Indoor robot positioning method and device, computer device and readable storage medium

Abstract

The application relates to the technical field of robot positioning, and particularly discloses an indoor robot positioning method and device, computer equipment and a readable storage medium. At least three sensors are arranged in the positioning scene of the indoor robot, and the indoor robot is provided with a microphone. The method comprises the following steps: based on the microphone, recording inherent noise generated by the indoor robot when running within a preset sampling time, and converting the inherent noise into an inherent electric signal; calculating the time of the inherent electric signal from the indoor robot to the sensors; according to the time and the speed of sound, calculating the distance between each sensor and the indoor robot; and positioning the indoor robot according to the distance and the position of the sensors. The embodiment of the application eliminates the specific sound actively generated by the indoor robot, directly uses the inherent noise generated by the indoor robot itself instead of the specific sound, thereby reducing the noise of the indoor robot, improving the experience of the user, and better meeting the needs of the indoor environment.

Description

Technical Field

[0001] This invention relates to the field of robot positioning technology, and in particular to an indoor robot positioning method, apparatus, computer equipment, and readable storage medium. Background Technology

[0002] In recent years, with the rapid development of intelligent technology, intelligent mobile robot technology has been widely used, especially indoor robots that provide household services, such as sweeping robots and handling robots.

[0003] Sound perception technology is one of the most important methods for robot localization. Its main task is to enable robots to accurately and in real-time judge sound information in the environment and obtain the spatial position of the target relative to itself—that is, sound source localization. Existing robot sound source localization technologies rely on the robot actively generating specific sound signals as input for measurement. However, the sound signals actively emitted by the robot inevitably introduce noise into the surrounding environment. Therefore, existing robot sound source localization technologies can cause noise in indoor environments, resulting in a poor user experience and making them unsuitable for places with high requirements for indoor acoustic environments.

[0004] Therefore, how to reduce noise and improve user experience when achieving robot localization is an urgent technical problem to be solved. Summary of the Invention

[0005] In view of this, the present invention provides an indoor robot positioning method, apparatus, computer equipment, and readable storage medium, which reduces noise and improves user experience when positioning the robot, while also better meeting the needs of the indoor environment.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] In a first aspect, embodiments of the present invention provide an indoor robot positioning method, wherein at least three sensors are set in the positioning scenario of the indoor robot, and the indoor robot is equipped with a microphone, the method comprising:

[0008] Based on the microphone, the inherent noise generated by the indoor robot during operation within a preset sampling time is recorded, and the inherent noise is converted into an inherent electrical signal;

[0009] Calculate the time it takes for the inherent electrical signal to travel from the indoor robot to the sensor;

[0010] Based on the time and speed of sound, calculate the distance between each sensor and the indoor robot;

[0011] The indoor robot is located based on the distance and the position of the sensor.

[0012] In one embodiment, the sensor receives the total noise, which is the sum of ambient noise and the inherent noise, while the indoor robot is operating. The calculation of the time it takes for the inherent electrical signal to travel from the indoor robot to each of the sensors includes:

[0013] The sensor converts the total noise into a total electrical signal.

[0014] The offset value is obtained by cross-correlation calculation of the total electrical signal and the inherent electrical signal using a preset formula;

[0015] The time is calculated based on the preset sampling rate and the offset value.

[0016] In one embodiment, the step of performing a cross-correlation operation on the total electrical signal and the inherent electrical signal to obtain an offset value includes:

[0017] The number of sampling points for the inherent electrical signal is calculated based on the preset sampling time and the preset sampling rate.

[0018] According to the preset formula, the offset value is obtained by cross-correlation calculation of each sampling point and the total electrical signal.

[0019] In one embodiment, the preset formula includes:

[0020]

[0021] Wherein, f(n) represents the cross-correlation value of the total electrical signal and the inherent electrical signal at point n, E(x) represents the electrical signal value at point x in the inherent electrical signal, W(x+n) represents the electrical signal value at point x+n in the total electrical signal, n represents the offset value, and m represents the number of sampling points of the inherent electrical signal.

[0022] In one embodiment, calculating the time based on the preset sampling rate and the offset value includes:

[0023] Obtain the start time of the inherent electrical signal when the indoor robot starts operating;

[0024] The start time of the cross-correlation operation is obtained based on the start time and the preset sampling time.

[0025] The reception time of the total electrical signal received by the sensor is obtained based on the start time, the preset sampling rate, and the offset value.

[0026] The time is calculated based on the start time and the reception time.

[0027] In one embodiment, obtaining the reception time of the total electrical signal received by the sensor based on the start time, the preset sampling rate, and the offset value includes:

[0028] Based on the offset value and the preset sampling rate, the time required for the sensor to receive the inherent electrical signal is determined;

[0029] The receiving time is obtained based on the required time and the start time.

[0030] In one embodiment, locating the indoor robot based on the distance and the sensor position includes:

[0031] A three-dimensional Cartesian coordinate system is pre-established indoors to obtain the coordinate positions of each sensor;

[0032] Based on the coordinate position and the distance, the coordinate information of the indoor robot in the three-dimensional Cartesian coordinate system is obtained;

[0033] The indoor robot is located based on the coordinate information.

[0034] Secondly, embodiments of the present invention provide an indoor robot positioning device, wherein at least three sensors are set in the positioning scenario of the indoor robot, and the indoor robot is equipped with a microphone; the device includes:

[0035] The sampling module is used to record the inherent noise generated by the indoor robot during operation within a preset sampling time based on the microphone, and convert the inherent noise into an inherent electrical signal.

[0036] A time calculation module is used to calculate the time it takes for the inherent electrical signal to be transmitted from the indoor robot to the sensor.

[0037] A distance calculation module is used to calculate the distance between each of the sensors and the indoor robot based on the time and the speed of sound;

[0038] The positioning module locates the indoor robot based on the distance and the position of the sensor.

[0039] Thirdly, embodiments of the present invention provide a computer device, the computer device including a memory and a processor, the memory for storing a computer program, and the processor executing the computer program to cause the computer device to perform the indoor robot positioning method described above.

[0040] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which is executed by a processor to perform the indoor robot positioning method.

[0041] This invention discloses an indoor robot positioning method, apparatus, computer device, and readable storage medium. The positioning scenario for the indoor robot includes at least three sensors, and the indoor robot is equipped with a microphone. The method includes: recording the inherent noise generated by the indoor robot during operation within a preset sampling time based on the microphone, and converting the inherent noise into an inherent electrical signal; calculating the time it takes for the inherent electrical signal to travel from the indoor robot to the sensors; calculating the distance between each sensor and the indoor robot based on the time and the speed of sound; and positioning the indoor robot based on the distance and the sensor positions. Compared with existing technologies, this invention eliminates the specific sounds actively generated by the indoor robot, directly replacing specific sounds with the inherent noise generated by the indoor robot itself, thereby reducing the noise of the indoor robot, improving the user experience, and better meeting the needs of the indoor environment. Attached Figure Description

[0042] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.

[0043] Figure 1 A flowchart illustrating an indoor robot positioning method provided by an embodiment of the present invention is shown.

[0044] Figure 2 A schematic diagram of the process for calculating the time it takes for an inherent electrical signal to be transmitted to a sensor, provided by an embodiment of the present invention, is shown.

[0045] Figure 3 A schematic diagram of the process for calculating time using a preset sampling rate and offset value, provided by an embodiment of the present invention, is shown.

[0046] Figure 4 A schematic diagram of the process for locating an indoor robot provided by an embodiment of the present invention is shown;

[0047] Figure 5 A structural block diagram of an indoor robot positioning device provided by an embodiment of the present invention is shown. Detailed Implementation

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0049] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0050] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0051] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0053] Currently, robot localization technology typically uses specific sounds actively generated by the robot as input for measurement, inevitably introducing noise into the surrounding environment. Therefore, existing robot sound source localization technologies contribute to indoor noise, resulting in a poor user experience, especially for indoor environments with high environmental requirements. This invention provides an indoor robot localization method that directly replaces specific sounds with the inherent noise generated by the robot itself, thereby reducing indoor robot noise, improving the user experience, and better meeting the needs of indoor environments.

[0054] Example 1

[0055] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating an indoor robot positioning method according to an embodiment of the present invention. The indoor robot's positioning scenario includes at least three sensors, and the indoor robot is equipped with a microphone. The method specifically includes the following steps:

[0056] Step S110: Based on the microphone, record the inherent noise generated by the indoor robot during operation within a preset sampling time, and convert the inherent noise into an inherent electrical signal.

[0057] Specifically, the indoor robot is equipped with a microphone, which is an energy conversion device that converts sound signals into electrical signals. A microphone can also be called a condenser microphone, which is highly sensitive when recording the inherent noise generated by the indoor robot during operation. The specific microphone model used can be determined based on the actual situation and is not limited here. Furthermore, the microphone converts the inherent noise generated by the indoor robot during operation into an inherent electrical signal, which is the electrical signal corresponding to the inherent noise sound signal. Exemplarily, the preset sampling time can be set to 20ms or 40ms. The sampling time can be preset according to the period of the inherent noise and specific circumstances, and is not limited here.

[0058] Therefore, the inherent noise of the indoor robot can be recorded more easily through the microphone built into the robot itself, and the inherent noise can be converted into inherent electrical signals in real time, saving time and improving efficiency for subsequent processing.

[0059] Step S120: Calculate the time it takes for the inherent electrical signal to be transmitted from the indoor robot to the sensor.

[0060] Exemplary examples show that indoor robots typically perform household services, such as robotic vacuum cleaners and moving robots; the specific type of robot is not limited here. Specifically, by calculating the time it takes for the inherent electrical signal to travel from the indoor robot to the sensor, and combining this with the speed of sound, the distance between the indoor robot and the sensor can be calculated quickly and accurately. The number of sensors is greater than or equal to three; typically, three sensors are sufficient for accurate positioning of the indoor robot.

[0061] In one embodiment, the sensor receives the total noise, the sum of ambient noise and the inherent noise, when the indoor robot is operating. (See reference...) Figure 2 Step S120 specifically includes the following steps:

[0062] Step S121: Convert the total noise into a total electrical signal using the sensor;

[0063] Step S122: Using a preset formula, perform cross-correlation calculation on the total electrical signal and the inherent electrical signal to obtain the offset value;

[0064] Step S123: Calculate the time based on the preset sampling rate and the offset value.

[0065] It is understood that when the indoor robot is not in operation, the noise received by the sensor is only the ambient noise. When the indoor robot is in operation, the noise received by the sensor is a linear superposition of the ambient noise and the inherent noise. In this embodiment, the result of the linear superposition of the ambient noise and the inherent noise is referred to as the total noise.

[0066] It is understandable that the total electrical signal in the sensor and the inherent electrical signal of the indoor robot are cross-correlated. That is, when the robot is running, the total electrical signal in the sensor is sent to the minicomputer, and the inherent electrical signal of the indoor robot is also sent to the minicomputer. The minicomputer then performs cross-correlation on the total electrical signal and the inherent electrical signal.

[0067] Specifically, the total electrical signal in the sensor is subjected to sliding matching with the inherent electrical signal, i.e., cross-correlation is performed. When the result of the cross-correlation operation is at a peak, it indicates that the similarity between the matched inherent electrical signal and the total electrical signal is strong, and the offset value is obtained. The offset value refers to the starting point at which the sensor receives inherent noise. The preset sampling rate refers to the preset number of sampling points per unit time. For example, for a sine signal (sin(2πt), where t is time in seconds), if the sampling rate is 4, then one point is sampled every 0.25 seconds, that is, the four values ​​sin0, sin0.5π, sinπ, and sin1.5π are sampled within 1 second. The sampling rate is usually preset to a fixed value, and thus, the time required to take each point can be known through the sampling rate. Therefore, by using the preset sampling rate and the offset value, the time it takes for the inherent electrical signal to be transmitted from the indoor robot to the sensor can be accurately calculated.

[0068] In one embodiment, step S122 specifically includes:

[0069] The number of sampling points for the inherent electrical signal is calculated based on the preset sampling time and the preset sampling rate.

[0070] According to the preset formula, the offset value is obtained by cross-correlation calculation of each sampling point and the total electrical signal.

[0071] For example, assuming a sampling rate of 9kHz, i.e., 9000 points per second, then 20*9000 / 1000 = 180 points will be obtained within 20ms. Therefore, according to the preset formula, the cross-correlation operation can be performed on each of the sampling points and the total electrical signal to obtain the offset value when the result of the cross-correlation operation is at its peak.

[0072] The preset formula includes: In the formula, f(n) represents the cross-correlation value of the total electrical signal and the inherent electrical signal at point n, E(x) represents the electrical signal value at point x in the inherent electrical signal, W(x+n) represents the electrical signal value at point x+n in the total electrical signal, n represents the offset value, and m represents the number of sampling points of the inherent electrical signal.

[0073] Specifically, E is the sampling point sequence of the inherent signal, and W is the sampling point sequence in the total electrical signal. For example, when the preset sampling time is 20ms, the number of sampling points obtained within 20ms is 180, so E is a floating-point array of length 180. x refers to the x-th sampling point; therefore, E(x) refers to the electrical signal value of the x-th sampling point.

[0074] The offset value n refers to the number of times the inherent electrical signal slides forward. W is also an array because the sensor continuously receives electrical signals during operation. In this embodiment, W is also regarded as a floating-point array. Therefore, W(x+n) represents the electrical signal value of the (x+n)th point of the array W.

[0075] Therefore, F is also a floating-point array. The cross-correlation value of its nth point is calculated using a formula. For example, when n = 0, the cross-correlation value of the 0th point of F is the sum of the products of the 180 points in the E array and the 7 points starting from the 0th point in the W array, and so on. Using the above formula, the offset n can be calculated, indicating the position where the sensor receives the inherent electrical signal.

[0076] In one embodiment, please refer to Figure 3 Step S123 specifically includes the following steps:

[0077] Step S1231: Obtain the start time of the inherent electrical signal when the indoor robot starts operating;

[0078] Step S1232: Obtain the start time of the cross-correlation operation based on the start time and the preset sampling time;

[0079] Step S1233: Based on the start time, the preset sampling rate, and the offset value, obtain the reception time of the total electrical signal received by the sensor;

[0080] Step S1234: Calculate the time based on the start time and the reception time.

[0081] Specifically, when the indoor robot is not operating, i.e., before the small computer receives the robot's inherent electrical signals, even if the small computer can receive electrical signals from the sensors, these signals only include the electrical signals corresponding to environmental noise. At this time, the small computer will not begin cross-correlation calculations. Cross-correlation calculations will only begin after the indoor robot starts operating and the small computer receives the inherent electrical signals for the entire sampling time.

[0082] For example, when the indoor robot starts operating, the start time of the inherent electrical signal is set to T0, and the preset sampling time is 20ms. Then, the time for the small computer to receive the inherent electrical signal within the entire sampling time is T0+20ms, i.e., the start time T1 = T0+20ms. Therefore, based on the start time, the preset sampling rate, and the offset value, the reception time of the total electrical signal received by the sensor is obtained.

[0083] Step S1233 specifically includes:

[0084] Based on the offset value and the preset sampling rate, the time required for the sensor to receive the inherent electrical signal is determined;

[0085] The receiving time is obtained based on the required time and the start time.

[0086] For example, a preset sampling rate of H and an offset value of n are set, that is, when F(n) reaches its peak, the nth point is the position where the sensor receives the inherent electrical signal. Therefore, the time required from the 0th point to the nth point is n / H (in seconds), that is, the required time is n / H.

[0087] Specifically, the required time and the start time are added together to obtain the receiving time T2 = T1 + n / H. It can be understood that the total time from when the inherent electrical signal is emitted from the indoor robot to when it is received by the sensor is T2 - T0. Therefore, the receiving time is 20ms + n / H. In other words, the time it takes for the inherent electrical signal to be transmitted from the indoor robot to the sensor is 20ms + n / H.

[0088] It is particularly important to note that the propagation time of various electrical signals and any form of radio wave is negligible in this embodiment.

[0089] Step S130: Calculate the distance between each of the sensors and the indoor robot based on the time and the speed of sound.

[0090] In this embodiment, the speed of sound refers to the speed of sound propagation under standard conditions, which is 340 m / s. By obtaining the time 20 ms + n / H, i.e., the time is 20 / 1000 + n / H(s), the distance between the sensor and the indoor robot can be calculated. Furthermore, the distance between each sensor and the indoor robot can be calculated.

[0091] Step S140: Locate the indoor robot based on the distance and the position of the sensor.

[0092] Specifically, the indoor robot can be accurately located based on the positions of the three sensors within the room and the distances between each sensor and the indoor robot. Optionally, a coordinate system can be established to obtain the position information of each sensor within the room, thereby determining the coordinate position of the indoor robot within that coordinate system and thus accurately locating the indoor robot.

[0093] Furthermore, please refer to Figure 4 In one embodiment, step S140 specifically includes the following steps:

[0094] Step S141: Establish an indoor three-dimensional rectangular coordinate system in advance and obtain the coordinate positions of each sensor;

[0095] Step S142: Based on the coordinate position and the distance, obtain the coordinate information of the indoor robot in the three-dimensional Cartesian coordinate system;

[0096] Step S143: Position the indoor robot according to the coordinate information.

[0097] It's important to understand that indoor robots typically can only operate on one plane; for example, a robotic vacuum cleaner only works on the floor. Optionally, this embodiment establishes a three-dimensional Cartesian coordinate system (x, y, z) in the indoor scene. Based on the installation positions of each sensor, the three-dimensional coordinates of each sensor in the Cartesian coordinate system are obtained. Firstly, two non-collinear sensors can be placed on the same horizontal plane. For example, the two sensors may have the same z-coordinate value, but their x and y coordinate values ​​may not be exactly the same. The position of the third sensor cannot be perpendicular to the plane where the first two sensors are located. This ensures that the indoor robot has one and only one coordinate position in the three-dimensional Cartesian coordinate system, where the coordinate information includes the robot's coordinate position.

[0098] Since the indoor robot is constantly moving, obtaining its coordinates at the current moment allows for precise positioning of the robot. Furthermore, by using the coordinates of the indoor robot at various times, its trajectory can be determined.

[0099] Example 2

[0100] Corresponding to the above method embodiments, please refer to Figure 5 , Figure 5 This is a structural block diagram of an indoor robot positioning device provided in an embodiment of the present invention. The indoor robot positioning scenario includes at least three sensors, and the indoor robot is equipped with a microphone. Therefore, the indoor robot positioning device 100 includes: a sampling module 110, a time calculation module 120, a distance calculation module 130, and a positioning module 140.

[0101] The sampling module 110 is used to record the inherent noise generated by the indoor robot during operation within a preset sampling time based on the microphone, and convert the inherent noise into an inherent electrical signal.

[0102] The time calculation module 120 is used to calculate the time it takes for the inherent electrical signal to be transmitted from the indoor robot to the sensor.

[0103] The distance calculation module 130 is used to calculate the distance between each of the sensors and the indoor robot based on the time and the speed of sound;

[0104] The positioning module 140 locates the indoor robot based on the distance and the position of the sensor.

[0105] The indoor robot positioning device provided in this application corresponds to each step of the indoor robot positioning method in Embodiment 1 above. The optional options in Embodiment 1 above are also applicable to this embodiment, so they will not be described again here.

[0106] This invention also provides a computer device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the indoor robot positioning method as described in Embodiment 1.

[0107] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the indoor robot positioning method as described in Embodiment 1.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0109] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0110] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0111] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for indoor robot localization, the method comprising: The positioning scene of the indoor robot is provided with at least three sensors, the indoor robot is provided with a microphone, and the method comprises the following steps: Based on the microphone, recording inherent noise generated by the indoor robot during operation within a preset sampling time, and converting the inherent noise into an inherent electric signal; Calculating the time for the inherent noise to be transmitted from the indoor robot to the sensors; According to the time and the speed of sound, calculating the distance between each sensor and the indoor robot; According to the distance and the position of the sensors, positioning the indoor robot, directly using the inherent noise generated by the indoor robot itself instead of specific sound, and eliminating specific sound generated by the indoor robot actively, thereby reducing the noise of the indoor robot; The sensors receive total noise obtained by adding environmental noise and the inherent noise when the indoor robot is operating, and the calculation of the time for the inherent noise to be transmitted from the indoor robot to each sensor comprises the following steps: Through the sensors, converting the total noise into a total electric signal; Through a preset formula, cross-correlating the total electric signal and the inherent electric signal to obtain a shift value; According to a preset sampling rate and the shift value, calculating the time.

2. The indoor robot positioning method of claim 1, wherein, The cross-correlation of the total electric signal and the inherent electric signal to obtain a shift value comprises the following steps: According to the preset sampling time and the preset sampling rate, calculating the number of sampling points of the inherent electric signal; According to the preset formula, cross-correlating each sampling point and the total electric signal to obtain the shift value.

3. The indoor robot positioning method of claim 2, wherein, The preset formula comprises the following formula: ； In the formula, f(n) represents the cross-correlation value of the total electric signal and the inherent electric signal at the nth point, E(x) represents the electric signal value of the xth point in the inherent electric signal, W(x+n) represents the electric signal value of the x+nth point in the total electric signal, n represents the shift value, and m represents the number of sampling points of the inherent electric signal.

4. The indoor robot positioning method of claim 1, wherein, According to the preset sampling rate and the shift value, calculating the time comprises the following steps: Obtaining the starting time of the inherent electric signal when the indoor robot starts operating; According to the starting time and the preset sampling time, obtaining the starting time of the cross-correlation operation; According to the starting time, the preset sampling rate and the shift value, obtaining the receiving time of the total noise received by the sensors; According to the starting time and the receiving time, calculating the time.

5. The indoor robot positioning method of claim 4, wherein, According to the starting time, the preset sampling rate and the shift value, obtaining the receiving time of the total noise received by the sensors comprises the following steps: According to the shift value and the preset sampling rate, determining the required time for the sensors to receive the inherent noise; According to the required time and the starting time, obtaining the receiving time.

6. The indoor robot positioning method of claim 1, wherein, According to the distance and the position of the sensors, positioning the indoor robot comprises the following steps: Pre-establishing an indoor three-dimensional rectangular coordinate system to obtain the coordinate positions of each sensor; According to the coordinate position and the distance, coordinate information of the indoor robot in the three-dimensional rectangular coordinate system is obtained; According to the coordinate information, the indoor robot is positioned.

7. An indoor robot positioning apparatus, characterized by comprising: At least three sensors are arranged in the positioning scene of the indoor robot, the indoor robot is provided with a microphone, and the device comprises: A sampling module is configured to record inherent noise generated by the indoor robot when running within a preset sampling time based on the microphone, and convert the inherent noise into an inherent electrical signal; A calculation time module is configured to calculate a time for the inherent noise to be transmitted from the indoor robot to the sensors; the sensors receive total noise obtained by adding environmental noise and the inherent noise when the indoor robot is running, and the calculation of the time for the inherent noise to be transmitted from the indoor robot to each of the sensors comprises: converting the total noise into a total electrical signal by the sensors; performing cross-correlation operation on the total electrical signal and the inherent electrical signal by a preset formula to obtain an offset value; and calculating the time according to a preset sampling rate and the offset value A calculation distance module is configured to calculate distances between the sensors and the indoor robot according to the time and a sound speed; A positioning module is configured to position the indoor robot according to the distances and positions of the sensors, directly replace specific sound with the inherent noise generated by the indoor robot itself, eliminate specific sound actively generated by the indoor robot, and thus reduce noise of the indoor robot.

8. A computer device, comprising: A processor and a memory are included, the memory stores a computer program, the processor executes the computer program, and the indoor robot positioning method according to any one of claims 1 to 6 is realized.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium, and the computer program is run by the processor to realize the indoor robot positioning method according to any one of claims 1 to 6.

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