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

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, the sound source orientation method of the mobile robot comprises the following steps: controlling the robot body to receive a sound source signal emitted by the base station; in the case that the robot body receives the sound source signal emitted by the base station, acquiring signal attenuation parameters of the robot body in different directions receiving the sound source signal, and determining a correlation between the sound source signals received in different directions according to the signal attenuation parameters, and determining a sound source direction corresponding to the base station according to the correlation. Through the application, the problem of inaccurate orientation of the base station in the moving process of the mobile robot is solved, and an accurate and efficient mobile robot control method is realized.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to sound source orientation methods, control methods, and control devices for mobile robots. Background Technology

[0002] Currently, mobile robots are widely used in industries such as manufacturing, agriculture, healthcare, and services. In practical applications, by configuring a base station for the mobile robot, it can proactively return to the base station for charging, cleaning, and integration when its battery is low. Therefore, it is necessary for the mobile robot to accurately locate the base station during its autonomous return journey. In related technologies, positioning is typically achieved by emitting signals from infrared sensors or lidar installed on the base station to determine the relative distance between the base station and the mobile robot. However, when there are obstructions between the mobile robot and the base station, this method cannot locate the base station, resulting in low accuracy in orientation to the base station during the robot's movement, and consequently, inaccurate base station positioning.

[0003] Currently, no effective solution has been proposed to address the problem of inaccurate base station orientation during the movement of mobile robots in related technologies. Summary of the Invention

[0004] This application provides a sound source orientation method, control method, and control device for a mobile robot, to at least solve the problem of inaccurate base station positioning during the movement of a mobile robot in related technologies.

[0005] In a first aspect, embodiments of this application provide a method for sound source localization of a mobile robot, characterized in that the mobile robot includes a robot body and a base station, and the method includes:

[0006] Control the robot body to receive sound source signals emitted by the base station;

[0007] When the robot body receives the sound source signal, the signal attenuation parameters of the sound source signal received by the robot body in different directions are obtained, and the correlation between the sound source signals received in different directions is determined based on the signal attenuation parameters.

[0008] Based on the aforementioned correlation, the direction of the sound source corresponding to the base station is determined.

[0009] In some embodiments, the robot body is provided with at least two sound receiving units; the correlation includes the result of a cross-correlation function; the method further includes:

[0010] Obtain the preset signal attenuation model corresponding to the sound receiving unit;

[0011] The sound source reception time of the sound source signal received by the sound receiving unit in different directions is obtained; using the signal attenuation model, the cross-correlation function result between the sound source signals received by all the sound receiving units is calculated according to the sound source signal, the signal attenuation parameter and the sound source reception time, and the sound arrival time difference between the sound source reception times is calculated according to the cross-correlation function result.

[0012] The distance difference between the receiving units along the propagation direction of the sound source signal is calculated based on the time difference of arrival, and the direction of the sound source is determined based on the distance difference.

[0013] In some embodiments, every two of the sound-receiving units form a set of sound-receiving components, and at least two sets of the sound-receiving components are provided on the robot body; the method further includes:

[0014] Based on the sound arrival time difference, determine the distance difference between the sound receiving units in each group of sound receiving components;

[0015] The initial sound source direction information corresponding to each group of sound receiving components is calculated based on the distance difference, and all the initial sound source direction information is fused to determine the sound source direction.

[0016] In some embodiments, the fusion process of all the initial sound source direction information to determine the sound source direction includes:

[0017] Obtain the comparison results of all the initial sound source direction information;

[0018] Based on the comparison results, weight values ​​are assigned to all the initial sound source direction information, and the initial sound source direction information is fused based on the weight values ​​to obtain the fused sound source direction.

[0019] Secondly, embodiments of this application provide a control method for a mobile robot, the mobile robot including a robot body and a base station, the method comprising:

[0020] Control the robot body to receive sound source signals emitted by the base station;

[0021] When the robot body receives the sound source signal emitted by the base station, the signal propagation distance between the base station and the robot body is determined based on the received sound source signal; the signal attenuation parameters of the sound source signal received by the robot body in different directions are obtained, and the correlation between the sound source signals received in different directions is determined based on the signal attenuation parameters; and the sound source direction corresponding to the base station is determined based on the correlation.

[0022] Based on the signal propagation distance and the direction of the sound source, the location information of the base station is calculated, and the robot body is controlled to move to the base station based on the calculated location information of the base station.

[0023] In some embodiments, the robot body is further provided with a signal receiving device, and the base station is further provided with a signal transmitting device; the method further includes:

[0024] When the robot body receives the start signal sent by the base station through the signal transmitting device via the signal receiving device, the robot body is controlled to enter the waiting reception state, and the start time of the signal receiving device receiving the start signal is obtained;

[0025] When the robot body is in a waiting state, control the robot body to receive the sound source signal emitted by the base station, and obtain the time period between the start time and the sound source emission time when the base station emits the sound source signal;

[0026] When the robot body receives the sound source signal emitted by the base station, the sound source emission time of the base station is obtained according to the start time and the time period, and the signal propagation distance is determined according to the sound source emission time.

[0027] In some embodiments, the robot body is provided with at least two sound receiving units; determining the signal propagation distance based on the sound source emission time includes:

[0028] Obtain the preset signal attenuation model;

[0029] The signal attenuation model is smoothed and filtered to obtain the average amplitude function, and the initial sound source location information is calculated based on the average amplitude function.

[0030] The sound source reception time of the robot body is calculated based on the initial sound source location information, and the shortest sound source propagation time is calculated based on the sound source emission time and the sound source reception time; wherein, the shortest sound source propagation time refers to the time it takes for the sound source signal to propagate to the nearest receiving unit, and the nearest receiving unit is the unit closest to the base station among all the receiving units;

[0031] The shortest propagation distance of the sound source is calculated based on the shortest propagation time of the sound source, and the signal propagation distance is determined based on the shortest propagation distance of the sound source.

[0032] In some embodiments, the base station is further equipped with sensing devices; controlling the robot body to move to the base station based on the calculated location information of the base station includes:

[0033] During the process of using a preset positioning algorithm to control the robot body to move to the base station based on the location information, the real-time distance between the robot body and the base station is obtained;

[0034] If the real-time distance is detected to be less than a preset threshold, the sensing signal of the sensing device for the robot body is acquired, and the robot body is controlled to continue moving to the base station based on the sensing signal.

[0035] Thirdly, embodiments of this application provide a control device for a mobile robot, the mobile robot including a robot body and a base station, the device including: a receiving module, a sound source localization module, a sound source orientation module and a movement module;

[0036] The receiving module is used to control the robot body to receive the sound source signal emitted by the base station;

[0037] The sound source localization module is used to determine the signal propagation distance between the base station and the robot body based on the received sound source signal when the robot body receives the sound source signal emitted by the base station.

[0038] The sound source orientation module is used to acquire signal attenuation parameters of the sound source signals received by the robot body in different directions, and determine the correlation between the sound source signals received in different directions based on the signal attenuation parameters, and determine the sound source direction corresponding to the base station based on the correlation; the movement module is used to calculate the position information of the base station based on the signal propagation distance and the sound source direction, and control the robot body to move to the base station based on the calculated position information of the base station.

[0039] Fourthly, embodiments of this application provide a mobile robot, which includes: a robot body and a base station, as well as the control device for the mobile robot described in the second aspect above.

[0040] In some embodiments, the robot body is provided with at least two sound receiving units, and the base station is provided with a sound emitting unit; wherein, the sound emitting unit is used to generate the sound source signal, and the sound receiving unit is used to collect the sound source signal from the sound emitting unit.

[0041] In some embodiments, every two sound-receiving units form a set of sound-receiving components, and at least two sets of sound-receiving components are provided on the robot body; wherein, the shortest line connecting the two sound-receiving units in each set of sound-receiving components passes through the center point of the robot body, and the shortest lines corresponding to the two sets of sound-receiving components are perpendicular to each other.

[0042] Fifthly, embodiments of this application provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the sound source orientation method for a mobile robot as described in the first aspect above, and / or the control method for a mobile robot as described in the second aspect above.

[0043] In a sixth aspect, embodiments of this application provide a storage medium storing a computer program that, when executed by a processor, implements the sound source orientation method for a mobile robot as described in the first aspect above, and / or the control method for a mobile robot as described in the second aspect above.

[0044] Compared to related technologies, the sound source orientation method, control method, and control device for mobile robots provided in this application include a robot body and a base station. The robot body receives sound source signals emitted by the base station. When the robot body receives the sound source signals from the base station, the signal propagation distance between the base station and the robot body is determined based on the received sound source signals. Signal attenuation parameters of the sound source signals received by the robot body in different directions are obtained, and the correlation between the sound source signals received in different directions is determined based on these parameters. The sound source direction is then determined based on this correlation. This effectively reduces noise impact based on the signal attenuation parameters, avoiding large fluctuations in the sound source signal during propagation due to noise and other factors, which affects the sound source positioning accuracy. This improves the sound source orientation accuracy and achieves a precise sound source orientation method for mobile robots. Simultaneously, the location information of the base station is calculated based on the signal propagation distance and the sound source direction. The robot body is then controlled to move to the base station based on the calculated location information, solving the problem of inaccurate base station positioning during mobile robot movement and achieving a precise and efficient mobile robot control method.

[0045] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0046] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0047] Figure 1 This is a flowchart of a sound source orientation method for a mobile robot according to an embodiment of this application;

[0048] Figure 2 This is a schematic diagram of a mobile robot according to an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of a far-field model of a sound source signal according to an embodiment of this application;

[0050] Figure 4 This is a flowchart of a control method for a mobile robot according to an embodiment of this application;

[0051] Figure 5 This is a flowchart of a control method for a mobile robot according to a preferred embodiment of this application;

[0052] Figure 6 This is a structural block diagram of a control device for a mobile robot according to an embodiment of this application;

[0053] Figure 7 This is a structural block diagram of a mobile robot according to an embodiment of this application;

[0054] Figure 8 This is a structural diagram of the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0056] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0057] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0058] This embodiment provides a method for sound source localization of a mobile robot, which includes a robot body and a base station. The mobile robot includes, but is not limited to, various sweeping robots or other mobile robot devices. Figure 1 This is a flowchart of a sound source localization method for a mobile robot according to an embodiment of this application, such as... Figure 1 As shown, the process includes the following steps:

[0059] Step S110: Control the robot body to receive the sound source signal emitted by the base station.

[0060] The base station can generate and transmit sound signals through its built-in sound-emitting unit; simultaneously, the robot body can collect the sound signals generated by the base station through its built-in sound-receiving unit. It is understood that the base station also includes a charging module and a cleaning module for charging and cleaning the matched robot body.

[0061] Step S120: When the robot body receives the sound source signal, obtain the signal attenuation parameters of the sound source signal received by the robot body in different directions, and determine the correlation between the sound source signals received in different directions based on the signal attenuation parameters.

[0062] Step S130: Determine the direction of the sound source corresponding to the base station based on the association relationship.

[0063] In steps S120 to S130, the aforementioned correlation is used to characterize the degree of correlation between the sound source signal sequences received by the robot body from different directions; this correlation can be calculated by adding or multiplying the signal sequences. After receiving the sound source signal generated and transmitted by the base station, the robot body can analyze and process the sound source information to determine the signal attenuation parameters of the sound source signals received by the robot body from different directions, or the signal attenuation parameters corresponding to the multiple sound receiving units set on the robot body. Then, based on the corresponding signal attenuation parameters, the sound source signal sequences received from different directions are analyzed and processed to determine the sound source direction of the base station relative to the robot body. Specifically, Figure 2 This is a schematic diagram of a mobile robot according to an embodiment of this application, such as... Figure 2 As shown, the mobile robot includes a robot body and a base station, and there are obstacles between the robot body and the base station. Through the above steps, the direction of the base station relative to the robot body, i.e. the direction of the sound source, can be calculated, so that the accurate location information of the base station can be calculated in subsequent steps using the signal sensing distance d and the direction of the sound source.

[0064] Through steps S110 to S120, the robot body receives the sound source signal emitted by the base station, and the sound source direction is determined based on the signal attenuation parameter and the sound source signal received by the robot body in different directions. This effectively reduces the impact of noise based on the signal attenuation parameter, avoids the phenomenon of large fluctuations in the sound source signal due to noise and other factors during the propagation of the sound source signal, and thus affects the sound source positioning accuracy. This is beneficial to improving the sound source orientation accuracy and realizes a precise sound source orientation method for mobile robots.

[0065] In some embodiments, the robot body is equipped with at least two sound receiving units; wherein the sound receiving unit includes a microphone, a radio, etc. The determination of the sound source direction based on the signal attenuation parameters of the sound source signal received by the robot body from different directions and the received sound source signal further includes the following steps:

[0066] Step S121: Obtain the preset signal attenuation model corresponding to the receiving unit.

[0067] The signal attenuation model described above is used to represent the constraint relationship between the sound source signal generated by the base station, the sound source signal received by the robot, and the signal attenuation parameters; for example, the formula used in this signal attenuation model can be shown in Formula 1:

[0068] x i (n)=α i d(nv i )+vi (n) Formula 1

[0069] In Formula 1 above, i represents the i-th receiving unit M. i And i is a positive integer; n is used to represent the current time; τ i This is used to represent the time when the sound source signal generated by the base station arrives at the i-th receiving unit, i.e., the time of receiving unit M. i The sound source reception time when the sound source signal is received; d(n) represents the sound source signal generated by the base station; α i This parameter represents the signal attenuation parameter corresponding to the sound source signal received by the i-th receiving unit; v i (n) represents the Gaussian white noise corresponding to the i-th receiving unit; x i (n) represents the sound source signal received by the i-th receiving unit.

[0070] Step S122: Obtain the sound source reception time of the sound receiving unit receiving the sound source signal in different directions; using the signal attenuation model, determine the distance difference of each sound receiving unit along the propagation direction of the sound source signal according to the signal attenuation parameter and the sound source reception time, and determine the sound source direction according to the distance difference.

[0071] Specifically, the sound source reception time when each receiving unit receives the sound source signal is obtained, so as to determine the sound arrival time difference between each receiving unit based on the sound source reception time, and then calculate the distance difference between each receiving unit along the sound source signal propagation direction according to the signal attenuation parameter and the sound arrival time difference.

[0072] The aforementioned correlation includes the cross-correlation function result; the determination of the distance difference of each receiving unit along the propagation direction of the sound source signal based on the signal attenuation parameter and the sound source reception time further includes the following steps: calculating the cross-correlation function result between the receiving units based on the sound source signal, the signal attenuation parameter and the sound source reception time, and calculating the sound arrival time difference between the sound source reception times based on the cross-correlation function result; and calculating the distance difference based on the sound arrival time difference.

[0073] Specifically, the cross-correlation function between the aforementioned receiver units can be calculated using the following formula:

[0074]

[0075] In Formula 2 above, j represents the j-th receiving unit M. j , and j is a positive integer different from i; τ j This is used to represent the time when the sound source signal generated by the base station arrives at the j-th receiving unit, i.e., the receiving unit M. j The moment when the sound source receives the sound signal; Used to represent the sound receiving unit Mi and the sound receiving unit M j The cross-correlation function between them; x i (n) is used to represent the sound receiving unit M. i The received sound source signal, x j (n-τ) is used to represent the sound receiving unit M. j The received sound source signal, E, is used to calculate the expected value. In this embodiment, it is assumed that the sound source signal reaches the receiving unit M. i and the sound receiving unit M j The time difference in sound arrival between them is τ ij Substituting Formula 1 into Formula 2, we can obtain the following formula:

[0076]

[0077] In formula 3 above, R D (τ-τ ij ) is the autocorrelation function of d(n); τ∈(-τ max ,τ max ), τ max For the sound source signal to reach the receiving unit M i and the sound receiving unit M j The maximum time difference between them, and τ max =d / c, where c is the speed of sound in air; at τ=τ ij At that time, cross-correlation function If there is a maximum value, the time difference of arrival can be calculated using the above formula, as shown in Formula 4 below:

[0078]

[0079] In this embodiment, it is assumed that the period of the sound source signal is T, when τ max >T / 2, in (-τ) max ,τ max There are many peaks within the range; therefore, to obtain a more accurate estimate of the time difference of arrival (TDOA), it is necessary to further analyze τ. max The range of values ​​for is limited so that the cross-correlation function has exactly one peak falling within (-τ). max ,τ max ),Right now:

[0080]

[0081] In Formula 5 above, l represents the sound receiving unit M that is fixedly installed on the robot body. i and the sound receiving unit M j The spacing between them; then the spacing l needs to satisfy the following conditions:

[0082]

[0083] For example, in this embodiment, a sound-emitting unit with a wavelength λ of 0.756m is used, then the sound-receiving unit M... i and the sound receiving unit M j The installation spacing between them can be set to 0.3m to meet the requirements shown in Formula 6 above.

[0084] In this embodiment, four sound-receiving units are set on the robot body as an example. Figure 3 This is a schematic diagram of a far-field model of a sound source signal according to an embodiment of this application, such as... Figure 3 As shown, the wavefront of the sound wave tends to be planar, and the sound receiving unit M i and the sound receiving unit M j The distance difference d between them along the direction of sound source signal propagation ij As shown in Formula 7:

[0085]

[0086] by Figure 3 Taking the far-field model of the sound source signal shown as an example, the angle α between the base station and the first direction axis, i.e., the X-axis, in the robot coordinate system where the sound receiving units M1 and M2 are located is... 12 The calculation formula is shown in Formula 8:

[0087]

[0088] It should be noted that the aforementioned direction angle α 12 This is based on the assumption that the base station sound source is located in the first quadrant of the robot coordinate system, and the quadrant where the sound source is located can be determined by the distance difference d between each receiving unit. ij The sign is determined. Figure 2 For example, d 12 positive and d 34 If d is negative, the sound source is located in the first quadrant. 12 Negative and d 34 If d is negative, the sound source is located in the second quadrant. 12 Negative and d 34 For a regular sound source located in the third quadrant, d 12 positive and d 34 The regular sound source is located in the fourth quadrant.

[0089] Therefore, using Formula 8 above, based on the calculated distance difference and the geometric relationship between the base station and each receiving unit, the quadrant and azimuth angle of the sound source can be determined, thus ultimately determining the direction of the sound source. It can be understood that the angle α between the base station and the coordinate axes of the two receiving units... ijThe estimated value has different errors at different distances and directions. In particular, when the distance between the base station and the receiving unit increases, the error angle decreases and approaches 0. When the distance between the base station and the receiving unit increases to twice the distance between the two receiving units, the error angle is only 0.2°. Therefore, the calculation method is still effective when the distance between the base station and the receiving unit is far.

[0090] Through steps S121 to S122 above, the distance difference between each receiving unit and the base station is determined by using the signal attenuation model, based on the signal attenuation parameters and the sound source reception time. Thus, the sound source direction of the base station relative to the robot body can be determined by the sound source orientation method described above. To complete one direction finding, only cross-correlation calculations need to be performed on each signal attenuation model, and high orientation accuracy can be obtained. This reduces the computational load of base station positioning and effectively improves the accuracy and efficiency of base station positioning during the control of mobile robot movement.

[0091] In some embodiments, every two receiving units are considered as a set of receiving components, and there are at least two sets of such receiving components; specifically, please refer to Figure 2 , Figure 2 The robot body is equipped with two sets of sound receiving components. One set includes microphones M1 and M2, and the other set includes microphones M3 and M4. The process of determining the distance difference between each receiving unit along the propagation direction of the sound source signal based on the signal attenuation parameter and the sound source reception time, and then determining the sound source direction based on this distance difference, further includes the following steps:

[0092] The distance difference between the receiving units in each group of receiving components is determined based on the signal attenuation parameter and the sound source reception time. The initial sound source direction information corresponding to each group of receiving components is calculated based on this distance difference, and all the initial sound source direction information is fused to determine the sound source direction. To improve the accuracy of the sound source direction calculation for the sound source signal, multiple groups of receiving components can be set up, and the distance difference between the two receiving units in each group along the sound source signal propagation direction can be calculated. The initial sound source direction information calculated for each distance difference is then fused. For example, please refer to... Figure 2 At this point, the distance difference between each group of sound receiving components can be calculated as d. 12 and d 12 And then according to d 12 and d 12 The initial sound source direction information α was calculated separately. 12 and α 34 To improve the directional accuracy of sound sources, the initial sound source direction information is fused. This fusion method can be applied to all initial sound source direction information α. 12 and α34 The average value is taken and used as the final sound source direction. Alternatively, this fusion method can also be based on the initial sound source direction information α. 12 and α 34 A weighted calculation is performed to obtain the direction of the fused sound source.

[0093] Furthermore, the above-mentioned fusion processing of all the initial sound source direction information to obtain the sound source direction information also includes the following steps: obtaining the comparison result of all the initial sound source direction information; assigning weight values ​​to all the initial sound source direction information according to the comparison result, and performing fusion processing on the initial sound source direction information based on the weight values ​​to obtain the fused sound source direction. Specifically, considering that the larger the calculated value of the initial sound source direction information in each group of receiving components, the higher the corresponding measurement accuracy, the initial sound source direction information calculated through the above steps can be numerically compared to obtain the comparison result. Then, according to the numerical comparison result, weight values ​​are assigned to each initial sound source direction information; that is, the larger the initial sound source direction information, the larger the weight value assigned. Finally, the final sound source direction is obtained by weighted calculation based on the assigned weight values. Figure 2 Taking the robot body shown as an example with four sound receiving units, the calculated initial sound source direction information is α. 12 and α 34 To improve the directional accuracy for the sound source direction angle, it is necessary to fuse the initial sound source direction information corresponding to the two sets of sound receiving components, as shown in Formula 9 below:

[0094]

[0095] In formula 9 above, (sin 2 α 12 +cos 2 α 34 ) / 2 and (cos 2 α 12 +sin 2 α 34 ) / 2 represent α 12 and α 34 The weight values ​​are calculated using the weighted fusion method described above, so that the larger the value in the initial sound source direction information, the greater its proportion in the weighted fusion result. This enables a more accurate sound source localization method and effectively improves the accuracy of sound source localization.

[0096] Through the above embodiments, the corresponding initial sound source direction information is calculated by multiple sets of sound receiving components, and all the initial sound source direction information is fused. This avoids the problem of sound source direction errors caused by errors when using a single set of sound receiving components, and effectively improves the accuracy of sound source direction.

[0097] This embodiment provides a control method for a mobile robot, which includes a robot body and a base station. The mobile robot includes, but is not limited to, various sweeping robots or other mobile robot devices. Figure 4 This is a flowchart of a control method for a mobile robot according to an embodiment of this application, such as... Figure 4 As shown, the process includes Figure 1 The step S110 shown also includes the following steps:

[0098] Step S410: When the robot body receives the sound source signal emitted by the base station, determine the signal propagation distance between the base station and the robot body based on the received sound source signal; obtain the signal attenuation parameters of the sound source signal received by the robot body in different directions, and determine the correlation between the sound source signals received in different directions based on the signal attenuation parameters; and determine the sound source direction corresponding to the base station based on the correlation.

[0099] After receiving the sound source signal generated and transmitted by the base station, the robot body can analyze and process the sound source information to determine the signal propagation distance between the base station and the robot body. It can also determine the signal attenuation parameters of the sound source signal received by the robot body in different directions, or the signal attenuation parameters corresponding to the multiple sound receiving units set on the robot body. Furthermore, based on these corresponding signal attenuation parameters, the sound source signal is analyzed and processed to determine the sound source direction of the base station relative to the robot body. Please refer to [link / reference]. Figure 2 The mobile robot includes a robot body and a base station, and there are obstacles between the robot body and the base station. Through the above steps, the signal sensing distance d between the robot body and the base station, as well as the direction of the base station relative to the robot body, i.e. the direction of the sound source, can be calculated so that the accurate location information of the base station can be calculated in subsequent steps using the signal sensing distance d and the direction of the sound source.

[0100] Step S420: Calculate the location information of the base station based on the signal propagation distance and the direction of the sound source, and control the robot body to move to the base station based on the calculated location information of the base station.

[0101] The precise location information of the base station can be calculated using the signal sensing distance *d* and the direction of the sound source. This location information is then used to control the robot to move to the base station. For example, during the robot's automatic movement to the base station, a Simultaneous Localization and Mapping (SLAM) algorithm can be used for path planning and automatic navigation. Alternatively, QR code positioning, reflective column positioning, or other positioning algorithms can be used to generate the path planning information for the robot's movement from its current location to the base station, enabling the robot to reach the actual location of the base station automatically. It is understood that the base station also includes charging stations and cleaning modules, allowing the robot to recharge or perform automatic cleaning after returning to the base station.

[0102] Through steps S410 to S420, the robot body receives sound source signals from the base station. Based on the received sound source signals, the signal sensing distance between the base station and the robot body is determined. The direction of the sound source is determined based on the signal attenuation parameters of the sound source signals received by the robot body in different directions and the sound source signals. Finally, the precise location information of the base station is determined based on the sound source direction and signal propagation distance, so as to control the robot body to move to the base station. It can accurately locate the base station at a relatively long distance through sound source signals, avoiding the situation where the positioning of the mobile robot and the base station fails due to obstructions when using infrared positioning and other methods to achieve automatic return of the mobile robot to the base station. At the same time, the signal attenuation parameters reduce the impact of noise and effectively improve the positioning accuracy. Thus, the problem of inaccurate base station positioning during the movement of the mobile robot is solved, and a precise and efficient mobile robot control method is realized.

[0103] In some embodiments, the robot body is further provided with a signal receiving device, and the base station is further provided with a signal transmitting device; wherein, the signal transmitting device can be a 433MHz radio frequency transmitter or other device for transmitting signals, and the signal receiving device can be a 433MHz radio frequency receiver or other device for receiving signals. The control method of the mobile robot further includes the following steps:

[0104] Step S431: When the robot body receives the start signal sent by the base station through the signal transmitting device via the signal receiving device, the robot body is controlled to enter the waiting reception state, and the start time of the signal receiving device receiving the start signal is obtained.

[0105] Before the base station begins emitting sound, it first sends a start signal via its signal transmitting device as a start marker for the sound source. The robot receives this start signal via its signal receiving device and enters a waiting state, recording the start time at which the signal receiving device receives the start signal; this start time can be represented by t0. It should be noted that, to facilitate the base station's timely determination to send a start signal so that the robot can locate itself and automatically return to the base station, the base station can first receive status information such as remaining circuits from the robot via its signal transceiver device. The base station then determines whether to send a start signal to enable the robot to enter a waiting state and perform base station location based on this status information. Alternatively, the base station can send a start signal to the robot according to a preset default period, which can be pre-determined based on information such as the robot's battery life.

[0106] Step S432: When the robot body is in a waiting state, control the robot body to receive the sound source signal emitted by the base station, and obtain the time period between the start time and the sound source emission time when the base station emits the sound source signal.

[0107] Step S433: When the robot body receives the sound source signal emitted by the base station, the sound source emission time of the base station is obtained according to the start time and the time period, and the signal propagation distance is determined according to the sound source emission time.

[0108] Specifically, after the robot enters a waiting state and waits for a period of time τ0, the base station begins to transmit a sound source signal. Therefore, the actual sound source transmission time of the base station is t1 = t0 + τ0. After the base station transmits the sound source signal for a period of time τ1, the robot receives the sound source signal. At this time, the sound source reception time is t2. The time difference of arrival can be determined by the sound source transmission time and the sound source reception time. Then, the signal propagation distance can be calculated based on the sound source time difference and the sound source propagation speed.

[0109] Through steps S431 to S433, before the base station transmits the sound source signal, a start signal is sent to the robot body in advance through the signal transceiver device, so that the robot body can enter the waiting reception state in time. At the same time, the actual sound source transmission time of the base station can be accurately recorded, avoiding the problem of inaccurate base station positioning caused by incorrect sound source transmission time recording, and further improving the accuracy of base station positioning during robot movement control.

[0110] In some embodiments, the robot body is provided with two sound receiving units; the determination of the signal propagation distance based on the emission time of the sound source further includes the following steps:

[0111] Step S434: Calculate the sound source reception time of the robot body based on the initial sound source location information, and calculate the shortest sound source propagation time based on the sound source emission time and the sound source reception time; wherein, the shortest sound source propagation time refers to the time it takes for the sound source signal to propagate to the nearest receiving unit, and the nearest receiving unit is the unit closest to the base station among all the receiving units.

[0112] The above steps determine the sound source emission time t1 and the sound source reception time t2. Since the sound source reception time is significantly affected by noise, it is necessary to reduce the impact of noise on the reception time. In this embodiment, it is assumed that the sound source signals received by receiving units M1, M2, M3, and M4 are x1(n), x2(n), x3(n), and x4(n), respectively. The sound source signal received by the receiving unit with the highest peak value, i.e., the receiving unit closest to the sound source, is selected and denoted as x. max (n), and the sound source signal received by the receiving unit with the lowest peak value, i.e., the receiving unit farthest from the sound source, is denoted as x. min (n), in order to reduce the impact of noise on the sound source reception time t2, let:

[0113] x(n)=x max (n)+x min (n) Formula 10

[0114] The average amplitude function is obtained by smoothing x(n), and the starting position L of the sound is obtained by using the fixed threshold method, which is the initial sound source position information mentioned above. Then, the sound source reception time t2 can be obtained, as shown in the following formula:

[0115] t2=LT s Formula 11

[0116] Among them, T s The sampling period of the robot body is τ. Therefore, the shortest sensing time τ for the sound source signal to travel from the base station to the nearest receiving unit is τ. min As shown in Formula 12:

[0117] τ min =t2-t1 Formula 12

[0118] Step S435: Calculate the shortest propagation distance of the sound source based on the shortest propagation time of the sound source, and determine the signal propagation distance based on the shortest propagation distance of the sound source.

[0119] Specifically, the formula for calculating the nearest propagation distance d′ of the sound source, that is, the distance from the sound source to the nearest receiving unit, is as follows:

[0120] d′=c·τ min Formula 13

[0121] Using the shortest propagation distance of the aforementioned sound source as the signal propagation distance, and based on this signal propagation distance, the aforementioned sound source direction angle θ, and the geometric relationship between each sound receiving unit fixedly installed on the robot body, the distance between the base station and the robot body can be calculated, and then the precise coordinates of the base station in the robot coordinate system can be obtained.

[0122] Through steps S434 to S435, the shortest propagation time of the sound source is determined by the calculated sound source reception time, and the signal propagation distance is determined based on the shortest sound source propagation distance calculated from the shortest sound source sensing time. This reduces the impact of noise on the sound source reception time and improves the accuracy of base station positioning.

[0123] In some embodiments, the base station is further equipped with a sensing device; the above-mentioned control of the robot body to move to the base station based on the calculated location information of the base station also includes the following steps:

[0124] Step S421: During the process of using a preset positioning algorithm to control the robot body to move to the base station based on the location information, the real-time distance between the robot body and the base station is obtained.

[0125] Specifically, when the distance between the mobile robot and the base station is relatively far, SLAM algorithm, QR code positioning algorithm, reflective column positioning method or other positioning algorithms can be used to control the robot body to move towards the base station based on the above location information, and record the real-time distance between the robot body and the base station during the movement.

[0126] Step S422: When the real-time distance is detected to be less than a preset threshold, the sensing signal of the sensing device for the robot body is acquired, and the robot body is controlled to continue moving to the base station according to the sensing signal.

[0127] The aforementioned preset threshold can be set in advance based on actual conditions; for example, it can be set to 1m. During the robot's movement towards the base station, the real-time distance between the robot and the base station can be continuously monitored. If the current real-time distance is greater than or equal to the preset threshold, it indicates that the distance between the robot and the base station is still relatively far, and the aforementioned sound source localization method should continue for base station localization and autonomous robot movement. If the current real-time distance is less than the preset threshold, it indicates that the distance between the robot and the base station is relatively close and there are no obstructions affecting base station localization; therefore, the localization mode can be switched from sound source signal localization mode to sensor signal localization mode. For example, the aforementioned sensor device can be an infrared transmitter, whereby the base station emits infrared pulse signals to the robot via an infrared transmitter, and the robot receives the infrared pulse signals via an infrared receiver to locate the base station. Alternatively, the sensor device can also be a lidar or other sensing device, allowing the robot to locate the base station at close range based on the sensor signals from each device.

[0128] Through steps S421 to S422 above, when the real-time distance is detected to be less than a preset threshold, the robot body is controlled to continue moving to the base station based on the sensing signals of the sensing devices set on the base station for the robot body. This realizes the autonomous switching of the positioning mode from the sound source signal positioning mode to the sensing signal positioning mode with higher accuracy and efficiency at close range during close-range positioning, further improving the accuracy and efficiency of base station positioning during the control of the mobile robot's movement.

[0129] The embodiments of this application will be described in detail below with reference to actual application scenarios. In this application scenario, the mobile robot includes a robot body and a base station. The robot body includes a signal receiving device and multiple sound receiving units, and the base station includes a signal transmitting device and a sound transmitting unit. Figure 5 This is a flowchart of a control method for a mobile robot according to a preferred embodiment of this application, such as... Figure 5 As shown, the process includes the following steps:

[0130] Step S501: Start the control process; the mobile robot performs initialization settings.

[0131] In step S502, the base station transmits a start signal through the signal transmitting device and transmits a sound source signal through the sound transmitting unit.

[0132] In step S503, the robot body receives a start signal through the signal receiving unit to enter the waiting reception state, and receives a sound source signal through the sound receiving unit; the robot body determines whether the currently received sound source signal is a valid audio signal based on the wavelength and period of the sound source signal.

[0133] Step S504: If the judgment result of step S503 is yes, then the sound source direction is determined by the signal attenuation parameter and the sound source signal, and the signal propagation distance between the base station and the robot body is determined by the sound source signal. If the judgment result of step S504 is no, then return to step S501.

[0134] Step S505: Based on the aforementioned sound source direction and signal sensing distance, calculate and output the base station coordinates in the robot coordinate system. Then, transform these base station coordinates to the global coordinate system to obtain the base station coordinates in the global coordinate system. Specifically, the base station localization method includes a sound source orientation method and a sound source distance estimation method. The sound source orientation method calculates the direction angle of the sound source by performing calculations on the binary thread array between each pair of multiple receiving units and then obtaining the direction angle through fusion processing. The sound source distance estimation method calculates the distance from the sound source to the receiving unit based on the time consumed from the start of sound emission to the receiving unit receiving the sound source signal, and obtains the base station coordinates in the robot coordinate system through geometric relationships.

[0135] Step S506: The robot moves to the base station according to the above base station coordinates to perform operations such as recharging or cleaning; the control process ends.

[0136] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0137] This embodiment also provides a control device for a mobile robot, which includes a robot body and a base station. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the terms "module," "unit," "subunit," etc., can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0138] Figure 6 This is a structural block diagram of a control device for a mobile robot according to an embodiment of this application, such as... Figure 6As shown, the device includes: a receiving module 62, a sound source localization module 64, a sound source orientation module 66, and a moving module 68. The receiving module 62 controls the robot body to receive sound source signals emitted by the base station. The sound source localization module 64, when the robot body receives the sound source signal emitted by the base station, determines the signal propagation distance between the base station and the robot body based on the received sound source signal. The sound source orientation module 66 acquires signal attenuation parameters of the sound source signal received by the robot body in different directions, determines the correlation between sound source signals received in different directions based on the signal attenuation parameters, and determines the sound source direction corresponding to the base station based on the correlation. The moving module 68 calculates the location information of the base station based on the signal propagation distance and the sound source direction, and controls the robot body to move to the base station based on the calculated location information.

[0139] Through the above embodiments, the receiving module 62 controls the robot body to receive the sound source signal emitted by the base station. The sound source positioning module 64 determines the signal sensing distance between the base station and the robot body based on the received sound source signal, and determines the sound source direction based on the signal attenuation parameter of the sound source signal received by the robot body in different directions and the sound source signal. Finally, the moving module 68 determines the precise location information of the base station based on the sound source direction and the signal propagation distance, so as to control the robot body to move to the base station. It can accurately locate the base station at a long distance through the sound source signal, avoiding the situation where the positioning of the mobile robot and the base station fails due to obstructions when using infrared positioning and other methods to achieve automatic return of the mobile robot to the base station. At the same time, the signal attenuation parameter reduces the impact of noise and effectively improves the positioning accuracy, thereby solving the problem of inaccurate base station positioning during the movement of the mobile robot and realizing a precise and efficient mobile robot control device.

[0140] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0141] This embodiment also provides a mobile robot. Figure 7 This is a structural block diagram of a mobile robot according to an embodiment of this application, such as... Figure 7As shown, the mobile robot includes a robot body 72 and a base station 76, as well as a control device 74 for the mobile robot in any of the above-described device embodiments. It is understood that the control device 74 can be connected to both the robot body 72 and the base station 76; alternatively, the control device 74 can be integrated onto the robot body 72 and communicate with the base station 76. Compared to related technologies where the robot body coordinates are calculated using a sound source calculation unit integrated on the base station 76, and the calculated robot body coordinates are then transmitted to the robot body 72 via a wireless unit, resulting in low positioning efficiency and susceptibility to noise interference, this embodiment can achieve precise positioning of the base station 76 directly on the robot body 72, thereby effectively improving the positioning efficiency of the base station 76.

[0142] Through the above embodiments, the control device 74 controls the robot body 72 to receive the sound source signal emitted by the base station 76. Based on the received sound source signal, the signal sensing distance between the base station and the robot body 72 is determined. Based on the signal attenuation parameter of the sound source signal received by the robot body 72 in different directions and the sound source signal, the direction of the sound source is determined. Finally, based on the sound source direction and the signal propagation distance, the precise location information of the base station 76 is determined, so as to control the robot body 72 to move to the base station. It can accurately locate the base station 76 at a relatively long distance through the sound source signal, avoiding the situation where the positioning of the mobile robot and the base station 76 fails due to obstructions when using infrared positioning or other methods to achieve automatic return of the mobile robot to the base station 76. At the same time, the signal attenuation parameter reduces the impact of noise, effectively improving the positioning accuracy, thereby solving the problem of inaccurate positioning of the base station 76 during the movement of the mobile robot.

[0143] In some embodiments, the robot body 72 is provided with at least two sound receiving units, and the base station 76 is provided with a sound emitting unit; wherein the sound emitting unit is used to generate the sound source signal, and the sound receiving unit is used to collect the sound source signal from the sound emitting unit.

[0144] In some embodiments, every two of the sound-receiving units form a set of sound-receiving components, and at least two sets of such sound-receiving components are provided on the robot body; wherein, the shortest line connecting the two sound-receiving units in each set passes through the center point of the robot body 72, and the shortest lines corresponding to the two sets of sound-receiving components are perpendicular to each other. Specifically, please refer to... Figure 2At this point, one set of sound receiving components includes two sound receiving units M1 and M2, and another set includes two sound receiving units M3 and M4. These four sound receiving units are arranged in a cross shape along the edge of the robot body 72, with the circle as the center point. The line connecting M1 and M2 coincides with the first direction axis (X-axis) of the robot coordinate system, and the line connecting M3 and M4 coincides with the second direction axis (Y-axis) of the robot coordinate system, thus facilitating the calculation of accurate base station 76 location information. Furthermore, the spacing between M1 and M2, and the spacing between M3 and M4, both satisfy the requirements shown in Formula 6 above, ensuring that each sound receiving unit on the robot body 72 can receive an effective sound source.

[0145] This embodiment also provides a computer device, which may be a server. Figure 8 This is a structural diagram of the internal structure of a computer device according to an embodiment of this application, such as... Figure 8 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores the location information of the base station. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the aforementioned control method for the mobile robot.

[0146] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0147] This embodiment also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0148] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0149] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0150] S1, control the robot body to receive the sound source signal emitted by the base station.

[0151] S2, when the robot body receives the sound source signal emitted by the base station, determine the signal propagation distance between the base station and the robot body based on the received sound source signal; obtain the signal attenuation parameters of the sound source signal received by the robot body in different directions, and determine the correlation between the sound source signals received in different directions based on the signal attenuation parameters, and determine the sound source direction corresponding to the base station based on the correlation.

[0152] S3. Calculate the location information of the base station based on the signal propagation distance and the direction of the sound source, and control the robot body to move to the base station based on the calculated location information.

[0153] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0154] Furthermore, in conjunction with the mobile robot control methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the sound source orientation methods for mobile robots in the above embodiments, and / or any of the mobile robot control methods in the above embodiments.

[0155] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0156] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0157] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for sound source localization in a mobile robot, characterized in that, The mobile robot includes a robot body and a base station, characterized in that the method includes: The robot body is controlled to receive sound source signals emitted by the base station; wherein, the robot body is provided with at least two sound receiving units, each pair of sound receiving units constitutes a set of sound receiving components, and the robot body is provided with at least two sets of sound receiving components. When the robot body receives the sound source signal, the signal attenuation parameters of the sound source signal received by the robot body in different directions are obtained, and the preset signal attenuation model corresponding to the sound receiving unit is obtained. The sound source reception time of the sound source signal received by the sound receiving unit in different directions is obtained; using the signal attenuation model, based on the sound source signal, the signal attenuation parameter and the sound source reception time, the cross-correlation function result between the sound source signals received by all the sound receiving units is calculated, and the sound source reception time difference between the sound source reception times is calculated based on the cross-correlation function result. Based on the sound arrival time difference, determine the distance difference between the sound receiving units in each group of sound receiving components; The initial sound source direction information corresponding to each group of sound receiving components is calculated based on the distance difference. Obtain the comparison results of all the initial sound source direction information; Based on the comparison results, weight values ​​are assigned to all the initial sound source direction information, and the initial sound source direction information is fused based on the weight values ​​to obtain the fused sound source direction.

2. A control method for a mobile robot, the mobile robot comprising a robot body and a base station, characterized in that, The method includes: The robot body is controlled to receive sound source signals emitted by the base station; wherein, the robot body is provided with at least two sound receiving units, each pair of sound receiving units constitutes a set of sound receiving components, and the robot body is provided with at least two sets of sound receiving components. When the robot body receives the sound source signal emitted by the base station, the signal propagation distance between the base station and the robot body is determined based on the received sound source signal; the signal attenuation parameters of the sound source signal received by the robot body in different directions are obtained, and the preset signal attenuation model corresponding to the sound receiving unit is obtained. The sound source reception time of the sound source signal received by the sound receiving unit in different directions is obtained; using the signal attenuation model, based on the sound source signal, the signal attenuation parameter and the sound source reception time, the cross-correlation function result between the sound source signals received by all the sound receiving units is calculated, and the sound source reception time difference between the sound source reception times is calculated based on the cross-correlation function result. Based on the sound arrival time difference, determine the distance difference between the sound receiving units in each group of sound receiving components; The initial sound source direction information corresponding to each group of sound receiving components is calculated based on the distance difference. Obtain the comparison results of all the initial sound source direction information; Based on the comparison results, weight values ​​are assigned to all the initial sound source direction information, and the initial sound source direction information is fused based on the weight values ​​to obtain the fused sound source direction. Based on the signal propagation distance and the direction of the sound source, the location information of the base station is calculated, and the robot body is controlled to move to the base station based on the calculated location information of the base station.

3. The control method according to claim 2, characterized in that, The robot body is also equipped with a signal receiving device, and the base station is also equipped with a signal transmitting device; the method further includes: When the robot body receives the start signal sent by the base station through the signal transmitting device via the signal receiving device, the robot body is controlled to enter the waiting reception state, and the start time of the signal receiving device receiving the start signal is obtained; When the robot body is in a waiting state, control the robot body to receive the sound source signal emitted by the base station, and obtain the time period between the start time and the sound source emission time when the base station emits the sound source signal; When the robot body receives the sound source signal emitted by the base station, the sound source emission time of the base station is obtained according to the start time and the time period, and the signal propagation distance is determined according to the sound source emission time.

4. The control method according to claim 3, characterized in that, The robot body is equipped with at least two sound receiving units; determining the signal propagation distance based on the sound source emission time includes: Obtain the preset signal attenuation model; The signal attenuation model is smoothed and filtered to obtain the average amplitude function, and the initial sound source location information is calculated based on the average amplitude function. The sound source reception time of the robot body is calculated based on the initial sound source location information, and the shortest sound source propagation time is calculated based on the sound source emission time and the sound source reception time; wherein, the shortest sound source propagation time refers to the time it takes for the sound source signal to propagate to the nearest receiving unit, and the nearest receiving unit is the unit closest to the base station among all the receiving units; The shortest propagation distance of the sound source is calculated based on the shortest propagation time of the sound source, and the signal propagation distance is determined based on the shortest propagation distance of the sound source.

5. The control method according to any one of claims 2 to 4, characterized in that, The base station is also equipped with sensing devices; controlling the robot body to move to the base station based on the calculated location information of the base station includes: During the process of using a preset positioning algorithm to control the robot body to move to the base station based on the location information, the real-time distance between the robot body and the base station is obtained; If the real-time distance is detected to be less than a preset threshold, the sensing signal of the sensing device for the robot body is acquired, and the robot body is controlled to continue moving to the base station based on the sensing signal.

6. A control device for a mobile robot, the mobile robot comprising a robot body and a base station, characterized in that, The device includes: a receiving module, a sound source localization module, a sound source orientation module, and a moving module; The receiving module is used to control the robot body to receive the sound source signal emitted by the base station; wherein, the robot body is provided with at least two sound receiving units, each pair of sound receiving units constitutes a set of sound receiving components, and the robot body is provided with at least two sets of sound receiving components. The sound source localization module is used to determine the signal propagation distance between the base station and the robot body based on the received sound source signal when the robot body receives the sound source signal emitted by the base station. The sound source direction module is used to obtain signal attenuation parameters of the robot body receiving the sound source signal in different directions, obtain a preset signal attenuation model corresponding to the sound receiving unit; obtain the sound source reception time of the sound receiving unit receiving the sound source signal in different directions; use the signal attenuation model to calculate the cross-correlation function result between the sound source signals received by all the sound receiving units according to the sound source signal, the signal attenuation parameters and the sound source reception time, and calculate the sound arrival time difference between the sound source reception times according to the cross-correlation function result; determine the distance difference between the sound receiving units in each group of sound receiving components according to the sound arrival time difference; calculate the initial sound source direction information corresponding to each group of sound receiving components according to the distance difference; obtain the comparison result of all the initial sound source direction information; assign weight values ​​to all the initial sound source direction information according to the comparison result, and perform fusion processing on all the initial sound source direction information based on the weight values ​​to obtain the fused sound source direction; The mobile module is used to calculate the location information of the base station based on the signal propagation distance and the direction of the sound source, and control the robot body to move to the base station based on the calculated location information of the base station.

7. A mobile robot, characterized in that, The mobile robot includes: a robot body and a base station, as well as a control device for the mobile robot as described in claim 6.

8. The mobile robot according to claim 7, characterized in that, The robot body is equipped with at least two sound receiving units, and the base station is equipped with a sound transmitting unit; wherein, the sound transmitting unit is used to generate the sound source signal, and the sound receiving unit is used to collect the sound source signal from the sound transmitting unit.

9. The mobile robot according to claim 8, characterized in that, Each pair of the sound-receiving units constitutes a sound-receiving assembly, and at least two sets of the sound-receiving assemblies are provided on the robot body; wherein, the shortest line connecting the two sound-receiving units in each set of the sound-receiving assemblies passes through the center point of the robot body, and the shortest lines corresponding to the two sets of the sound-receiving assemblies are perpendicular to each other.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to execute the sound source orientation method for the mobile robot according to claim 1, and / or the control method for the mobile robot according to any one of claims 2 to 5.

11. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the sound source orientation method of the mobile robot according to claim 1 and / or the control method of the mobile robot according to any one of claims 2 to 5 when running.

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