Intelligent positioning method based on intelligent robot

Abstract

The invention relates to the technical field of intelligent positioning, and particularly discloses an intelligent positioning method based on an intelligent robot, and the method comprises the following steps: S1, calculating the propagation speed of ultrasonic waves at the current temperature, and calculating the propagation time and ideal distance; s2, acquiring the sound intensity of the transmitter and the receiver, calculating the standard deviation of sound intensity loss coefficients, and screening out an error receiver; s3, calculating the sound pressure of the coordinate point of the error receiver, calculating theoretical sound intensity and a theoretical sound intensity loss value, and obtaining a sound intensity loss coefficient ratio; and S4, calculating a real propagation distance, dividing a target circle and obtaining an intersection point, and calculating coordinates of the intelligent robot according to the intersection point. The intelligent positioning method based on the intelligent robot is used for solving the problems existing in the ultrasonic positioning technology, the positioning precision of the sweeping robot is improved, and the influence of the multipath effect on the positioning precision of the intelligent robot is relieved to a certain extent.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent positioning, and particularly to an intelligent positioning method based on an intelligent robot. Background Art

[0002] With the development of robot technology, more and more intelligent robots appear in daily life and undertake many production tasks. The positioning accuracy of intelligent robots is an important factor affecting their working performance. Currently, floor-sweeping robots mainly adopt ultrasonic positioning technology. Ultrasonic positioning technology is a technology that uses ultrasonic waves for distance measurement and position positioning, and is widely used in the field of UAV obstacle avoidance.

[0003] In the prior art, ultrasonic positioning technology extremely depends on the collaborative work between the transmitter and the receiver. When the ultrasonic wave encounters an obstacle during propagation or there is a non-line-of-sight path between the transmitter and the receiver, the positioning accuracy will be greatly affected. In addition, as the propagation distance increases, the energy of the ultrasonic wave will gradually attenuate, resulting in a weakened signal intensity, thereby affecting the positioning effect and reliability. Therefore, it is necessary to design an intelligent positioning method based on an intelligent robot to solve the problems existing in ultrasonic positioning technology and improve the positioning accuracy of floor-sweeping robots. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent positioning method based on an intelligent robot to solve the above technical problems.

[0005] The purpose of the present invention can be achieved through the following technical solutions: An intelligent positioning method based on an intelligent robot includes the following steps: S1: Obtain the current temperature W, and calculate the propagation speed of ultrasonic wave v = 340 + a * (W - 15), where a represents a preset speed increment; Obtain the time point Ts when the transmitter sends the ultrasonic wave, obtain the time point Te when the receiver receives the ultrasonic wave, calculate the propagation time T = Te - Ts, and the ideal distance L = T * v; S2: Obtain the sound intensity I of the ultrasonic wave emitted by the transmitter s and the sound intensity I of the ultrasonic wave received by the receiver e , calculate the sound intensity loss coefficient S = (I s - I e ) / L 2 , calculate the mean S ave of the sound intensity loss coefficient and the standard deviation s; Screen out the sound intensity loss coefficient S outside the interval [S sta - s, S sta + s], and mark the corresponding receiver as an error receiver, where S staRepresents a preset standard sound intensity loss coefficient; S3: Calculate the sound pressure P at the coordinate point of the error receiver through the formula, and the specific formula is: ; Where, W represents the ultrasonic transmission power of the transmitter, ρ represents the medium density, and LT represents the ideal distance corresponding to the error receiver; Calculate the theoretical sound intensity IL = P 2 / (ρv) and the theoretical sound intensity loss value SL = I s -IL, Calculate the sound intensity loss coefficient ratio B = ST / S sta , where ST represents the sound intensity loss coefficient corresponding to the error receiver; S4: Calculate the true propagation distance , where P s Represents the sound pressure at the coordinate point where the error receiver is located; Taking the receiver coordinate as the center and the ideal distance L as the radius to divide the target circle. If the receiver is marked as an error receiver, then divide the target circle with the true transmission distance LX as the radius, obtain the intersection points between the target circles, obtain the coordinates of the intersection points, and calculate the mean value x ave of the abscissa and the mean value y ave of the ordinate of the intelligent robot coordinate point. Then the coordinate of the intelligent robot is (x ave , y ave ).

[0006] As a further solution of the present invention: Obtain the number N of receivers arranged in the working place of the intelligent robot. If the number N of receivers < 3, then stop the subsequent operations.

[0007] As a further solution of the present invention: In the step S4, if there is only one intersection point of the target circles, the intersection point coordinates are the coordinates of the intelligent robot.

[0008] As a further solution of the present invention: In the step S2, the calculation method of the standard sound intensity loss coefficient S sta Specifically includes: Place the receiver and the transmitter on the horizontal ground, and make the transmitter emit ultrasonic waves with a sound intensity of I a . And the linear distance between the receiver and the transmitter is LZ, where LZ is a preset distance. Calculate the standard sound intensity loss coefficient S sta = (I a - I b ) / LZ 2 , where I a Is the preset ultrasonic sound intensity, and I b Is the sound intensity received by the receiver.

[0009] As a further solution of the present invention: in the step S2, an ultrasonic intensity threshold I is set for the receiver min , and the ultrasonic waves with an intensity I < I min are excluded and do not participate in the subsequent steps.

[0010] As a further solution of the present invention: in the step S2, when the receiver receives an ultrasonic signal, it enters a preset shielding period TP, and when the receiver is in the shielding period, it stops receiving ultrasonic waves.

[0011] As a further solution of the present invention: in the step S4, a two-dimensional floor plan of the robot workplace is obtained, and the intersection points outside the two-dimensional floor plan do not participate in the calculation of the average value of the abscissa and the average value of the ordinate of the intelligent robot coordinate points.

[0012] As a further solution of the present invention: in the step S3, if the sound intensity loss value SL is less than the preset minimum sound intensity loss value SL min , the coordinates of the error receiver are recorded as the coordinates of the intelligent robot at this time.

[0013] Beneficial effects of the present invention: In the present invention, first, the propagation speed of ultrasonic waves is calculated. The propagation speed of ultrasonic waves is not a constant value, and it is affected by various factors, among which temperature is one of the most critical influencing factors. The higher the temperature, the faster the propagation speed of ultrasonic waves. According to the measured time data, the distance between the intelligent robot and the receiver is calculated, providing reliable data support for subsequent positioning work.

[0014] By accurately measuring the propagation time, the speed of ultrasonic waves propagating in the medium can be initially understood. Combining the propagation speed of ultrasonic waves to calculate the ideal distance. In an actual intelligent robot positioning system, based on the known propagation speed of ultrasonic waves and the measured propagation time. This ideal distance can be used as a reference value to roughly determine the relative position relationship between the intelligent robot and the receiver.

[0015] Sound intensity, as an important parameter of ultrasonic waves, not only reflects the strength of ultrasonic wave energy but also contains information related to the propagation distance, so it becomes one of the key bases for determining the distance between the intelligent robot and the receiver.

[0016] When ultrasonic waves propagate in a medium, their energy gradually attenuates with the increase of distance, and this attenuation degree is closely related to the sound intensity loss value. By accurately measuring the sound intensity of the ultrasonic waves emitted by the transmitter and the sound intensity of the ultrasonic waves received by the receiver, the sound intensity loss value can be calculated. Based on this loss value and combined with the propagation characteristics of ultrasonic waves in a specific medium, the distance between the intelligent robot and the receiver can be roughly estimated.

[0017] Calculating the sound intensity loss coefficient is an important means to judge the relationship between sound intensity and propagation distance. By calculating the sound intensity loss coefficient at different receiver positions, a relationship model between sound intensity loss and propagation distance can be constructed, thereby further improving the positioning accuracy of intelligent robots.

[0018] Error receivers refer to those receivers with relatively large errors in the measured data. Such errors may be due to non-visible paths between the intelligent robot and the receivers. By calculating the sound intensity loss coefficient of each receiver and comparing it with the preset standard sound intensity loss coefficient, error receivers can be identified.

[0019] Calculate the sound pressure based on the previously measured sound intensity. As an important physical quantity of ultrasonic waves, sound pressure has a close mathematical relationship with sound intensity. According to relevant acoustic formulas, the square of the sound pressure is proportional to the sound intensity, and the sound pressure values at the positions of each receiver can be obtained. These sound pressure values provide basic data for subsequent calculations.

[0020] For the selected error receivers, use the calculated sound pressure to deduce their theoretical sound intensity and theoretical sound intensity loss values. Furthermore, combine with the transmitted sound intensity of the transmitter to obtain the theoretical sound intensity loss value. Subsequently, use the sound pressure and sound intensity to correct the actual distance between the intelligent robot and the receiver, and according to the law of the change of sound pressure and sound intensity with distance, combine with the actual measured values of the error receivers to construct a more accurate distance calculation model. This model can reduce the errors introduced previously due to factors such as non-visible paths not being considered, making the estimation of the distance between the intelligent robot and the receiver closer to the actual value, thereby improving the accuracy of the entire positioning system and providing more reliable guarantee for the precise positioning and navigation of intelligent robots.

[0021] In subsequent steps, calculating the actual propagation distance is a crucial part. For receivers not marked as error receivers, divide the target circle with the receiver coordinates as the center and the ideal distance L as the radius. This ideal distance L is estimated based on the sound intensity loss model under the premise of ideal conditions in the early stage, assuming that ultrasonic waves propagate in a straight line in a homogeneous medium without any external interference factors. In this case, the target circle represents the possible propagation range of ultrasonic waves in the ideal state.

[0022] However, if the receiver is marked as an error receiver, it indicates that there are significant errors in the data measured by this receiver, which may be caused by non-visible paths between the intelligent robot and the receiver, such as obstruction, reflection, or refraction by obstacles. In this case, we cannot simply rely on the ideal distance L to divide the target circle, but rather divide it with the true transmission distance LX as the radius. This true transmission distance LX is recalculated by considering various interference factors in the actual environment and combining the relationship between sound pressure and sound intensity. It is closer to the true propagation path length of the ultrasonic wave from the emission source to this receiver in the actual environment.

[0023] After completing the division of the target circles for all receivers, the next step is to obtain the intersections between these target circles. To determine the final coordinates of the intelligent robot, further processing of the coordinates of these intersections is required. Specifically, calculate the mean value x of the abscissas among all the intersection coordinates ave and the mean value y of the ordinates ave . The calculation process of this mean value actually performs a fusion and averaging process on all the intersection information, aiming to reduce the impact of individual receiver measurement errors or other accidental factors on the final positioning result. Through such processing, a set of relatively stable and accurate coordinate values (x ave , y ave ) can be obtained, and this coordinate is considered as the final coordinate of the intelligent robot. To a certain extent, it compensates for the possible errors and uncertainties of individual receivers, thereby improving the accuracy and reliability of the intelligent robot's positioning and providing an accurate position information basis for subsequent control, navigation, and various applications of the intelligent robot.

[0024] In summary, the present invention designs an intelligent positioning method based on an intelligent robot to solve the problems existing in ultrasonic positioning technology, improve the positioning accuracy of the sweeping robot, and alleviate the influence of multipath effects on the positioning accuracy of the intelligent robot to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below with reference to the accompanying drawings.

[0026] Figure 1 is a schematic flowchart of an intelligent positioning method based on an intelligent robot according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The technical solutions in the embodiments 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 a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] Please refer to Figure 1 as shown, the present invention is an intelligent positioning method based on an intelligent robot, including the following steps: S1: Obtain the current temperature W, calculate the propagation speed of ultrasonic wave v = 340 + a * (W - 15), where a represents a preset speed increment; Obtain the time point Ts when the transmitter sends ultrasonic waves, obtain the time point Te when the receiver receives ultrasonic waves, calculate the propagation time T = Te - Ts, and the ideal distance L = T * v; S2: Obtain the sound intensity I of the ultrasonic wave emitted by the transmitter s and the sound intensity I of the ultrasonic wave received by the receiver e , calculate the sound intensity loss coefficient S = (I s -I e ) / L 2 , calculate the mean value S ave and the standard deviation s of the sound intensity loss coefficient; Screen out the sound intensity loss coefficient S outside the interval [S sta -s, S sta +s] and mark the corresponding receiver as an error receiver, where S sta represents a preset standard sound intensity loss coefficient; S3: Calculate the sound pressure P at the coordinate point of the error receiver through the formula. The specific formula is: ; where W represents the ultrasonic wave transmission power of the transmitter, ρ represents the medium density, and LT represents the ideal distance corresponding to the error receiver; Calculate the theoretical sound intensity IL = P 2 / (ρv) and the theoretical sound intensity loss value SL = I s -IL, Calculate the sound intensity loss coefficient ratio B = ST / S sta , where ST represents the sound intensity loss coefficient corresponding to the error receiver; S4: Calculate the true propagation distance , where P s represents the sound pressure at the coordinate point where the error receiver is located; Divide the target circle with the receiver coordinate as the center and the ideal distance L as the radius. If the receiver is marked as an error receiver, divide the target circle with the true transmission distance LX as the radius, obtain the intersection points between the target circles, obtain the coordinates of the intersection points, and calculate the mean value x ave of the abscissa and the mean value y ave of the ordinate of the intelligent robot coordinate point. Then the coordinate of the intelligent robot is (x ave , y ave).

[0029] It should be noted that first, the propagation speed of ultrasonic waves is calculated. The propagation speed of ultrasonic waves is not a constant value. It is affected by various factors, among which temperature is one of the most crucial influencing factors. The higher the temperature, the faster the propagation speed of ultrasonic waves. According to the measured time data, the distance between the intelligent robot and the receiver is calculated, providing reliable data support for subsequent positioning work.

[0030] By precisely measuring the propagation time, the speed of ultrasonic wave propagation in the medium can be initially understood. The ideal distance is calculated in combination with the propagation speed of ultrasonic waves. In an actual intelligent robot positioning system, based on the known propagation speed of ultrasonic waves and the measured propagation time. This ideal distance can be used as a reference value to roughly determine the relative position relationship between the intelligent robot and the receiver.

[0031] Sound intensity, as an important parameter of ultrasonic waves, not only reflects the strength of ultrasonic wave energy but also contains information related to the propagation distance. Therefore, it becomes one of the key bases for determining the distance between the intelligent robot and the receiver.

[0032] When ultrasonic waves propagate in a medium, their energy gradually attenuates with the increase of distance. This attenuation degree is closely related to the loss value of sound intensity. By precisely measuring the sound intensity of the ultrasonic waves emitted by the transmitter and the sound intensity received by the receiver, the loss value of sound intensity can be calculated. Based on this loss value and combined with the propagation characteristics of ultrasonic waves in a specific medium, the distance between the intelligent robot and the receiver can be roughly estimated.

[0033] Calculating the sound intensity loss coefficient is an important means to judge the relationship between sound intensity and propagation distance. By calculating the sound intensity loss coefficients at different receiver positions, a relationship model between sound intensity loss and propagation distance can be constructed, thereby further improving the positioning accuracy of the intelligent robot.

[0034] Error receivers refer to those receivers with relatively large errors in the measured data. Such errors may be caused by non-visible paths between the intelligent robot and the receivers. By calculating the sound intensity loss coefficient of each receiver and comparing it with the preset standard sound intensity loss coefficient, error receivers can be identified.

[0035] Calculate the sound pressure based on the previously measured sound intensity. Sound pressure, as an important physical quantity of ultrasonic waves, has a close mathematical relationship with sound intensity. According to relevant acoustic formulas, the square of sound pressure is proportional to sound intensity, and the sound pressure values at each receiver position can be obtained. These sound pressure values provide basic data for subsequent calculations.

[0036] For the selected error receivers, the calculated sound pressure is used to deduce their theoretical sound intensity and theoretical sound intensity loss values. Furthermore, combined with the transmitted sound intensity of the transmitter, the theoretical sound intensity loss value is obtained. Subsequently, the sound pressure and sound intensity are used to correct the real distance between the intelligent robot and the receiver, and according to the law of the change of sound pressure and sound intensity with distance, combined with the actual measured values of the error receivers, a more accurate distance calculation model is constructed. This model can reduce the errors introduced previously due to factors such as non-visible paths not being considered, making the estimation of the distance between the intelligent robot and the receiver closer to the real value, thereby improving the accuracy of the entire positioning system and providing a more reliable guarantee for the precise positioning and navigation of the intelligent robot.

[0037] In the subsequent steps, calculating the real propagation distance is a crucial part. For the receivers not marked as error receivers, a target circle is divided with the receiver coordinates as the center and the ideal distance L as the radius. This ideal distance L is estimated based on the sound intensity loss model under the premise of ideal conditions in the early stage, assuming that ultrasonic waves propagate in a uniform medium along a straight line without any external interference factors. In this case, the target circle represents the possible propagation range of ultrasonic waves in the ideal state.

[0038] However, if the receiver is marked as an error receiver, it indicates that there are relatively large errors in the data measured by this receiver, which may be caused by non-visible paths between the intelligent robot and the receiver, such as obstacles blocking, reflection, or refraction. At this time, we cannot simply rely on the ideal distance L to divide the target circle, but divide it with the real transmission distance LX as the radius. This real transmission distance LX is recalculated by considering various interference factors in the actual environment and combining the relationship between sound pressure and sound intensity. It is closer to the real propagation path length of ultrasonic waves from the emission source to this receiver in the actual environment.

[0039] After completing the division of the target circles for all receivers, the next step is to obtain the intersections between these target circles. In order to determine the final coordinates of the intelligent robot, the coordinates of these intersections need to be further processed. Specifically, calculate the mean value x of the abscissas in all intersection coordinates ave and the mean value y of the ordinates ave . The calculation process of this mean value actually fuses and averages all the intersection information, aiming to reduce the influence of single receiver measurement errors or other accidental factors on the final positioning result. Through such processing, a set of relatively stable and accurate coordinate values (x ave , y ave), this coordinate is considered the final coordinate of the intelligent robot. To a certain extent, it makes up for the possible errors and uncertainties of a single receiver, thereby improving the accuracy and reliability of the intelligent robot's positioning, and providing an accurate position information basis for subsequent control, navigation, and various applications of the intelligent robot.

[0040] In another preferred embodiment of the present invention, the number N of receivers arranged in the working place of the intelligent robot is obtained. If the number N of receivers < 3, subsequent operations are stopped.

[0041] It is worth noting that when the number of receivers is too small, the amount of data provided decreases accordingly, which will trigger a series of chain reactions, ultimately resulting in the inability to accurately calculate the true transmission distance, and further causing the problem of excessive positioning errors. And the reduction in the number of receivers means that the data points available for calculation become sparse. In a positioning system, accurately calculating the transmission distance usually requires cross-validation and comparison of multiple data points. If the number of data points is too small, the system may not obtain enough information to accurately judge the source direction and position of the signal, resulting in deviations in the estimation of the transmission distance.

[0042] In another preferred embodiment of the present invention, if there is exactly one intersection point of the target circles, the intersection point coordinates are the coordinates of the intelligent robot.

[0043] It can be understood that when there is only one intersection point, it means that there is no obstacle in the ultrasonic transmission process. At this time, the intersection point coordinates are the coordinates of the intelligent robot.

[0044] In another preferred embodiment of the present invention, the calculation method of the standard sound intensity loss coefficient S sta specifically includes: Place the receiver and the transmitter on the horizontal ground, and let the transmitter emit ultrasonic waves with an intensity of I a , and the straight-line distance between the receiver and the transmitter is LZ, where LZ is a preset distance. Calculate the standard sound intensity loss coefficient S sta = (I a - I b ) / LZ 2 , where I a is the preset ultrasonic sound intensity, and I b is the sound intensity received by the receiver.

[0045] It should be noted that this is used to calculate the decreasing law under normal ultrasonic transmission conditions, so as to judge whether there is an obstacle between the intelligent robot and the receiver.

[0046] In another preferred embodiment of the present invention, an ultrasonic sound intensity threshold I min is set for the receiver, and when the sound intensity I < Imin Those ultrasonic waves that are rejected will not participate in the subsequent steps.

[0047] It should be noted that during the positioning process of the intelligent robot, we will reject ultrasonic waves with an acoustic intensity I less than I min . The main purpose of this operation is to reduce the interference of the multipath effect on the positioning accuracy of the intelligent robot.

[0048] If these ultrasonic signals with weak acoustic intensities are not rejected, they will interfere with the effective signals of the direct path, making it difficult for the receiver to accurately judge the true propagation path and distance of the ultrasonic waves. In a complex environment, this interference will be more obvious because walls, furniture, and other obstacles will generate a large number of reflected and scattered signals.

[0049] By setting the acoustic intensity threshold I min and rejecting ultrasonic signals below this threshold, it is possible to effectively filter out those invalid signals that may be caused by the multipath effect, thereby improving the anti-interference ability of the intelligent robot positioning system, ensuring that it can more accurately capture effective ultrasonic signals, and thus improving the positioning accuracy and reliability.

[0050] In another preferred embodiment of the present invention, when the receiver receives an ultrasonic signal, it enters a preset shielding period TP, and when the receiver is in the shielding period, it stops receiving ultrasonic waves.

[0051] It can be understood that when the receiver receives an ultrasonic signal, it will automatically enter a preset shielding period TP. During this specific time interval, the receiver will pause the reception of ultrasonic waves. The original intention of this design is to effectively reduce the occurrence of multiple ultrasonic signals being received by the receiver within a short period of time, because if a large number of signals flood in simultaneously, the receiver may have difficulty accurately distinguishing and processing them, resulting in an increase in measurement errors, and thus affecting the accuracy and reliability of the intelligent robot positioning.

[0052] In another preferred embodiment of the present invention, a two-dimensional floor plan of the robot's workplace is obtained, and intersections outside the two-dimensional floor plan do not participate in the calculation of the mean value of the abscissa and the mean value of the ordinate of the intelligent robot's coordinate points.

[0053] It is worth noting that some obviously incorrect points are rejected, thereby reducing the computational amount of the subsequent steps and achieving the purpose of simplifying the process.

[0054] In another preferred embodiment of the present invention, if the acoustic intensity loss value SL is less than the preset minimum acoustic intensity loss value SL min , the coordinates of the error receiver are recorded as the coordinates of the intelligent robot at this time.

[0055] It should be noted that the energy of ultrasonic waves will spread around in the form of spherical waves during propagation. When the distance between the receiver and the transmitter is very close, the energy of ultrasonic waves has not been fully spread in space, and the receiver can receive most or even all of the ultrasonic wave energy emitted by the transmitter. At this time, the sound intensity loss is extremely small and approaches 0. For example, in some close-range ultrasonic detection experiments carried out in a laboratory environment, when the distance between the transceiver devices is only a few centimeters, the energy transfer efficiency is high and the sound intensity loss can be ignored. Therefore, when the distance between the receiver and the transmitter is very close, the sound intensity loss may be 0 or a very small value.

[0056] The above has described a specific embodiment of the present invention in detail, but the content described is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made in accordance with the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. An intelligent positioning method based on an intelligent robot, characterized in that: The following steps are involved: S1: Get the current temperature W and calculate the ultrasonic propagation speed v=340+a*(W-15), where a represents the preset speed increment; Get the time point Ts when the transmitter sends the ultrasonic wave, get the time point Te when the receiver receives the ultrasonic wave, calculate the propagation time T=Te-Ts, and the ideal distance L=T*v; S2: Get the sound intensity I of the ultrasonic wave emitted by the transmitter s and the sound intensity I of the ultrasonic wave received by the receiver e , calculate the sound intensity loss coefficient S = (I s -I e ) / L 2 , calculate the standard deviation s of the sound intensity loss coefficient; Filter out the sta -s, S sta +s] and mark the corresponding receiver as the error receiver, where S sta Represents the preset standard sound intensity loss coefficient; S3: Calculate the sound pressure P of the error receiver coordinate point by a formula, the formula is specifically: ； Where W represents the ultrasonic transmission power of the transmitter, ρ represents the medium density, and LT represents the ideal distance corresponding to the error receiver; Calculate the theoretical sound intensity of the error receiver IL=P 2 / (ρv) and theoretical sound intensity loss value SL=I s -IL, Calculate the sound intensity loss coefficient ratio of the error receiver B=ST / SL, where ST represents the sound intensity loss coefficient corresponding to the error receiver; S4: Calculate the actual propagation distance , where P s Represents the sound pressure at the coordinate point where the error receiver is located; Take the receiver coordinates as the center and the ideal distance L as the radius to divide the target circle. If the receiver is marked as an error receiver, divide the target circle with the actual transmission distance LX as the radius, obtain the intersection between the target circles, obtain the coordinates of the intersection, and calculate the mean value x of the horizontal coordinate of the intelligent robot coordinate point ave and the mean y of the ordinate ave , then the coordinates of the intelligent robot are (x ave ,y ave ).

2. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: Get the number N of receivers arranged in the intelligent robot workplace. If the number N of receivers is less than 3, stop subsequent operations.

3. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: In the step S4, if there is only one intersection point of the target circle, the coordinates of the intersection point are the coordinates of the intelligent robot.

4. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: In step S2, the standard sound intensity loss coefficient S sta The calculation method includes: Place the receiver and transmitter on a horizontal surface and set the transmitter's sound intensity to I a The straight-line distance between the receiver and the transmitter is LZ, where LZ is the preset distance. Calculate the standard sound intensity loss coefficient S sta =(I a -I b ) / LZ 2 , where I a is the preset ultrasonic sound intensity, I b It is the sound intensity of the ultrasonic wave received by the receiver.

5. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: In step S2, the ultrasonic sound intensity threshold I is set for the receiver. min , the sound intensity I<I min Ultrasonic removal is performed and does not participate in subsequent steps.

6. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: In the step S2, when the receiver receives an ultrasonic signal, it enters a preset shielding period TP, and stops receiving ultrasonic waves when the receiver is in the shielding period.

7. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: In step S4, a two-dimensional plane diagram of the intelligent robot's workplace is obtained, and intersection points outside the two-dimensional plane diagram are not involved in the calculation of the mean values ​​of the horizontal coordinates and the vertical coordinates of the intelligent robot's coordinate points.

8. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: In step S3, if the sound intensity loss value SL is less than the preset minimum sound intensity loss value SL min At this time, the coordinates of the error receiver are marked as the coordinates of the intelligent robot.

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