An intelligent positioning method based on intelligent robots

Abstract

The present invention relates to the field of intelligent positioning technology, and specifically discloses an intelligent positioning method based on an intelligent robot, comprising the following steps: S1: calculating the propagation speed of ultrasound at the current temperature, calculating the propagation time and ideal distance; S2: obtaining the sound intensity of the transmitter and receiver, calculating the standard deviation of the sound intensity loss coefficient, and screening out error receivers; S3: calculating the sound pressure at the coordinate point of the error receiver, calculating the theoretical sound intensity and theoretical sound intensity loss value, and obtaining the sound intensity loss coefficient ratio; S4: calculating the actual propagation distance, dividing the target circle and obtaining the intersection point, and calculating the coordinates of the intelligent robot based on the intersection point. 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 to a certain extent alleviate the impact of the multipath effect on the positioning accuracy of the intelligent robot.

Description

Technical Field

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

[0002] With the development of robotics technology, more and more intelligent robots are appearing in daily life, taking on many production tasks. The positioning accuracy of intelligent robots is an important factor affecting their working performance. At present, sweeping robots mainly use ultrasonic positioning technology. Ultrasonic positioning technology is a technology that uses ultrasonic waves to measure distance and locate positions. It is widely used in the field of drone obstacle avoidance.

[0003] In existing technologies, ultrasonic positioning relies heavily on the collaboration between a transmitter and receiver. When ultrasonic waves encounter obstacles during propagation or when there's a non-line-of-sight path between the transmitter and receiver, positioning accuracy is significantly affected. Furthermore, as propagation distance increases, the ultrasonic energy gradually attenuates, weakening the signal strength and thus affecting the effectiveness and reliability of positioning. Therefore, it's necessary to design an intelligent positioning method based on intelligent robots to address these issues and improve the positioning accuracy of 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:

[0006] An intelligent positioning method based on an intelligent robot comprises the following steps:

[0007] S1: Get the current temperature W and calculate the ultrasonic propagation speed v = 340 + a * (W-15), where a represents the preset speed increment;

[0008] 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;

[0009] 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 mean value S of the sound intensity loss coefficient ave and standard deviation s;

[0010] 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;

[0011] S3: Calculate the sound pressure P at the error receiver coordinate point using the formula, which is specifically:

[0012] ;

[0013] 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;

[0014] Calculate the theoretical sound intensity of the error receiver IL=P 2 / (ρv) and theoretical sound intensity loss value SL=I s -IL,

[0015] Calculate the sound intensity loss coefficient ratio of the error receiver B=ST / S sta , where ST represents the sound intensity loss coefficient corresponding to the error receiver;

[0016] S4: Calculate the actual propagation distance , where P s Represents the sound pressure at the coordinate point where the error receiver is located;

[0017] Use 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, use the actual transmission distance LX as the radius to divide the target circle. Obtain the intersection between the target circles, obtain the coordinates of the intersection, and calculate the mean x of the horizontal coordinates of the intelligent robot coordinate points. ave and the mean y of the vertical axis ave , then the coordinates of the intelligent robot are (x ave ,y ave ).

[0018] As a further solution of the present invention: the number N of receivers arranged in the workplace of the intelligent robot is obtained, and if the number N of receivers is less than 3, subsequent operations are stopped.

[0019] As a further solution of the present invention: 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.

[0020] As a further solution of the present invention: in step S2, the standard sound intensity loss coefficient S sta The calculation method includes:

[0021] Place the receiver and transmitter on a horizontal surface and set the transmitter's sound intensity to I aThe 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 is the sound intensity of the ultrasonic wave received by the receiver.

[0022] As a further solution of the present invention: 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 the particles do not participate in the subsequent steps.

[0023] As a further solution of the present invention: in the step S2, when the receiver receives the ultrasonic signal, it enters a preset shielding period TP, and when the receiver is in the shielding period, it stops receiving the ultrasonic wave.

[0024] As a further solution of the present invention: in the step S4, a two-dimensional plan view of the robot workplace is obtained, and the intersection points outside the two-dimensional plan view do not participate in the calculation of the mean of the horizontal coordinate and the mean of the vertical coordinate of the intelligent robot coordinate point.

[0025] 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 , at this time the coordinates of the error receiver are marked as the coordinates of the intelligent robot.

[0026] Beneficial effects of the present invention: First, the propagation speed of ultrasound waves is calculated. This speed is not a constant value but is affected by a variety of factors, with temperature being one of the most critical. The higher the temperature, the faster the ultrasound waves propagate. Based on the measured time data, the distance between the intelligent robot and the receiver is calculated, providing reliable data support for subsequent positioning work.

[0027] By accurately measuring propagation time, we can gain a preliminary understanding of the speed at which ultrasound waves propagate through a medium. This information, combined with the propagation speed of ultrasound waves, can be used to calculate the ideal distance. In practical intelligent robot positioning systems, this ideal distance, based on the known ultrasonic propagation speed and the measured propagation time, can serve as a reference value to roughly determine the relative position between the intelligent robot and the receiver.

[0028] Sound intensity is an important parameter of ultrasound. It not only reflects the strength of ultrasonic 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.

[0029] When ultrasonic waves propagate through a medium, their energy gradually attenuates with increasing distance. This attenuation is closely related to the loss of sound intensity. By accurately measuring the intensity of the ultrasonic waves emitted by the transmitter and received by the receiver, the loss of sound intensity can be calculated. Based on this loss value, 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.

[0030] Calculating the sound intensity loss coefficient is an important method for determining the relationship between sound intensity and propagation distance. By calculating the sound intensity loss coefficient at different receiver locations, a relationship model between sound intensity loss and propagation distance can be constructed, further improving the positioning accuracy of intelligent robots.

[0031] Error receivers are those whose measured data exhibits significant errors. This error may be due to a non-line-of-sight path between the intelligent robot and the receiver. Error receivers can be identified by calculating the sound intensity loss coefficient for each receiver and comparing it to a preset standard sound intensity loss coefficient.

[0032] The sound pressure is calculated based on the previously measured sound intensity. Sound pressure, a key physical quantity in ultrasonic waves, has a close mathematical relationship with sound intensity. Based on the relevant acoustic formula, the square of the sound pressure is proportional to the sound intensity. This allows us to calculate the sound pressure value at each receiver location. These sound pressure values ​​provide the foundation for subsequent calculations.

[0033] For the selected error receivers, the calculated sound pressure is used to derive their theoretical sound intensity and theoretical sound intensity loss values. Furthermore, the theoretical sound intensity loss value is derived by combining it with the transmitter's transmitted sound intensity. The actual distance between the intelligent robot and the receiver is then corrected using sound pressure and intensity. Based on how sound pressure and intensity vary with distance and the actual measurements of the error receivers, a more accurate distance calculation model is constructed. This model reduces errors previously introduced by factors such as the lack of consideration of non-line-of-sight paths, making the estimated distance between the intelligent robot and the receiver closer to the actual value. This improves the accuracy of the entire positioning system and provides more reliable support for the intelligent robot's precise positioning and navigation.

[0034] Calculating the actual propagation distance is crucial in the subsequent steps. For receivers not marked as error receivers, a target circle is drawn 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 ideal conditions, assuming that ultrasound propagates in a straight line in a homogeneous medium without any external interference. In this case, the target circle represents the range within which ultrasound waves can propagate under ideal conditions.

[0035] However, if a receiver is marked as an error receiver, it indicates that the data measured by that receiver has significant errors. This may be due to non-line-of-sight between the intelligent robot and the receiver, such as obstruction, reflection, or refraction caused by obstacles. In this case, we cannot rely solely on the ideal distance L to divide the target circle. Instead, we use the actual transmission distance LX as the radius. This actual 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 more accurate to approximate the actual propagation path length of ultrasound from the transmitter to the receiver in a real environment.

[0036] After completing the target circle division of all receivers, the next step is to obtain the intersection points between these target circles. In order to determine the final coordinates of the intelligent robot, the coordinates of these intersection points need to be further processed. Specifically, the mean x of the horizontal coordinates of all intersection points is calculated. ave and the mean y of the vertical axis ave The calculation process of this mean is actually the fusion and averaging of all the intersection information, which aims to reduce the impact of single receiver measurement errors or other accidental factors on the final positioning results. Through this process, a set of relatively stable and accurate coordinate values ​​(x ave ,y ave ), these coordinates are considered the final coordinates of the intelligent robot. This compensates for the potential errors and uncertainties of a single receiver, improving the accuracy and reliability of the intelligent robot's positioning and providing precise location information for subsequent intelligent robot control, navigation, and various applications.

[0037] 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 the multipath effect on the positioning accuracy of the intelligent robot to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below with reference to the accompanying drawings.

[0039] Figure 1 It is a flow chart of an intelligent positioning method based on an intelligent robot according to the present invention. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] See also Figure 1 As shown, the present invention is an intelligent positioning method based on an intelligent robot, comprising the following steps:

[0042] S1: Get the current temperature W and calculate the ultrasonic propagation speed v = 340 + a * (W-15), where a represents the preset speed increment;

[0043] 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;

[0044] 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 mean value S of the sound intensity loss coefficient ave and standard deviation s;

[0045] 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;

[0046] S3: Calculate the sound pressure P at the error receiver coordinate point using the formula, which is specifically:

[0047] ;

[0048] 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;

[0049] Calculate the theoretical sound intensity of the error receiver IL=P 2 / (ρv) and theoretical sound intensity loss value SL=I s -IL,

[0050] Calculate the sound intensity loss coefficient ratio of the error receiver B=ST / S sta , where ST represents the sound intensity loss coefficient corresponding to the error receiver;

[0051] S4: Calculate the actual propagation distance , where P s Represents the sound pressure at the coordinate point where the error receiver is located;

[0052] Use 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, use the actual transmission distance LX as the radius to divide the target circle. Obtain the intersection between the target circles, obtain the coordinates of the intersection, and calculate the mean x of the horizontal coordinates of the intelligent robot coordinate points. ave and the mean y of the vertical axis ave , then the coordinates of the intelligent robot are (x ave ,y ave ).

[0053] It's important to note that the propagation speed of ultrasound waves is calculated first. This isn't a constant value; it's affected by a variety of factors, with temperature being one of the most critical. The higher the temperature, the faster the ultrasound waves propagate. Based on the measured time data, the distance between the intelligent robot and the receiver is calculated, providing reliable data support for subsequent positioning.

[0054] By accurately measuring propagation time, we can gain a preliminary understanding of the speed at which ultrasound waves propagate through a medium. This information, combined with the propagation speed of ultrasound waves, can be used to calculate the ideal distance. In practical intelligent robot positioning systems, this ideal distance, based on the known ultrasonic propagation speed and the measured propagation time, can serve as a reference value to roughly determine the relative position between the intelligent robot and the receiver.

[0055] Sound intensity is an important parameter of ultrasound. It not only reflects the strength of ultrasonic 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.

[0056] When ultrasonic waves propagate through a medium, their energy gradually attenuates with increasing distance. This attenuation is closely related to the loss of sound intensity. By accurately measuring the intensity of the ultrasonic waves emitted by the transmitter and received by the receiver, the loss of sound intensity can be calculated. Based on this loss value, 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.

[0057] Calculating the sound intensity loss coefficient is an important method for determining the relationship between sound intensity and propagation distance. By calculating the sound intensity loss coefficient at different receiver locations, a relationship model between sound intensity loss and propagation distance can be constructed, further improving the positioning accuracy of intelligent robots.

[0058] Error receivers are those whose measured data exhibits significant errors. This error may be caused by a non-line-of-sight path between the intelligent robot and the receiver. Error receivers can be identified by calculating the sound intensity loss coefficient for each receiver and comparing it to a preset standard sound intensity loss coefficient.

[0059] The sound pressure is calculated based on the previously measured sound intensity. Sound pressure, a key physical quantity in ultrasonic waves, has a close mathematical relationship with sound intensity. Based on the relevant acoustic formula, the square of the sound pressure is proportional to the sound intensity. This allows us to calculate the sound pressure value at each receiver location. These sound pressure values ​​provide the foundation for subsequent calculations.

[0060] For the selected error receivers, the calculated sound pressure is used to derive their theoretical sound intensity and theoretical sound intensity loss values. Furthermore, the theoretical sound intensity loss value is derived by combining it with the transmitter's transmitted sound intensity. The actual distance between the intelligent robot and the receiver is then corrected using sound pressure and intensity. Based on how sound pressure and intensity vary with distance and the actual measurements of the error receivers, a more accurate distance calculation model is constructed. This model reduces errors previously introduced by factors such as the lack of consideration of non-line-of-sight paths, making the estimated distance between the intelligent robot and the receiver closer to the actual value. This improves the accuracy of the entire positioning system and provides more reliable support for the intelligent robot's precise positioning and navigation.

[0061] Calculating the actual propagation distance is crucial in the subsequent steps. For receivers not marked as error receivers, a target circle is drawn 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 ideal conditions, assuming that ultrasound propagates in a straight line in a homogeneous medium without any external interference. In this case, the target circle represents the range within which ultrasound waves can propagate under ideal conditions.

[0062] However, if a receiver is marked as an error receiver, it indicates that the data measured by that receiver has significant errors. This may be due to non-line-of-sight between the intelligent robot and the receiver, such as obstruction, reflection, or refraction caused by obstacles. In this case, we cannot rely solely on the ideal distance L to divide the target circle. Instead, we use the actual transmission distance LX as the radius. This actual 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 more accurate to approximate the actual propagation path length of ultrasound from the transmitter to the receiver in a real environment.

[0063] After completing the target circle division of all receivers, the next step is to obtain the intersection points between these target circles. In order to determine the final coordinates of the intelligent robot, the coordinates of these intersection points need to be further processed. Specifically, the mean x of the horizontal coordinates of all intersection points is calculated. ave and the mean y of the vertical axis ave The calculation process of this mean is actually the fusion and averaging of all the intersection information, which aims to reduce the impact of single receiver measurement errors or other accidental factors on the final positioning results. Through this process, a set of relatively stable and accurate coordinate values ​​(x ave ,y ave ), these coordinates are considered the final coordinates of the intelligent robot. This compensates for the potential errors and uncertainties of a single receiver, improving the accuracy and reliability of the intelligent robot's positioning and providing precise location information for subsequent intelligent robot control, navigation, and various applications.

[0064] In another preferred embodiment of the present invention, the number N of receivers arranged in the intelligent robot workplace is obtained, and if the number N of receivers is less than 3, subsequent operations are stopped.

[0065] It's worth noting that when the number of receivers is too small, the amount of data provided decreases, triggering a chain reaction that ultimately makes it impossible to accurately calculate the true transmission distance, leading to excessive positioning errors. Furthermore, a reduction in the number of receivers means that the data points available for calculation become sparse. In positioning systems, accurately calculating transmission distance typically requires cross-validation and comparison of multiple data points. If the number of data points is too small, the system may not have enough information to accurately determine the direction and location of the signal's source, resulting in inaccurate estimates of transmission distance.

[0066] In another preferred embodiment of the present invention, if there is only one intersection point of the target circle, the coordinates of the intersection point are the coordinates of the intelligent robot.

[0067] It can be understood that when there is only one intersection point, it means that there is no obstacle in the transmission of ultrasonic waves at this time, and the coordinates of the intersection point are the coordinates of the intelligent robot.

[0068] In another preferred embodiment of the present invention, the standard sound intensity loss coefficient S sta The calculation method includes:

[0069] 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 =(Ia -I b ) / LZ 2 , where I a is the preset ultrasonic sound intensity, I b is the sound intensity of the ultrasonic wave received by the receiver.

[0070] It should be noted that this is used to calculate the decreasing law under normal transmission of ultrasonic waves, so as to determine whether there is an obstacle between the intelligent robot and the receiver.

[0071] In another preferred embodiment of the present invention, the ultrasonic sound intensity threshold I is set for the receiver. min , the sound intensity I<I min Ultrasonic removal is performed and the particles do not participate in the subsequent steps.

[0072] It should be noted that during the positioning process of the intelligent robot, we will make the sound intensity I less than I min The main purpose of ultrasonic elimination is to reduce the impact of multipath interference on the positioning accuracy of the intelligent robot.

[0073] If these weak ultrasonic signals are not removed, they will interfere with the effective signal in the direct path, making it difficult for the receiver to accurately determine the true propagation path and distance of the ultrasonic wave. This interference is even more obvious in complex environments because walls, furniture, and other obstacles will generate a large number of reflected and scattered signals.

[0074] By setting the sound intensity threshold I min By eliminating ultrasonic signals below the threshold, invalid signals that may be caused by multipath effects can be effectively filtered out, 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 accuracy and reliability of positioning.

[0075] In another preferred embodiment of the present invention, 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.

[0076] As you can understand, when the receiver receives an ultrasonic signal, it automatically enters a pre-set blocking period (TP). During this specific time interval, the receiver suspends its reception of ultrasonic waves. This design is intended to effectively reduce the possibility of the receiver receiving multiple ultrasonic signals simultaneously within a short period of time. If a large number of signals are simultaneously received, the receiver may find it difficult to accurately distinguish and process them, resulting in increased measurement errors, which in turn affects the accuracy and reliability of the intelligent robot's positioning.

[0077] In another preferred embodiment of the present invention, a two-dimensional plan view of the robot workplace is obtained, and intersection points outside the two-dimensional plan view do not participate in the calculation of the mean of the horizontal coordinates and the mean of the vertical coordinates of the intelligent robot coordinate points.

[0078] It is worth noting that some obviously erroneous points are eliminated to reduce the amount of calculation in subsequent steps and achieve the purpose of simplifying the process.

[0079] In another preferred embodiment of the present invention, 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.

[0080] It's worth noting that ultrasonic energy diffuses in all directions as a spherical wave during propagation. When the receiver and transmitter are very close, the ultrasonic energy hasn't yet fully diffused through space, allowing the receiver to receive most, or even all, of the ultrasonic energy emitted by the transmitter. At this point, the sound intensity loss is minimal, approaching zero. For example, in some close-range ultrasonic testing experiments conducted in laboratory settings, when the distance between the transmitter and receiver is only a few centimeters, the energy transfer efficiency is high and the sound intensity loss is negligible. Therefore, when the receiver and transmitter are very close, the sound intensity loss can be zero or extremely minimal.

[0081] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage 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 at the error receiver coordinate point using the formula, which 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; Use 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, use the actual transmission distance LX as the radius to divide the target circle. Obtain the intersection between the target circles, obtain the coordinates of the intersection, and calculate the mean x of the horizontal coordinates of the intelligent robot coordinate points. 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: Obtain 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 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 the 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 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 the particles do not participate in the 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 plan view of the intelligent robot's workplace is obtained, and intersection points outside the two-dimensional plan view do not participate in the calculation of the mean value of the horizontal coordinate and the mean value of the vertical coordinate of the intelligent robot's coordinate point.

8. The intelligent positioning method based on an intelligent robot according to claim 1, characterized in that: In step S3, if the theoretical 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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