affect each other, the sound wave generators can be controlled to generate sound wave signals in a time-sharing manner under the condition that the number of the sound wave generators arranged in the robot equipment is two or more. That is, the sound wave generators are controlled to generate the sound wave signals according to a certain sequence (time-sharing sequence).

In a second embodiment of the positioning method provided by the present application, at least two acoustic wave generators and one electromagnetic wave generator are provided in the robot apparatus. As shown in fig. 2, the positioning method is applied to a robot apparatus, and includes:

s201: controlling each of the at least two sound wave generators to generate sound wave signals in a time-sharing manner; controlling the electromagnetic wave generators to generate electromagnetic wave signals when each acoustic wave generator generates an acoustic wave signal;

in the step, under the condition that the robot device detects the positioning instruction, responding to the positioning instruction, and controlling each sound wave generator to generate sound wave signals according to the time-sharing sequence; and generating an acoustic wave signal in each acoustic wave generator to control the electromagnetic wave generator to generate an electromagnetic wave signal.

S202: receiving parameters which are sent by the charging equipment in a time-sharing mode and are generated based on the sound wave signals generated in the time-sharing mode and the electromagnetic wave signals generated when the sound wave signals are generated in the time-sharing mode;

s203: according to the receiving parameters received in a time-sharing mode, position information of each first sound wave device relative to the charging equipment is calculated according to the time-sharing sequence;

s204: and obtaining the relative position of the robot equipment relative to the charging equipment according to the position information of each first sound wave device relative to the charging equipment calculated in a time-sharing mode and the installation position of each first sound wave device on the robot equipment.

The main body for executing the above-described S201 to S204 is a robot apparatus. The steps of S201 to S204 correspond to the calculation of the position of the robot apparatus itself with respect to the charging apparatus by the acoustic wave signal generated by the acoustic wave generator and the electromagnetic wave signal generated by the electromagnetic wave generator. In step S202, in addition to the time-sharing receiving parameter, for example, the receiving parameter may be sent once after the charging device generates the receiving parameter, and the receiving parameter itself may indicate time-sharing information, or may be a receiving parameter sent by the charging device once.

In the scheme, the relative position of the robot equipment is positioned based on acoustics and electromagnetic waves, the robot equipment is not influenced by ambient light, is resistant to dirt and dust, and is suitable for being used in a complex environment and being used for a long time. In addition, each sound wave generator is controlled to generate sound wave signals in a time-sharing mode; and when each sound wave generator generates a sound wave signal, controlling the electromagnetic wave generators to generate electromagnetic wave signals, and calculating the position information of each sound wave generator generating the sound wave signals in a time-sharing manner relative to the charging equipment according to the sound wave signals generated by the time-sharing sound wave generators and the electromagnetic wave signals generated by the electromagnetic wave generators at the moment so as to obtain the relative position of the robot equipment. The scheme of generating the sound wave signals according to the time-sharing sequence and controlling the same electromagnetic wave generator to generate the electromagnetic wave signals for multiple times can avoid the problem that the relative position of the robot equipment is not accurately positioned when the sound wave generator simultaneously generates the sound wave signals. According to the time-sharing scheme, the position information of each sound wave generator relative to the charging equipment is calculated one by one, the relative position of the robot equipment is obtained according to the calculated position information of each sound wave generator relative to the charging equipment, and the positioning accuracy of the robot equipment can be guaranteed.

The charging equipment in the embodiment of the application is provided with at least two sound wave receivers and one electromagnetic wave receiver; accordingly, S202 and S203 can be specifically realized by the scheme shown in fig. 3:

for any one of at least two first acoustic wave devices that perform acoustic wave signal generation in time-sharing order, in the case where the acoustic wave signal generated by the any one of the first acoustic wave devices in its time-sharing order and the electromagnetic wave signal generated by the first wireless communication device at the time of the acoustic wave signal generation,

s2031: receiving time information of each sound wave receiver receiving the sound wave signal generated by any sound wave generator;

s2032: receiving time information of the electromagnetic wave signal received by an electromagnetic wave receiver;

s2033: determining position information of any sound wave generator relative to each sound wave receiver based on time information of each sound wave receiver receiving the sound wave signals and time information of the electromagnetic wave receiver receiving the electromagnetic wave signals;

the schemes of S2031 to S2033 are schemes for calculating the position of any one of the acoustic wave generators with respect to each of the acoustic wave receivers.

S2034: and determining the position information of any sound wave generator relative to the charging equipment based on the position information of any sound wave generator relative to each sound wave receiver.

Wherein, S2033 and S2034 can be regarded as determining further description of the position information of the any one of the first acoustic wave devices relative to the charging apparatus based on the time information of the transmission of the acoustic wave signal to the charging apparatus and the time information of the transmission of the electromagnetic wave signal to the charging apparatus.

The main body for executing S2031 to S2034 is a robot apparatus. Two pieces of time information are utilized: the time information of the sound wave signals received by the sound wave receivers and the time information of the electromagnetic wave signals received by the electromagnetic wave receivers are calculated according to the position information of any sound wave generator relative to the sound wave receivers. Based on the position information of any sound wave generator relative to each sound wave receiver, the position information of any sound wave generator relative to the charging device is determined. And obtaining the relative position of the robot equipment relative to the charging equipment according to the calculated position information of each first sound wave device relative to the charging equipment and the installation position of each first sound wave device on the robot equipment. The transmission speed of the sound waves and the electromagnetic waves in the air is not easily influenced by the environment, the time of the generation and the receiving of the sound waves and the electromagnetic waves is accurate, and the calculation accuracy of the two times can ensure the calculation accuracy of the relative position of the robot to a certain extent.

The following further describes the technical solution of the embodiment of the present application with reference to the application scenario shown in fig. 6. In fig. 6, the robot device is used as a sweeping robot, and in the sweeping process, it is determined whether the electric quantity is lower than a threshold value, for example, 10% or 20% of the full grid electric quantity, if the electric quantity is lower than the threshold value, a positioning instruction is generated, and the sweeping robot responds to the positioning instruction to execute the following positioning recharging scheme. Wherein, the threshold value can be flexibly set according to the practical application condition.

As shown in fig. 7, taking an example in which the acoustic wave generator is an ultrasonic probe and the acoustic wave receiver is an ultrasonic probe, two ultrasonic probes (probe 1 and probe 2) are provided on the side of the sweeping robot, and 2 ultrasonic probes (probe 3 and probe 4) are provided on the side of the charging device. It can be understood that the arrangement positions and the number of the ultrasonic probes arranged on the sweeping robot and the charging device can be determined according to actual conditions. Generally, after the ultrasonic probes are set, the mounting positions of the two ultrasonic probes arranged on the sweeping robot side on the robot device are known, and the distance between the probe 1 and the probe 2 is known. Similarly, the mounting positions of the two ultrasonic probes provided on the charging apparatus side on the charging apparatus are known, and the distance between the probe 3 and the probe 4 is known. In the application scenario, the number of the electromagnetic wave generators arranged on the side of the sweeping robot and the number of the electromagnetic wave receivers arranged on the side of the charging equipment are both one.

Taking the example that the probe 1 and the probe 2 generate the acoustic wave signals in a time-sharing manner (the probe 1 and the probe 2 generate the acoustic wave signals at different time points), the probe 1 generates the acoustic wave signals first, and the position of the probe 1 relative to the charging device is calculated for the acoustic wave signals generated by the probe 1 and the electromagnetic wave signals generated by the electromagnetic wave generator when the probe 1 generates the acoustic wave signals. The probe 2 again generates an acoustic wave signal, and the position of the probe 2 with respect to the charging apparatus is calculated for the acoustic wave signal generated by the probe 2 and the electromagnetic wave signal generated by the electromagnetic wave generator when the probe 2 generates the acoustic wave signal. And finally, calculating the position of the robot equipment relative to the charging equipment according to the position information of the probe 1 and the probe 2 relative to the charging equipment and the installation positions of the two probes on the robot equipment.

Looking first at the case where the probe 1 first generates an acoustic signal,

s01, under the condition that the sweeping robot generates a positioning instruction, the sweeping robot responds to the positioning instruction, controls the ultrasonic probe 1 to generate a sound wave signal, controls the electromagnetic wave generator to generate an electromagnetic wave signal while controlling the ultrasonic probe 1 to generate the sound wave signal, and simultaneously sends the two signals to the charging equipment side;

the step is equivalent to controlling the ultrasonic probe 1 and the electromagnetic wave generator to generate and transmit respective signals at the same time.

S02, the charging equipment side, specifically the ultrasonic probe 3 and the ultrasonic probe 4 respectively receive sound wave signals generated by the ultrasonic probe 1; and the electromagnetic wave receiver on the charging equipment side receives an electromagnetic wave signal generated by the electromagnetic wave generator on the sweeping robot side.

It can be understood that, since the propagation speed of the electromagnetic wave (3 x 10^8m/s) is faster than the speed of sound (about 340m/s at 1 atm and 15 ℃), the electromagnetic wave signal is received by the electromagnetic wave receiver on the charging device side first, and the charging device records the time when the electromagnetic wave signal is received, which is assumed to be T1. The charging device records the times at which the ultrasonic probes 3 and 4 receive the sound wave signals generated by the ultrasonic probe 1, respectively, as T2 and T3.

In this application scenario, the receiving parameters may specifically be time information of receiving the electromagnetic wave signal recorded by the charging device, such as T1, and time information of receiving the acoustic wave signal by each ultrasonic probe, such as T2 and T3.

And S03, the charging equipment transmits the recorded information (time T1, time T2 and time T3) to the sweeping robot.

And S04, the sweeping robot receives the recorded information sent by the charging equipment, and calculates the propagation time of the sound wave signal generated by the ultrasonic probe 1 from the sweeping robot side to 2 ultrasonic probes of the charging equipment according to the received information.

In this application scenario, the receiving parameters may specifically be time information of receiving the electromagnetic wave signal recorded by the charging device, such as T1, and time information of receiving the acoustic wave signal by each ultrasonic probe, such as T2 and T3. The charging device sends or transmits the information to the sweeping robot in S03, and the sweeping robot receives the information in S04. It can be understood that, since the electromagnetic wave propagation speed is much faster than the speed of sound, the time for the electromagnetic wave signal to propagate from the electromagnetic wave generator to the electromagnetic wave receiver can be considered as negligible, and thus the time T1 when the electromagnetic wave receiver receives the electromagnetic wave can be considered as the time when the electromagnetic wave generator generates the electromagnetic wave. In this case, the calculated travel times of the sound wave signals from the sweeping robot side to the 2 ultrasonic probes of the charging device are T2-T1 and T3-T1, respectively.

Because the transmission speed of the sound waves and the electromagnetic waves in the air is not easily influenced by the environment, the T2-T1 and the T3-T1 are calculated accurately, and the calculation accuracy of the relative position of the robot can be ensured to a certain extent.

And S05, calculating the distances from the ultrasonic probe 1 to the 2 ultrasonic probes of the charging equipment respectively to be S1 and S2 by the sweeping robot according to the propagation speed of the sound wave and the propagation time of the sound wave from the sweeping robot side to the 2 ultrasonic probes of the charging equipment.

In the application scenario, the number of the ultrasonic probes on the sweeping robot side and the charging equipment side is the same, and the number of the ultrasonic probes is two; the number of the electromagnetic wave generators on the side of the sweeping robot is the same as that of the electromagnetic wave receivers on the side of the charging equipment, and the electromagnetic wave generators and the electromagnetic wave receivers are all 1. It will be appreciated that the role of the electromagnetic wave generator and receiver in the context of this application is to know the time information T1. For an ultrasonic signal generated by any one ultrasonic probe on the sweeping robot side, all the ultrasonic probes on the charging equipment side receive the ultrasonic signal so as to acquire time information T2 and T3. Time information such as T1, T2, and T3 is calculated as S1 and S2. S1 ═ 340(m/S) × (T2-T1); s2 ═ 340(m/S) × (T3-T1).

S06, the sweeping robot establishes a robot coordinate system, and calculates the position relation of the ultrasonic probe 1 relative to the 2 ultrasonic probes on the charging equipment side according to the distances between the ultrasonic probes 3 and 4 and S1 and S2; the position of the ultrasonic probe 1 relative to the charging device is calculated from the positions of the ultrasonic probe 1 relative to the 2 ultrasonic probes on the charging device side.

In this step, the established robot coordinate system (XOY) may be, as shown in fig. 8, mapped to the robot coordinate system at the positions of the 2 ultrasound probes on the charging device side, and assumed to be mapped to the point a and the point B, respectively. The distance between the points a and B (i.e., the set distance of the ultrasonic probe 3 and the ultrasonic probe 4 on the charging device side) is known. The distances between the ultrasonic probe 1 and the points a and B (i.e., S1 and S2) are also calculated, and then the coordinate point denoted as the ultrasonic probe 1 can be found in the coordinate system according to the cosine theorem, assuming that it is the point C. After the coordinate points of the ultrasonic probe 1 are located in the coordinate system, the positions of the point C relative to the points a and B, that is, the positions of the ultrasonic probe 1 relative to the ultrasonic probes 3 and 4, can be known. It can be understood that, because the size of the sweeping robot is limited, the distance between the ultrasonic probes 3 and 4 is not too large, the position of the ultrasonic probe 1 relative to the ultrasonic probes 3 and 4 is not too different, and the average value of the positions of the ultrasonic probe 1 relative to the ultrasonic probes 3 and 4 can be regarded as the position of the ultrasonic probe 1 relative to the charging device.

The above scheme is a scheme in which the probe 1 generates an acoustic wave signal first, and the position of the probe 1 with respect to the charging apparatus is calculated for the acoustic wave signal generated by the probe 1 and an electromagnetic wave signal generated by an electromagnetic wave generator when the probe 1 generates the acoustic wave signal. After calculating the position of the probe 1 with respect to the charging apparatus based on the acoustic wave signal generated by the probe 1 and the electromagnetic wave signal generated by the electromagnetic wave generator when the probe 1 generates the acoustic wave signal, the probe 2 generates the acoustic wave signal again, and calculates the position of the probe 2 with respect to the charging apparatus with respect to the acoustic wave signal generated by the probe 2 and the electromagnetic wave signal generated by the electromagnetic wave generator when the probe 2 generates the acoustic wave signal. Specifically, after the probe 1 has finished performing the above-mentioned S01 to S06, the ultrasonic probe 1 in S01 to S06 may be regarded as the ultrasonic probe 2 and perform the above-mentioned process again, that is, the coordinate of the ultrasonic probe 2 in the coordinate system is the D point, and the positions of the ultrasonic probe 2 with respect to the 2 ultrasonic probes on the charging device side and further the position of the ultrasonic probe 2 with respect to the charging device may be calculated according to the above-mentioned process. Under the condition that the positions of the ultrasonic probes 1 and 2 relative to the charging equipment and the installation positions of the ultrasonic probes 1 and 2 on the sweeping robot are calculated, because the ultrasonic probes 1 and 2 are both arranged on the side of the sweeping robot, if the ultrasonic probes 1 and 2 are two points in the space, a line can be determined by the two points, and the surface where the line is located is equivalent to the sweeping robot, so that the position of the sweeping robot relative to the charging equipment can be calculated. Here can be considered as: because the installation positions of the probes of the sweeping robot and the charging equipment are known, and the relative positions of the ultrasonic probe 1 and the 2 probes of the charging equipment and the relative positions of the ultrasonic probe 2 and the 2 probes of the charging equipment are known at the same time, which is equivalent to the known relative positions of the 4 ultrasonic probes, the distance between the sweeping robot and the charging equipment and the distance and the direction of the sweeping robot relative to the charging equipment can be obtained by the cosine theorem under the condition. For the above scheme of calculating the position of the sweeping robot relative to the charging device, please refer to the related description, which is not repeated.

It can be understood that the position of the sweeping robot relative to the charging device in the embodiment of the present application includes the distance and the direction of the sweeping robot relative to the charging device. The sweeping robot can adjust the direction of the robot according to the distance and the direction, and moves to the charging equipment to automatically charge the robot to finish the automatic positioning and recharging function.

In the scheme, the charging equipment records three time information (T1, T2 and T3) and transmits the recorded information to the sweeping robot side, and the sweeping robot carries out positioning of relative positions according to the recorded information. In addition, under the condition that the charging equipment records three time information, the charging equipment calculates the propagation time of the sound wave from the sweeping robot side to the 2 ultrasonic probes of the charging equipment according to the information recorded by the charging equipment, calculates the distances from the ultrasonic probe 1 and the ultrasonic probe 2 to the 2 ultrasonic probes of the charging equipment according to the transmission time, and calculates the position information of each ultrasonic probe of the sweeping robot relative to the 2 ultrasonic probes of the charging equipment side according to the distances; according to the positions of the ultrasonic probes 1 and 2 relative to the 2 ultrasonic probes on the charging equipment side, the positions of the ultrasonic probes 1 and 2 relative to the charging equipment are calculated, the position of the sweeping robot relative to the charging equipment is calculated, the calculated position information is sent to the sweeping robot, the sweeping robot adjusts the position of the sweeping robot according to the received position information, the sweeping robot moves to the charging equipment to automatically charge the sweeping robot to complete the automatic positioning and recharging function. In this case, the time information corresponds to S1 and S2 calculated by the charging device based on the three pieces of time information recorded by the charging device; then, the positions of the ultrasonic probes 1 and 2 relative to the 2 ultrasonic probes on the charging equipment side are calculated according to the distances between the ultrasonic probes 3 and 4 and the distances between the ultrasonic probes 3 and 4 in the S1 and S2; calculating the positions of the ultrasonic probes 1 and 2 relative to the charging equipment according to the positions of the ultrasonic probes 1 and 2 relative to the 2 ultrasonic probes on the charging equipment side; and finally, obtaining the position of the sweeping robot relative to the charging equipment according to the positions of the ultrasonic probe 1 and the probe 2 relative to the charging equipment and the mounting positions of the ultrasonic probes 1 and 2 on the sweeping robot, which are obtained by the charging equipment from the sweeping robot in advance. The charging equipment sends the calculated relative position information to the sweeping robot, so that the sweeping robot can know the position of the sweeping robot relative to the charging equipment at the moment, and the positioning and recharging function is further realized. The difference between the robot coordinate system and the charging device coordinate system is 180 degrees, and the process of calculating the position of the sweeping robot relative to the charging device based on the charging device coordinate system refers to the process of calculating the position of the sweeping robot relative to the charging device based on the robot coordinate system, and repeated parts are repeated.

In the above-described S01 to S06, the robot apparatus is positioned with respect to the position thereof based on the acoustic waves and the electromagnetic waves, and is not affected by ambient light, resistant to dirt and dust, suitable for use in a complicated environment, and suitable for long-term use. The probe 1 and the probe 2 are controlled to generate sound wave signals in a time-sharing mode and the process from S01 to S06 is executed, and the scheme of generating the sound wave signals according to the time-sharing sequence and controlling the same electromagnetic wave generator to generate the electromagnetic wave signals for multiple times can avoid the problem that the relative position of the robot equipment is not accurately positioned when the sound wave signals are generated by the sound wave generator at the same time. S01 to S06 are equivalent to calculating the position information of each ultrasonic probe with respect to the charging device one by one, and obtaining the relative position of the robot device according to the calculated position information of all the ultrasonic probes with respect to the charging device, thereby ensuring the positioning accuracy of the robot device.

In a concrete implementation, besides at least two sound wave generators and one electromagnetic wave generator, the robot device can realize the positioning recharging function of the robot device through the schemes shown in fig. 2 and 3. An acoustic wave generator and an electromagnetic wave generator may also be provided. The positioning recharging scheme is realized by arranging a single sound wave generator and a single electromagnetic wave generator, and specifically, as shown in fig. 4, the positioning method comprises the following steps:

s401: obtaining a positioning instruction, wherein the positioning instruction is an instruction for positioning the position of the robot device relative to the charging device;

please refer to the related description above, and the repetition parts are not repeated.

S402: responding to a positioning instruction, controlling the first sound wave device to generate sound wave signals twice, and controlling the first wireless communication device to generate electromagnetic wave signals each time the first sound wave device generates the sound wave signals;

s403: receiving parameters which are sent by the charging equipment and generated based on the sound wave signals and the electromagnetic wave signals generated at each time;

s404: calculating position information of the first sound wave device relative to the charging equipment at the corresponding time based on the received parameters received at each time;

s405: and determining the position of the robot device relative to the charging device based on the twice-calculated position information of the first acoustic wave device relative to the charging device and the installation position of the first acoustic wave device on the robot device.

In the foregoing S401 to S405, the acoustic wave generator is controlled to generate two acoustic wave signals and the electromagnetic wave generator is controlled to generate two electromagnetic wave signals, and for each generated acoustic wave signal and electromagnetic wave signal, a receiving parameter sent by the charging device and generated based on each generated acoustic wave signal and electromagnetic wave signal is received; based on the received parameters received each time, the position of the corresponding next acoustic-wave generator relative to the charging device is calculated. And calculating the position of the robot device relative to the charging device based on the twice-calculated position information of the sound wave generator relative to the charging device and the installation position of the first sound wave device on the robot device. The positioning of the relative position of the robot equipment is realized based on acoustics and electromagnetic waves, the robot equipment is not influenced by ambient light, is dirty-resistant and dust-resistant, is suitable for being used in a complex environment and is suitable for being used for a long time. In addition, the relative position of the robot equipment is obtained through two times of calculation, and the accuracy of the relative position of the calculator equipment can be guaranteed.

In order to cooperate with the use of one acoustic wave generator and one electromagnetic wave generator of the robot apparatus, the charging apparatus in the embodiment of the present application includes two acoustic wave receivers and one electromagnetic wave receiver. As shown in fig. 5, the method includes:

s501: aiming at the sound wave signals generated by the sound wave generator twice and the electromagnetic wave signals generated by the electromagnetic wave generator twice, the robot equipment receives the time information of the charging equipment, specifically, each sound wave receiver receives the sound wave signals generated by each sound wave generator;

s502: receiving time information of electromagnetic wave signals generated by each secondary electromagnetic wave generator by a charging device, in particular an electromagnetic wave receiver;

s503: determining position information of the sound wave generator relative to each sound wave receiver at a corresponding time based on time information of the sound wave signal received by each sound wave receiver at each time and time information of the electromagnetic wave signal received by each electromagnetic wave receiver at each time;

s504: based on the position information of the respective infrasonic wave generator with respect to each sonic wave receiver, position information of the respective infrasonic wave generator with respect to the charging apparatus is determined.

Here, S503 and S504 can be regarded as further description that the robot apparatus determines the position information of the first acoustic wave device relative to the charging apparatus at the corresponding times based on the time information of the generated acoustic wave signal received at each time by the charging apparatus and the time information of the generated electromagnetic wave signal received at each time.

The main body for executing the above-described S501 to S504 is a robot apparatus. With two time information calculated each time: the time information of the sound wave signals received by each sound wave receiver and the time information of the electromagnetic wave signals received by the electromagnetic wave receivers are used for calculating the position information of the sound wave generator relative to each sound wave receiver at the corresponding time, and the result of the position of the sound wave generator relative to the charging equipment calculated twice is used for calculating the relative position of the robot equipment. In addition, the relative position of the final robot equipment is obtained through twice calculation, and the positioning accuracy can be greatly improved.

With reference to the application scenario shown in fig. 9, one ultrasonic probe (probe 1) is disposed on the sweeping robot side, and 2 ultrasonic probes (probe 3 and probe 4) are disposed on the charging device side. In the application scenario, the number of the electromagnetic wave generators arranged on the side of the sweeping robot and the number of the electromagnetic wave receivers arranged on the side of the charging equipment are both one. In the application scenario, a single ultrasonic probe and a single electromagnetic wave generator are required to generate two signals, and the relative position of the robot is calculated according to the two generated signals. In the present application scenario, the signal is generated twice in such a manner that the signal is generated for the first time when the relative position of the robot is at position 1, the position 1 is changed to position 2 when the robot moves slightly, the signal is generated again when the position 2 is reached, and the relative position of the robot (the position relative to the charging device) is calculated for the signals generated twice. The slight movement of the robot may be a movement smaller than a certain threshold, such as 10cm, so as to avoid the problem of inaccurate positioning caused by too large movement of the robot. Such a scheme of performing robot calculation based on signals generated twice is equivalent to a case where two ultrasonic probes are provided on the robot apparatus side by one movement of the robot, compared to the above-described schemes S01 to S06. The positioning scheme can be free from the influence of ambient light, is dirt-resistant and dust-resistant, is suitable for being used in a complex environment and is suitable for being used for a long time.

In the concrete implementation aspect, the method comprises the following steps of,

s11, generating a positioning instruction if the electric quantity of the sweeping robot is insufficient in the sweeping process, and controlling the ultrasonic probe 1 to generate a sound wave signal for the first time (assuming that the sweeping robot is located at the position 1 when the signal is generated for the first time) in response to the positioning instruction, controlling the electromagnetic wave generator to generate an electromagnetic wave signal for the first time while controlling the ultrasonic probe 1 to generate the sound wave signal, and simultaneously sending the two signals to the charging equipment side;

s12, the charging equipment side, specifically the ultrasonic probe 3 and the ultrasonic probe 4 respectively receive the sound wave signals generated by the ultrasonic probe 1 for the first time; the electromagnetic wave receiver on the charging equipment side receives an electromagnetic wave signal firstly generated by the electromagnetic wave generator on the sweeping robot side.

It can be understood that, since the propagation speed of the electromagnetic wave (3 x 10^8m/s) is faster than the speed of sound (about 340m/s at 1 atm and 15 ℃), the electromagnetic wave signal is received by the electromagnetic wave receiver on the charging device side first, and the charging device records the time when the electromagnetic wave signal is received, which is assumed to be T11. The charging device records the times at which the ultrasonic probes 3 and 4 receive the sound wave signals generated by the ultrasonic probe 1, respectively, as T21 and T31.

And S13, the charging equipment transmits the recorded information (time T11, time T21 and time T31) to the sweeping robot.

S14, the sweeping robot calculates the propagation time of the sound wave signal generated by the ultrasonic probe 1 for the first time from the sweeping robot side to the 2 ultrasonic probes of the charging device: T21-T11 and T31-T11.

In this application scenario, the receiving parameters may specifically be time information of receiving the electromagnetic wave signal recorded by the charging device, such as T11, and time information of receiving the acoustic wave signal by each ultrasonic probe, such as T21 and T31. The charging device sends or transmits the information to the sweeping robot in S13, and the sweeping robot receives the information and calculates the propagation time of the 2 ultrasonic probes in S14.

Because the transmission speed of sound waves and electromagnetic waves in the air is not easily influenced by the environment, the T21-T11 and the T31-T11 are calculated accurately, and the calculation accuracy of the relative position of the robot can be ensured to a certain extent.

And S15, according to the propagation speed of the sound wave and the propagation time of the sound wave from the sweeping robot side to the 2 ultrasonic probes of the charging equipment, the sweeping robot calculates that the distances from the ultrasonic probe 1 for the signal generated for the first time to the 2 ultrasonic probes of the charging equipment are S11 and S21 respectively.

S11 ═ speed of sound wave propagation (T21-T11); s21 ═ speed of sound wave propagation (T31-T11).

S16, the sweeping robot establishes a robot coordinate system, and according to the S11 and S21 and the installation distances (known) of the ultrasonic probe 3 and the ultrasonic probe 4 on the sweeping robot, the sweeping robot calculates the position information of the ultrasonic probe 1 relative to the 2 ultrasonic probes on the charging equipment side aiming at the signals generated for the first time; the position of the ultrasonic probe 1 relative to the charging device is calculated from the positions of the ultrasonic probe 1 relative to the 2 ultrasonic probes on the charging device side.

For details of S11-S16, reference is made to the descriptions of S01-S06, and repeated descriptions are omitted here.

It is assumed that the aforementioned scheme is a scheme performed in the case where the robot is in position 1. When the position of the ultrasonic probe 1 for the first time with respect to the charging device is calculated for the sound wave signal and the electromagnetic wave signal generated for the first time through S11 to S16, the robot device controls itself to move by a distance equal to or less than a threshold (to move to position 2), controls the ultrasonic probe 1 to generate the sound wave signal and controls the electromagnetic wave generator to generate the electromagnetic wave signal at position 2, and substitutes the signals generated for the second time into the flow of S12 to S16 as the signals generated for the second time, thereby realizing a scheme of calculating the position of the ultrasonic probe 1 for the second time with respect to the charging device for the sound wave signal generated for the second time by the same sound wave generator and the electromagnetic wave signal generated by the same electromagnetic wave generator. The implementation process of the scheme is similar to the processing process of the sound wave signal and the electromagnetic wave signal generated by the sound wave generator and the electromagnetic wave generator for the first time, and repeated parts are not described again.

In the coordinate system shown in fig. 8, the C point (the position of the ultrasonic probe 1 of the robot apparatus before movement, e.g., position 1) can be located for the first generated signal. The D point (position of the ultrasound probe of the robot device after the movement, e.g. position 2) can be located for the regenerated signal. The position of the robot apparatus relative to the charging apparatus is determined based on the twice calculated positions of the ultrasonic probe 1 relative to the charging apparatus (see the foregoing description for the procedure). The positioning of the relative position of the robot equipment is realized based on acoustics and electromagnetic waves, the robot equipment is not influenced by ambient light, is dirty-resistant and dust-resistant, is suitable for being used in a complex environment and is suitable for being used for a long time. In addition, in the case that the robot device has only a single ultrasonic probe, the robot device simulates the case that the robot device has two ultrasonic probes by moving in a short distance, and the relative position of the robot device is obtained by two times of calculation, so that the accuracy of the relative position of the robot device can be ensured.

It is understood that the number of the acoustic wave generator and the electromagnetic wave generator in the robot apparatus and the number of the acoustic wave receiver and the electromagnetic wave receiver in the charging apparatus in the embodiment of the present application may be any reasonable value other than those shown in fig. 7 and 9. No matter the number of the devices is several, the positioning recharging can be performed according to the description of fig. 7 and 9, and the automatic positioning and recharging of the robot device can be realized. That is, the robot apparatus in the embodiment of the present application may be provided with at least one sound wave generator and at least one electromagnetic wave generator, and may use the sound wave receiver to receive the sound wave signal and the electromagnetic wave signal generated by the sound wave generator and the electromagnetic wave receiver to receive the electromagnetic wave signal, respectively. In order to receive signals, the charging device side in the embodiment of the present application may be provided with at least one acoustic wave receiver and at least one electromagnetic wave receiver. According to the scheme, each sound wave receiver of the charging equipment is used for receiving the sound wave signal generated by any sound wave generator of the robot equipment. The electromagnetic wave generator and the electromagnetic wave receiver need to be matched in advance, and each electromagnetic wave receiver of the charging device is used for receiving an electromagnetic wave signal generated by the electromagnetic wave generator matched with each electromagnetic wave receiver of the charging device.

The embodiment of the application also discloses another positioning method which is applied to charging equipment. The charging apparatus is mounted with at least one second sound wave device and at least one second wireless communication device. As shown in fig. 10, the method includes:

s1001: controlling a second sound wave device to receive sound wave signals sent by at least one first sound wave device of the robot equipment and controlling a second wireless communication device to receive electromagnetic wave signals sent by at least one first wireless communication device of the robot equipment;

s1002: acquiring receiving parameters of the sound wave signal and the electromagnetic wave signal;

s1003: acquiring the relative position of the robot equipment relative to the charging equipment;

wherein the position information of the first acoustic wave device relative to the charging apparatus is determined based on the reception quantity; the relative position is determined based on position information of the first acoustic wave device with respect to the charging apparatus and an installation position of the first acoustic wave device on the robot apparatus.

It is to be understood that the relative position of the robot device with respect to the charging device may be calculated by the charging device depending on the received parameters. The relative position of the robot device with respect to the charging device may also be calculated by the robot device communicating with the charging device depending on the reception parameters, in which case the charging device will not perform step S1003 described above, but will transmit the acquired reception parameters to the robot device, and the robot device calculates its relative position with respect to the charging device. The details of the related contents are shown in the related description, and the description is not repeated.

In the scheme, the relative position of the robot can be positioned based on the sound waves and the electromagnetic waves, the robot is not influenced by ambient light, is dirty-resistant and dust-resistant, and is suitable for being used in a complex environment and being used for a long time.

In an alternative, the robotic device comprises at least two first acoustic wave devices and one first wireless communication device;

In an alternative, the second acoustic devices are the same number as the first acoustic devices, and the second wireless communication devices are the same number as the first wireless communication devices;

In an alternative, the robotic device comprises one of the first acoustic wave devices and one of the first wireless communication devices;

In an optional aspect, the receiving parameters include: time information that the second acoustic wave device receives the acoustic wave signal, and time information that the second wireless communication device receives the electromagnetic wave signal.

In an optional aspect, the method further comprises:

and sending the receiving parameters to the robot equipment.

For a specific implementation of the positioning scheme applied to the charging device, reference may be made to the related descriptions such as the descriptions of fig. 1 to 9 and S01 to S06 and S11 to S16, and repeated descriptions are omitted.

The embodiment of the application also provides robot equipment, wherein the robot equipment is provided with at least one first sound wave device and at least one first wireless communication device; the robot apparatus further includes:

a (first) memory for storing a (first) computer program;

a (first) processor for executing a (first) computer program and for performing the following steps when executing the computer program:

In an alternative arrangement, the (first) processor when executing the computer program performs the steps of:

In an alternative, the robotic device comprises at least two first acoustic wave devices and one first wireless communication device; the (first) processor, when executing the computer program, performs the steps of:

controlling each first sound wave device to generate a sound wave signal in a time sharing mode; controlling the first wireless communication devices to generate electromagnetic wave signals when each first acoustic wave device generates an acoustic wave signal;

and calculating the position information of each first sound wave device relative to the charging equipment according to the receiving parameters and the time-sharing sequence.

In an alternative, the robotic device comprises a first acoustic wave device and a first wireless communication device; the (first) processor, when executing the computer program, performs the steps of:

controlling the first acoustic wave device to generate an acoustic wave signal twice, and controlling the first wireless communication device to generate an electromagnetic wave signal each time the first acoustic wave device generates an acoustic wave signal;

calculating the position information of the first sound wave device relative to the charging equipment when generating corresponding infrasonic wave signals according to the receiving parameters;

In an optional aspect, the receiving parameters include:

In an alternative, the first processor, when executing the computer program, is further configured to perform the steps of:

The embodiment of the application provides charging equipment, and the charging equipment is provided with at least one second sound wave device and at least one second wireless communication device. The charging apparatus further includes:

a (second) memory for storing a (second) computer program;

a (second) processor for executing the (second) computer program and for performing the following steps when executing the computer program:

In an alternative, the robotic device comprises at least two first acoustic wave devices and one first wireless communication device; the second processor is further configured to perform the steps of: controlling the second acoustic wave device to receive acoustic wave signals generated by the first acoustic wave devices in a time sharing mode; controlling a second wireless communication device to receive an electromagnetic wave signal generated by the first wireless communication device in a time sharing mode; and based on the receiving parameters, sequentially calculating the position information of each first sound wave device generating sound wave signals in a time-sharing mode relative to the charging equipment according to the time-sharing sequence.

In an alternative, the robotic device comprises one of the first acoustic wave devices and one of the first wireless communication devices; the second processor is further configured to perform the steps of:

controlling the second sound wave device to receive sound wave signals generated twice by the first sound wave device and controlling the second wireless communication device to receive electromagnetic wave signals generated twice by the first wireless communication device;

Wherein the receiving parameters include: time information that the second acoustic wave device receives the acoustic wave signal, and time information that the second wireless communication device receives the electromagnetic wave signal.

In the foregoing solution, the second processor is further configured to perform the following steps:

and sending the receiving parameters to the robot equipment.

The embodiment of the application also provides a positioning system, which comprises the robot equipment and the charging equipment.

It should be noted that, in the positioning method, the robot device, the charging device, and the positioning system applied to the charging device in the embodiments of the present application, because the problem solving principles of the method, the robot device, the charging device, and the positioning system are similar to those of the positioning method applied to the robot device, the same or similar implementation processes and implementation principles can be described with reference to the implementation processes and implementation principles of the protection device, and repeated descriptions are omitted.

Fig. 11 is a schematic diagram of a hardware configuration of a robot apparatus and a charging apparatus according to an embodiment of the present application, and as shown in fig. 11, the hardware configuration includes: a communication component 63 for data transmission, at least one processor 61 and a memory 62 for storing computer programs capable of running on the processor 61. The various components in the terminal are coupled together by a bus system 64. It will be appreciated that the bus system 64 is used to enable communications among the components. The bus system 64 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 64 in FIG. 11.

Wherein the processor 61 executes the computer program to perform at least the steps of the method of any of fig. 1 to 9. The (first) processor in the robot apparatus and the (second) processor in the charging apparatus may be specifically the processor 61. The (first) memory in the robot device and the (second) memory in the charging device may specifically be the memory 62.

It will be appreciated that the memory 62 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 62 described in embodiments herein is intended to comprise, without being limited to, these and any other suitable types of memory.

The method disclosed in the above embodiments of the present application may be applied to the processor 61, or implemented by the processor 61. The processor 61 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 61. The processor 61 described above may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 61 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 62, and the processor 61 reads the information in the memory 62, and in combination with its hardware, performs the steps of the aforementioned positioning method.

In an exemplary embodiment, the robotic Device, the charging Device, or other electronic components may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), FPGAs, general purpose processors, controllers, MCUs, microprocessors (microprocessors), or other electronic components for performing the aforementioned positioning methods.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.

The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.

Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.

The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized in that it is used for a robot apparatus equipped with at least one first acoustic wave device and at least one first wireless communication device;

the method comprises the following steps:

2. The method of claim 1, wherein the obtaining the relative position of the robotic device with respect to a charging device comprises:

3. The method of claim 2, wherein the robotic device comprises at least two first acoustic wave devices and one first wireless communication device;

4. The method of claim 2, wherein the robotic device comprises a first acoustic wave device and a first wireless communication device;

5. The method of claim 3 or 4, wherein the receiving parameters comprises:

6. The method of claim 1, wherein the obtaining the relative position of the robotic device with respect to a charging device comprises:

7. A positioning method, characterized in that the positioning method is used for a charging apparatus, the charging apparatus is provided with at least one second acoustic device and at least one second wireless communication device;

the method comprises the following steps:

8. The method of claim 7, wherein the robotic device comprises at least two first acoustic wave devices and one first wireless communication device;

9. The method of claim 8, wherein the second acoustic device is the same number as the first acoustic device, and the second wireless communication device is the same number as the first wireless communication device;

10. The method of claim 7, wherein said robotic device includes one of said first acoustic wave device and one of said first wireless communication device;

11. The method of claim 8 or 10, wherein the receiving parameters comprises: time information that the second acoustic wave device receives the acoustic wave signal, and time information that the second wireless communication device receives the electromagnetic wave signal.

12. The method of claim 7, further comprising:

and sending the receiving parameters to the robot equipment.

13. A robotic device, characterized in that said robotic device is equipped with at least one first acoustic wave device and at least one first wireless communication device; the robot apparatus includes:

a memory for storing a computer program;

14. A charging apparatus, characterized in that the charging apparatus is mounted with at least one second acoustic wave device and at least one second wireless communication device; the charging apparatus includes:

a memory for storing a computer program;

15. A positioning system, characterized in that it comprises at least a robot device according to claim 13 and a charging device according to claim 14.