Positioning method and device, robot, equipment, medium and product

Abstract

The invention belongs to the technical field of robots, and provides a positioning method and device, a robot, equipment, a medium and a product, the positioning method is applied to a closed water area, the boundary of the closed water area is provided with at least two signal receiving and transmitting assemblies, and the distance between the robot and each signal receiving and transmitting assembly is obtained; and the real-time position of the robot in the closed water area is determined according to the distance between the robot and each signal receiving and transmitting assembly and the position information of each signal receiving and transmitting assembly. The positioning method provided by the invention is low in cost, high in positioning precision, wide in adaptability and simple and convenient to operate, and can meet the actual application requirements of the robot.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to a positioning method, device, robot, equipment, medium and product. Background Technology

[0002] With the development of underwater intelligent equipment technology, underwater robots used in enclosed water areas (such as swimming pools and small reservoirs), such as pool cleaning robots, are widely used. Because these robots need to autonomously complete their tasks within enclosed water areas, accurate positioning is essential.

[0003] However, the positioning methods for underwater robots generally suffer from problems such as low positioning accuracy, cumbersome operation, and high deployment costs, which cannot meet the actual application needs of underwater robots. Summary of the Invention

[0004] The purpose of this application is to provide a positioning method, device, robot, equipment, medium, and product, aiming to solve the technical problem that the positioning methods of related underwater robots cannot meet the actual application needs of underwater robots.

[0005] To achieve the above objectives, according to a first aspect of this application, a positioning method is provided, applied to an enclosed body of water, wherein at least two signal transceiver components are disposed at the boundary of the enclosed body of water, the method comprising:

[0006] Obtain the distance between the robot and each of the aforementioned signal transceiver components; The real-time position of the robot within the enclosed water area is determined based on the distance between the robot and each of the signal transceiver components, as well as the position information of each of the signal transceiver components.

[0007] According to a second aspect of this application, a robot is provided, the robot including a ranging module and a controller; The ranging module is used to transmit ranging signals to at least two signal transceiver components in an enclosed water area and to receive response signals transmitted by at least two of the signal transceiver components, wherein the signal transceiver components are disposed at the boundary of the enclosed water area. The controller is used to execute any of the methods described.

[0008] According to a third aspect of this application, a positioning device is provided for use in an enclosed body of water, wherein at least two signal transceiver components are disposed at the boundary of the enclosed body of water, the device comprising: The acquisition unit is used to acquire the distance between the robot and each of the signal transceiver components; The determining unit is used to determine the real-time position of the robot in the enclosed water area based on the distance between the robot and each of the signal transceiver components, and the position information of each of the signal transceiver components.

[0009] According to a fourth aspect of this application, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device causes the electronic device to perform the method as described in any one of the claims.

[0010] According to a fifth aspect of this application, a computer program product is provided that, when run on an electronic device, causes the electronic device to perform the method described in any one of the first aspects above.

[0011] The beneficial effects of the embodiments in this application compared with the prior art are: In this embodiment of the application, by deploying signal transceiver components at the boundary of a closed water area, the distance between the robot and each signal transceiver component is obtained. Combined with the position information of each signal transceiver component, the robot can accurately determine its real-time position in the closed water area, and the positioning accuracy is significantly improved.

[0012] This method is adaptable to enclosed water environments of varying sizes, exhibiting strong versatility and practicality. Furthermore, it eliminates the need for complex external positioning equipment, achieving positioning solely through the robot's own module and the signal transceiver components deployed at the boundary of the enclosed water area, thus reducing deployment costs and maintenance complexity. Consequently, the positioning method provided in this application is low-cost, highly accurate, widely adaptable, and easy to operate, meeting the practical application needs of underwater robots.

[0013] It is understandable that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of a scenario for a positioning method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a positioning method provided in an embodiment of this application; Figure 3This is a schematic diagram of a positioning method provided in an embodiment of this application when two signal transceiver components are set at the boundary of a closed water area; Figure 4 This is a schematic diagram of a scenario for a positioning method when two signal transceiver components are set at the boundary of a closed water area, as provided in an embodiment of this application. Figure 5 This is a schematic diagram of a positioning method provided in an embodiment of this application when multiple signal transceiver components are set at the boundary of a closed water area; Figure 6 This is a schematic diagram of the structure of a robot provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0016] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0017] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0018] It should also be understood that, in the description of this application, unless otherwise stated, the " / " used in the specification and appended claims indicates that the related objects are in an "or" relationship. For example, A / B can mean A or B. The "and / or" in this application is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0019] Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, but are only used for distinguishing descriptions, and the terms "first" and "second" do not necessarily imply that they are different, nor should they be construed as indicating or implying relative importance.

[0020] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0021] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0022] With the development of smart home and underwater intelligent equipment technologies, robots used in enclosed water areas (such as home swimming pools, small reservoirs, and landscape ponds) (e.g., pool cleaning robots and water quality monitoring robots) are widely used. These robots need to autonomously complete their tasks within enclosed water areas, and accurately obtaining their real-time location is a prerequisite for achieving autonomous navigation, path planning, and full coverage of the work area.

[0023] Currently, localization methods for robots in enclosed waters mainly fall into two categories: one relies on external positioning equipment, such as underwater sonar positioning systems and visual positioning systems. Underwater sonar positioning systems require the deployment of multiple sonar base stations in the enclosed water area, achieving localization through signal interaction between the base stations and the robot. However, this system is costly to deploy, and sonar signals are easily interfered with by water currents and bubbles, resulting in unstable positioning accuracy. Visual positioning systems, on the other hand, rely on underwater cameras and image recognition algorithms, which are greatly affected by water transparency and cannot function properly in turbid waters, exhibiting poor scene adaptability.

[0024] Another type is autonomous positioning methods that do not rely on external positioning devices, such as inertial navigation-based positioning methods. This method collects motion parameters through the robot's built-in inertial sensors to calculate the robot's real-time position, but it suffers from significant cumulative errors. As the robot's movement time increases, the positioning deviation will continue to expand, failing to meet the accuracy requirements for long-term operations. There are also boundary-following-based positioning methods, which calculate the position by tracking the robot's trajectory along the boundary of a closed body of water. However, this method is only suitable for closed bodies of water with regular shapes. For bodies of water with irregular boundaries, the positioning accuracy is extremely low, and it cannot achieve accurate positioning at any location within the body of water.

[0025] It is evident that existing positioning methods for underwater robots generally suffer from problems such as high deployment costs, weak anti-interference capabilities, low positioning accuracy, poor scene adaptability, and cumbersome operation, making it difficult to meet the actual application needs of underwater robots.

[0026] Before detailing the positioning method provided in the embodiments of this application, in order to enable those skilled in the art to more clearly understand the technical scenario and execution subject of this application, the robot and enclosed water area involved in the embodiments of this application will be described as follows with reference to the accompanying drawings.

[0027] The robot in this embodiment is an intelligent robot capable of performing underwater operations, used to complete tasks such as cleaning, inspection, and water quality monitoring in enclosed water areas. In order to achieve autonomous navigation and path planning during the operation, it is necessary to accurately obtain its real-time position in the enclosed water area. Therefore, the robot body can be equipped with components such as a ranging module, a control module, a sensing module, and a walking module.

[0028] The ranging module is used to transmit ranging signals (ultrasonic signals) and receive response signals (echo signals); the control module (controller) is connected to the ranging module, control module, sensing module, and walking module respectively, and is used to execute the positioning method described in the embodiments of this application; the walking module is used to drive the robot to move in the enclosed water area, including moving along the boundary to build a map and moving along the operation path; the sensing module is used to collect environmental data of the enclosed water area so that the control module or the positioning / mapping module can generate a contour map with a coordinate system based on the environmental data.

[0029] It should be noted that in this application example, the robot's shape design is adapted to the motion characteristics of underwater operations, and each module has waterproof sealing performance, enabling it to work stably in the underwater environment for a long time.

[0030] Please refer to Figure 1In this embodiment, the enclosed water area 100 is the working area of ​​the robot 200. Specifically, it can be understood as a water area with fixed physical boundaries and no open water flow exchange, including but not limited to household swimming pools, small reservoirs, enclosed pools, landscape pools, etc.

[0031] In some embodiments, the boundary of the enclosed water area can be a regular shape (such as a rectangle or a circle) or an irregular shape. The physical boundary of the enclosed water area provides a positioning reference for the robot's movement along the edge, positioning, and mapping. It also provides a fixed carrier for the deployment of signal transceiver components. In the embodiments of this application, at least two signal transceiver components are pre-fixed and deployed at the boundary of the enclosed water area (such as the diagonal position of the pool wall, on the edge support, etc.), and the deployment position of the signal transceiver components remains fixed. They are used to interact with the robot's ranging module and provide a reference node for the robot's distance calculation.

[0032] As described above regarding the robot and enclosed water area, the positioning method of this application uses a robot as the executing entity and a signal transceiver component deployed at the boundary of the enclosed water area as the positioning reference. Through signal interaction and control logic, real-time positioning of the robot within the enclosed water area can be achieved. The positioning method of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] This application provides an example of a positioning method; please refer to it. Figure 2 As shown, Figure 2 A schematic flowchart of a positioning method provided in this application is shown. This is an example and not a limitation; the method can be applied to or operated in electronic devices. The method includes: S201, Obtain the distance between the robot and each signal transceiver component.

[0034] S202, Based on the distance between the robot and each signal transceiver component, and the position information of each signal transceiver component, determine the robot's real-time position in the enclosed water area.

[0035] This embodiment discloses a positioning method applicable to enclosed water environments, including but not limited to swimming pools, small reservoirs, and enclosed pools with fixed boundaries. This method is used to accurately determine the real-time position of a robot within an enclosed water environment when the robot is operating there, so that the robot can perform underwater operations such as cleaning and inspection more precisely based on its real-time position.

[0036] In some embodiments, firstly, at least two signal transceiver components are deployed at the boundary of the enclosed water area. The signal transceiver components are integrated components with signal receiving, processing and transmitting functions, and can be fixedly installed on the pool wall, edge support or other fixed structures of the enclosed water area to ensure that the signal coverage of the signal transceiver components can cover the entire working area of ​​the robot in the enclosed water area, and a preset distance must be maintained between the two signal transceiver components to avoid mutual interference of signals.

[0037] In some embodiments, at least two transceiver components may be deployed at one boundary of the enclosed water area, or they may be deployed at different boundaries of the enclosed water area. When at least two transceiver components are deployed at different boundaries of the enclosed water area, the robot can more accurately determine its real-time position within the enclosed water area.

[0038] In some embodiments, the robot is an underwater robot adapted for underwater operations. The robot's body is equipped with a ranging module and a control module (controller). The ranging module includes a transmitter and a receiver. The transmitter is used to transmit ranging signals, and the receiver is used to receive response signals fed back by the signal transceiver component. The control module is used to execute the control logic of the positioning method provided in this application.

[0039] In some embodiments, the ranging module of the robot can actively transmit a ranging signal, which can be an ultrasonic signal, specifically selected from 20 kHz to 2000 kHz. Ultrasonic signals in this frequency range have strong propagation stability in water and can effectively reduce the interference of the water environment on signal propagation.

[0040] When the signal transceiver receives the ranging signal, it processes it internally to generate a response signal and transmits it back to the robot. The robot's ranging module receives the response signal and transmits it to the control module. Based on the transmission time of the ranging signal, the time the signal transceiver receives the ranging signal, the processing time of the signal transceiver, and the time the response signal is transmitted to the robot, the control module calculates the total propagation time of the ranging signal and the response signal. Combined with the propagation speed of ultrasonic signals in water, the straight-line distance between the robot and the corresponding signal transceiver can be derived.

[0041] In some embodiments, if multiple transceiver components are deployed at the boundary of the enclosed water area, the robot can sequentially complete signal interaction with each transceiver component and obtain the distance between the robot and each transceiver component one by one.

[0042] In some embodiments, the robot's real-time position is determined based on the aforementioned distance information and the position information of each signal transceiver component. The position information of each signal transceiver component can be preset and acquired. Specifically, during the initial stage of the robot's underwater operation, it moves along the boundary of the enclosed water area and simultaneously establishes a contour map of the enclosed water area. During the movement, the distance between the robot and each signal transceiver component is detected in real time. When the minimum distance is detected, the robot's coordinates in the contour map at this time are recorded, and these coordinates are used as the position coordinates of the corresponding signal transceiver component. The position information of all signal transceiver components can be stored in the local storage unit (such as a storage chip) of the robot's control module.

[0043] In some embodiments, when determining the robot's real-time position, multiple arcs are formed on the contour map with the position coordinates of each signal transceiver component as the center and the distance between the robot and the corresponding component as the radius. The intersection of each arc is the robot's possible position. When two signal transceiver components are deployed, the unique true position can be selected by combining the robot's motion state information. When three or more signal transceiver components are deployed, the multiple arcs will form a unique common intersection point, which is the robot's real-time position in the enclosed water area.

[0044] In this embodiment, by deploying signal transceiver components at the boundary of a closed water area, the distance between the robot and each signal transceiver component is obtained. Combined with the position information of each signal transceiver component, the robot can accurately determine its real-time position within the closed water area. This method is adaptable to closed water areas of varying sizes, exhibiting strong versatility and practicality. Furthermore, this method does not rely on complex external positioning equipment; positioning can be achieved solely through the robot's own modules and the components deployed at the boundary, reducing the deployment cost and maintenance difficulty of the positioning system. Therefore, the positioning method provided in this application is low-cost, highly accurate, widely adaptable, and easy to operate, meeting the practical application needs of underwater robots.

[0045] In some embodiments, the distance between the robot and each signal transceiver component is obtained by first controlling the robot's ranging module to transmit ranging signals; then, based on the ranging signal transmitted by the ranging module and the time information of each signal transceiver component receiving the ranging signal and returning a response signal, the distance between the robot and each signal transceiver component is determined.

[0046] In some embodiments, time information can be understood as key timing data generated during a signal interaction between the robot and the signal transceiver component, specifically including ranging signal transmission time, signal processing time, and response signal transmission time.

[0047] In some embodiments, the distance between the robot and each signal transceiver component is determined based on the time information of the ranging module transmitting ranging signals and each signal transceiver component receiving ranging signals and returning response signals. Specifically, the ranging signal transmission time, signal processing time, response signal transmission time, and signal propagation speed corresponding to each signal transceiver component can be obtained. The distance between the robot and the signal transceiver component is determined based on the ranging signal transmission time, signal processing time, response signal transmission time, and signal propagation speed.

[0048] In some embodiments, the ranging signal transmission time is determined based on the first moment when the ranging module transmits the ranging signal to the second moment when each signal transceiver component receives the ranging signal; the signal processing time is determined based on the second moment when each signal transceiver component receives the ranging signal to the third moment when each signal transceiver component transmits the response signal; and the response signal transmission time is determined based on the third moment when each signal transceiver component transmits the response signal to the fourth moment when the ranging module receives the response signal.

[0049] In this embodiment, the robot is controlled to actively transmit ranging signals. By combining various time information during the signal interaction process with the signal propagation speed, the distance is deduced. This method is particularly suitable for robot positioning scenarios in enclosed waters.

[0050] In this embodiment, the robot is equipped with a ranging module and a control module. The ranging module includes an ultrasonic transmitter with signal transmission function and an ultrasonic receiver with signal reception function, which can stably transmit ultrasonic ranging signals of a preset frequency and receive response signals from the signal transceiver components. The signal transceiver components are fixedly deployed at the boundary of the enclosed water area. Each signal transceiver component integrates a signal receiving unit, a signal processing unit, and a signal transmitting unit, which can realize the reception, processing, and reverse transmission of ranging signals and response signals.

[0051] In some embodiments, the robot's control module first sends a transmission command to the ranging module, controlling the ranging module to transmit a ranging signal. The ranging signal uses an ultrasonic signal with a frequency selected between 20 kHz and 2000 kHz. Ultrasonic signals in this frequency range experience minimal attenuation when propagating in water, ensuring signal transmission stability and ranging accuracy. Furthermore, to avoid crosstalk between different signal transceiver components, each transceiver component interacts with the robot using a ranging signal of a specific frequency or code value.

[0052] Subsequently, based on the time information of the ranging module transmitting the ranging signal and each signal transceiver component receiving the ranging signal, the distance between the robot and each signal transceiver component is calculated. The ranging signal transmission time refers to the time difference between the moment the robot's ranging module transmits the ranging signal and the moment the ranging signal is captured by the receiving unit of the signal transceiver component; this time difference corresponds to the duration of the ranging signal propagating from the robot to the signal transceiver component. The signal processing time refers to the time required for the processing unit of the signal transceiver component to parse, verify, and generate a response signal after receiving the ranging signal; this time can be stored in the robot's control module in a preset manner and used as a fixed parameter in the calculation. The response signal transmission time refers to the time difference between the moment the transmitting unit of the signal transceiver component transmits the response signal and the moment the response signal is captured by the receiving end of the robot's ranging module; this corresponds to the duration of the response signal propagating from the signal transceiver component to the robot.

[0053] After acquiring the aforementioned time information, the control module first calculates the total time, which is the sum of the ranging signal transmission time, signal processing time, and response signal transmission time. Since both the ranging and response signals are ultrasonic signals, and both propagate through water, their propagation speeds are the same. Therefore, the same preset speed of sound in water can be used as the signal propagation speed. Considering the stable propagation speed of ultrasound in water and the near-overlapping transmission paths of the ranging and response signals, the ranging signal transmission time and response signal transmission time can be considered approximately equal. Based on this, the control module subtracts the preset signal processing time from the total time to obtain twice the ranging signal transmission time. Multiplying half of this result by the speed of sound in water yields the straight-line distance between the robot and the corresponding signal transceiver component.

[0054] For multiple signal transceiver components deployed at the boundary of a closed water area, the robot's control module will sequentially control the ranging module to transmit ranging signals to each component, complete the above-mentioned signal interaction and time information acquisition process, calculate the distance data between each signal transceiver component, and store all distance data in the local cache.

[0055] In this embodiment, by accurately separating various time information in the signal interaction process and combining it with the propagation characteristics of ultrasound in water to complete the distance calculation, the ranging accuracy of the robot can be effectively improved, thereby ensuring the positioning accuracy of the robot. At the same time, the robot does not need to rely on external positioning equipment and has strong independence and adaptability.

[0056] In some embodiments, the method further includes: Control the robot to move along the boundary of a closed body of water to create a contour map of the closed body of water; During the robot's movement along the boundary, the minimum distance between the robot and each signal transceiver component is detected, and the robot's position coordinates on the contour map when the minimum distance is detected are used as the position information of the corresponding signal transceiver component.

[0057] In some embodiments, during the process of the robot moving along the boundary of a closed water area to build a map, the minimum distance to each signal transceiver component can be detected simultaneously. Then, the robot's coordinates in the contour map at this time can be associated with the component position information, and the position calibration of the signal transceiver components can be completed without the need to deploy additional positioning equipment.

[0058] In this embodiment, the robot is equipped with a control module, a ranging module, a walking module, and a map building module. The walking module is used to drive the robot to move along the boundary of the closed water area. The map building module is used to collect boundary environmental data and generate a contour map. The ranging module continuously detects the distance to the signal transceiver components. The control module controls the operation of each module and records the position information of each transceiver component.

[0059] In some embodiments, firstly, the robot is controlled to move along the boundary of the enclosed water area to build a contour map. The robot's control module sends a movement command along the boundary to the walking module, which drives the robot to move at a constant speed along the boundary of the enclosed water area. During the movement, the map building module collects environmental feature data of the boundary in real time through onboard sensors (such as vision sensors and ultrasonic sensors), including information such as the shape and turning points of the boundary, and generates a contour map with a coordinate system in the control module based on this data. The coordinate system of this contour map can be established based on the robot's initial starting point, setting the position where the robot begins to move as the origin of the coordinate system, and setting the coordinate axes along the direction of movement to ensure that each position in the contour map has a unique corresponding coordinate value.

[0060] While the robot moves along the boundary, the minimum distance between the robot and each signal transceiver component is detected simultaneously, and the position information of the corresponding signal transceiver component is determined. The robot's ranging module continuously emits ranging signals to the surrounding area, interacting with each signal transceiver component deployed at the boundary of the enclosed water area in real time. Using the time parameter calculation logic mentioned earlier, the distance data between the robot and each signal transceiver component is continuously acquired and updated. Since the signal transceiver components are fixedly installed on the boundary of the enclosed water area, and the robot's position coincides with the boundary when it moves along the boundary, the straight-line distance between the two will reach its minimum when the robot moves directly below or next to a signal transceiver component. At this time, the physical positions of the robot and the signal transceiver component are closest, or even approximately coincident.

[0061] Therefore, when the control module detects that the distance to a certain signal transceiver component has dropped to its minimum and stabilized for a preset time (to avoid misjudgments caused by signal fluctuations), it records the robot's position coordinates in the constructed contour map at this time. These position coordinates are directly used as the position information of that signal transceiver component and stored in the control module's local storage unit. For multiple deployed signal transceivers, the robot sequentially completes the minimum distance detection and position coordinate recording with each signal transceiver component during its complete journey along the boundary, ultimately obtaining the position information of all signal transceivers.

[0062] The advantage of this embodiment is that it integrates contour map construction and signal transceiver component position calibration in the same process, eliminating the need for additional manual calibration or external positioning equipment. This simplifies the deployment process of the positioning system and reduces labor costs. Furthermore, the calibration logic based on minimum distance accurately correlates the robot's position with that of external components, ensuring the accuracy of the external component's position information. This facilitates the subsequent determination of the robot's real-time position based on distance data and component position information.

[0063] Furthermore, the steps of this method can be completed in the initial stage of the robot's first operation. In subsequent operations, the robot can directly call the stored component position information without having to retrieve it repeatedly for each operation, thus improving the robot's positioning efficiency.

[0064] In some embodiments, when two signal transceiver components are set at the boundary of the enclosed water area, the real-time position of the robot within the enclosed water area is determined based on the distance between the robot and each signal transceiver component, as well as the position information of each signal transceiver component, including: With each signal transceiver component as its center and the distance between the robot and each signal transceiver component as its radius, two arcs are formed corresponding to the two signal transceiver components. Find the intersection of two arcs; The robot's real-time position is determined based on the intersection point.

[0065] The following describes in detail a method for determining the real-time position of a robot when two signal transceiver components are set up at the boundary of an enclosed water area, taking into account specific application scenarios. Based on the distance data between the robot and the two signal transceiver components and the component position information, the method generates an arc corresponding to each signal transceiver component through geometric drawing and obtains the intersection point between the two arcs. Then, the real-time position of the robot is determined based on the intersection point. This method is suitable for scenarios with low requirements for the deployment cost of positioning systems, such as small and medium-sized enclosed water areas (e.g., household swimming pools, small reservoirs).

[0066] In this embodiment, since the two signal transceiver components are fixedly deployed at the boundary of the enclosed water area (such as the two diagonal walls of a swimming pool), and through the edge-moving mapping and minimum distance detection described above, the positions of the two signal transceiver components in the contour map of the enclosed water area have been determined. Figure 3 As shown, the position coordinates of the two signal transceiver components (denoted as coordinates of point A and coordinates of point B, respectively) have been stored in the robot's control module; the robot's ranging module has completed the signal interaction with the two signal transceiver components, and through the time parameter calculation logic, it obtains the distance between the robot and component A (denoted as L1) and the distance between the robot and component B (denoted as L2) at the current moment.

[0067] Furthermore, we can first use the two signal transceiver components as centers and their corresponding distances as radii to form arcs corresponding to the two components. For example, the robot's control module calls the locally stored contour map of the enclosed water area. Based on the already marked coordinates of points A and B, it locates the positions of the two signal transceiver components in the contour map. Then, using point A as the center and the obtained distance L1 as the radius, a geometric drawing algorithm is used to draw the first arc arc1 in the contour map. All points on arc1 satisfy the condition that "the distance to component A is L1". Similarly, using point B as the center and the distance L2 as the radius, a second arc arc2 is drawn. All points on arc2 satisfy the condition that "the distance to component B is L2". Since the robot is simultaneously located at a distance L1 from component A and a distance L2 from component B, the robot's true position must be the intersection of the two arcs.

[0068] By plotting arc1 and arc2, we can obtain the following: Figure 3 The two intersection points shown (denoted as P1 and P2), or as... Figure 4 The intersection point shown is the tangent point P0. This is because in plane geometry, two non-coincident circular arcs may intersect or be tangent. Figure 4 The two circular arcs shown are tangent, then Figure 4 The tangent point P0 in the diagram represents the robot's real-time position. If... Figure 3 When the two circular arcs intersect, there are two intersection points P1 and P2, and both intersection points satisfy the geometric condition that the distance from the two circle centers is equal to the corresponding radius. Therefore, both intersection points P1 and P2 are possible positions of the robot.

[0069] It should be noted that, due to the physical boundaries of enclosed water bodies, in some scenarios, one of the intersection points may be located outside the enclosed water body. In this case, the external intersection point can be directly excluded, and only the intersection point inside the water body can be retained as a possible location.

[0070] In some embodiments, when there is only one intersection point inside a closed water area, that intersection point is the robot's real-time position, and the control module directly stores and retrieves the coordinates of that intersection point as the robot's current real-time position.

[0071] In other embodiments, when both intersections are located within enclosed water areas, additional auxiliary information is needed to filter out the unique true location from the two intersections. The specific filtering logic can be flexibly selected based on the robot's initial state. If the robot starts from a preset base station (the base station location has been marked during the first round of cleaning and repositioning), the real-time position can be selected based on the spatial relationship between each intersection point and the base station location, choosing the intersection point that is closer to the base station location and is in the same movement trend. If the robot is placed at any location in a closed water area and the distance to the boundary of the closed water area is known, then intersection points that meet the conditions are selected based on this distance constraint. If the robot is placed at any location and the distance to the boundary of the closed water area is unknown, then the robot is controlled to move a certain distance along the tangent direction of any arc to obtain the historical position (coordinate point) of the previous moment. By comparing the spatial relationship between the two intersection points and the historical position, a matching intersection point is selected as the real-time position.

[0072] This embodiment achieves real-time robot localization using only two signal transceiver components, significantly reducing the deployment cost and hardware complexity of the localization system. Furthermore, the combination of geometric drawing and auxiliary filtering logic ensures the accuracy of the localization results. It is particularly suitable for operations in small to medium-sized enclosed water bodies and forms a complete closed loop with the previously described distance calculation and component position calibration steps, ensuring the continuity and reliability of the robot localization process.

[0073] In some embodiments, when there are two intersection points, if the robot's starting position is the base station position, the spatial relationship between each intersection point and the base station position is determined; based on the spatial relationship between each intersection point and the base station position, a target intersection point is selected from the two intersection points as the robot's real-time position.

[0074] This paper details a method for determining the real-time position of a robot based on the base station location when there are two intersection points in a scenario with two signal transceiver components. The following is a specific optimization scheme for the positioning scenario with two signal transceiver components. By using the spatial relationship between the pre-calibrated base station location and the two intersection points, a unique true position is obtained. This method is suitable for application scenarios where the robot starts its work from a preset base station, such as the daily operation start mode of a household swimming pool cleaning robot.

[0075] In this embodiment, two signal transceiver components are fixedly deployed at the boundary of the enclosed water area. After the robot completes signal interaction with the two components and obtains the distance between the robot and the two components at the current moment, it obtains the two intersection points of the two arcs (denoted as P1 and P2) through geometric drawing. At the same time, the robot's preset base station position has been pre-calibrated. Specifically, when the robot returns to the base station after the first round of cleaning, it records its own coordinates in the contour map at this time. These coordinates are the base station position and are stored in the local storage unit of the control module, which can be directly called in subsequent operations.

[0076] It should be noted that the base station (or pile) can be deployed in a fixed area at the edge of a closed waterway, with its position relatively fixed relative to the two signal transceiver components, which can provide a stable reference benchmark for determining spatial relationships.

[0077] In some embodiments, if the robot's starting position is the base station position, the control module first retrieves the coordinates of the pre-calibrated base station position from the local storage unit. The two arcs may intersect or be tangent, and the coordinates of the two intersection points P1 and P2 corresponding to the two arcs can be extracted.

[0078] If two intersection points are determined, the spatial relationship between each intersection point and the base station location can be determined. The spatial relationship includes at least the following two dimensions: First, the distance relationship between the intersection point and the base station location, that is, calculating the straight-line distance D1 between P1 and the base station location and the straight-line distance D2 between P2 and the base station location respectively; Second, the regional affiliation relationship between the intersection point and the base station location, that is, determining whether P1 and P2 are in the same continuous area within the closed water area as the base station location, and whether they meet the movement range constraints of the robot starting from the base station.

[0079] Since the robot starts its work from the base station, its movement trajectory is continuous and will not involve instantaneous displacement of large distances. Therefore, the robot's true position must be the intersection of the base station location and the same continuous working area.

[0080] Based on this, the control module can select a target intersection point from two intersection points based on the spatial relationship determined above: when D1 is significantly smaller than D2 (e.g., the difference between D1 and D2 is greater than a preset threshold, which can be set according to the size of the enclosed water area, such as 0.5 meters for a small swimming pool), and P1 is in the same continuous area as the base station, P1 is selected as the target intersection point, i.e., the robot's real-time position; when D2 is significantly smaller than D1 (e.g., the difference between D2 and D1 is greater than a preset threshold), and P2 is in the same continuous area as the base station, P2 is selected as the target intersection point; if the difference between D1 and D2 is small, the robot's initial direction of travel can be used to assist in the judgment, and the intersection point consistent with the initial direction of travel can be selected as the target intersection point.

[0081] In some embodiments, after determining the target intersection point, the control module stores the coordinates of the target intersection point as the robot's current real-time position and uses them to support subsequent functions such as work path planning and work area positioning.

[0082] The advantage of this embodiment lies in its ability to quickly select two intersection points by using pre-calibrated base station locations as reference benchmarks, without the need for additional sensor deployment or the collection of complex motion state data. This simplifies the robot's localization logic and improves the efficiency of determining the robot's real-time position. Furthermore, this method is highly compatible with the robot's workflow, exhibiting strong practicality and scenario compatibility.

[0083] It should be added that if one of the two intersection points is located outside the enclosed water area, the external intersection point can be directly excluded without spatial relationship judgment; only when both intersection points are located inside the enclosed water area should the above-mentioned spatial relationship filtering process based on base station location be executed. Therefore, the dual judgment based on distance relationship and regional affiliation can effectively exclude false intersection points that do not conform to motion continuity, ensuring the accuracy of the positioning results.

[0084] In some other embodiments, when there are two intersection points, if the robot's starting position is any position within the enclosed water area, the distance between the robot and the boundary of the enclosed water area is obtained; based on the distance between the robot and the boundary of the enclosed water area, a target intersection point is selected from the two intersection points as the robot's real-time position.

[0085] This paper details a method for determining the real-time position of a robot in a scenario with two signal transceiver components, where there are two intersection points and the robot's starting position is any location within a closed water area. This method serves as a supplementary optimization scheme for positioning scenarios involving two signal transceiver components. By using the distance between the robot and the boundary of the closed water area as a constraint, a unique true position is selected from the two intersection points. This method is applicable to scenarios where the robot is not started from a preset base station but is placed directly at any location within the closed water area (such as temporarily changing the work area or restarting the operation after the robot has been accidentally moved).

[0086] In this embodiment, the position coordinates of the two signal transceiver components have been calibrated by the previous embodiment and stored in the robot's control module. The robot obtains the corresponding distance data of each component through signal interaction with the two signal transceiver components, and obtains the two intersection points of the two arcs (denoted as P1 and P2) through geometric drawing. Both intersection points are located inside the enclosed water area (if there are external intersection points, they can be directly excluded).

[0087] In this embodiment, firstly, when the robot's starting position is determined to be any position within the enclosed water area, its onboard edge detection module is activated to obtain the distance between the robot and the boundary of the enclosed water area. The edge detection module can employ an ultrasonic edge sensor or an infrared edge sensor. Its working logic involves emitting a detection signal towards the boundary of the enclosed water area and calculating the straight-line distance to the boundary based on the signal reflection time. Considering that the boundary of the enclosed water area may have an irregular shape, the robot can control the edge detection module to emit detection signals in multiple directions (such as the four directions of front, back, left, and right) to obtain multiple sets of distance data. The minimum value is taken as the final distance between the robot and the boundary of the enclosed water area (denoted as edge D), ensuring the accuracy of the distance data.

[0088] Subsequently, based on the acquired distance D between the robot and the boundary of the enclosed water area, a target intersection point is selected from the two intersection points. For example, the two intersection points P1 and P2 correspond to different positions in the contour map of the enclosed water area, and their distances from the boundary of the enclosed water area will inevitably differ. The distance between the intersection point corresponding to the actual position and the boundary should be consistent with the D edge actually detected by the robot (or the deviation should be within a preset error range). Based on this, the control module first calls the contour map of the enclosed water area and calculates the distances between the two intersection points P1 and P2 and the boundary of the enclosed water area, denoted as D1 edge and D2 edge respectively; then, D1 edge and D2 edge are compared with the actually detected D edge respectively.

[0089] When the deviation between edge D1 and edge D is less than the preset error threshold (the preset error threshold can be set according to the accuracy of the edge detection module, such as 0.1-0.2 meters), P1 is determined to be an intersection point that meets the distance constraint, and P1 is selected as the target intersection point, i.e., the real-time position of the robot; when the deviation between edge D2 and edge D is less than the preset error threshold, P2 is selected as the target intersection point; if there is a special case where the deviations of edge D1, edge D2, and edge D are all small, the robot can be controlled to move a small distance, the distance between the robot and the boundary can be re-detected and compared again to further narrow down the screening range and ensure the uniqueness and accuracy of the target intersection point.

[0090] After the control module determines the target intersection point, the coordinates of this intersection point can be stored as the robot's current real-time position and synchronously updated to the operation path planning module to provide positional support for subsequent operations. The advantage of this embodiment is that it does not rely on preset base stations or complex motion state data; it can complete the intersection point selection simply by obtaining the distance to the boundary through the robot's own edge detection module. This adapts to the operation requirements of the robot at any starting position and improves the scenario adaptability of the robot's positioning method.

[0091] In some embodiments, when there are two intersection points, if the robot's starting position is any position within the enclosed water area and the distance between the robot and the boundary of the enclosed water area is unknown, then the robot's historical position at the previous moment is obtained, and the intersection point is determined at the current moment. Based on the spatial relationship between each intersection point and the historical position, as well as the robot's motion state information, a target intersection point is selected from the two intersection points as the robot's real-time position. This motion state information includes the driving trajectory and the direction of travel.

[0092] This paper details a method for determining the real-time position of a robot in a scenario with two signal transceiver components, two intersection points, and the robot starting from an arbitrary position in a closed water area with an unknown distance from the boundary. As a supplementary optimization scheme for the two signal transceiver component positioning scenario mentioned earlier, this method obtains the robot's historical position at the previous moment, combines the spatial relationship between the historical position and the intersection point with the robot's motion state information, and filters the target intersection point. It is suitable for special operation scenarios where the robot is randomly placed at any position in a closed water area and the distance between the robot and the boundary cannot be detected, such as edge detection module failure or detection failure caused by occlusion at the water boundary, ensuring the continuity and reliability of the robot's positioning function.

[0093] In this embodiment, the position coordinates of the two signal transceiver components have been calibrated by the previous embodiment and stored in the robot's control module. The robot obtains the corresponding distance data of each component through signal interaction with the two signal transceiver components, and obtains the two intersection points of the two arcs (denoted as P1 and P2) through geometric drawing. Both intersection points are located inside the enclosed water area (if there are external intersection points, they can be directly excluded).

[0094] It should be noted that although the robot starts from any unknown location in the enclosed water area and cannot obtain the distance to the boundary, its walking module, timing module and positioning recording module can work normally. They can make small movements and record the position data of the robot during the movement process, providing hardware support for historical position acquisition and motion state analysis.

[0095] In some embodiments, firstly, when the robot's starting position is any location within the enclosed water area and its distance from the boundary is unknown, the control module first controls the walking module to drive the robot to move a small distance in any direction along a preset distance. This preset distance is set according to the size of the enclosed water area, such as 0.3-0.5 meters, to ensure that a positional change can occur without deviating from the current working area. It should be understood that the aforementioned arbitrary direction is preferably the tangent direction of any arc in the preceding embodiments, which can reduce the impact of positional deviation on subsequent screening.

[0096] Subsequently, the robot's historical position from the previous moment is obtained. For example, the robot's positioning and recording module stores position-related data in real time during the movement process. The control module retrieves the stored data from the positioning and recording module and combines it with the timing markers from the timing module to extract the historical position (denoted as point H) corresponding to the previous moment. This historical position can specifically be the stable position of the robot after a small movement, which can serve as a reliable reference benchmark for subsequent spatial relationship judgments.

[0097] The current moment is the moment when the robot completes signal interaction with the two signal transceiver components and determines the two intersection points; the previous moment is the moment after the robot completed a small movement but before this signal interaction.

[0098] Next, based on the spatial relationship between each intersection point and its historical position, as well as the robot's motion state information, a target intersection point is selected from the two intersection points.

[0099] In some embodiments, the module can first calculate the straight-line distance between P1 and point H (denoted as Dp1) and the straight-line distance between P2 and point H (denoted as Dp2) in the outline map of the enclosed water area, and at the same time determine the orientation of the two intersection points relative to point H (e.g., P1 is located to the left of point H and P2 is located to the right of point H), thus clarifying the spatial relationship between each intersection point and its historical location.

[0100] Next, the robot's motion state information is extracted, which may include the travel trajectory and the direction of travel. The travel trajectory is the movement path of the robot from the starting point of the small movement to point H, and the direction of travel is the direction in which the robot moves from point H to the current position. This motion state information can be derived from the motion parameters of the walking module (such as the speed of the drive wheel and the steering angle) and the historical data of the positioning recording module.

[0101] Because the robot's motion trajectory is continuous, its current real position must extend along the historical trajectory of the previous moment and conform to the travel direction constraint. Based on this, the control module performs a dual matching judgment: if the straight-line distance Dp1 between P1 and point H conforms to the theoretical distance of "travel speed × time interval" (the deviation is less than the preset error threshold, such as 0.1 meters), and P1 is located on the extension line of the travel trajectory of point H and is consistent with the travel direction, then P1 is determined to meet the above matching conditions, and P1 is the target intersection point; similarly, if P2 meets the above matching conditions, then P2 is determined to be the target intersection point, that is, the robot's real-time position.

[0102] It should be noted that if a special case occurs where both intersections partially meet the conditions, the robot can be controlled to move slightly again and repeat the above process to further verify and determine a unique target intersection.

[0103] In some embodiments, after the control module determines the target intersection point, it stores the coordinates of the target intersection point as the current real-time position and updates it synchronously to the operation path planning module to ensure that the robot can carry out the operation normally.

[0104] The advantage of this embodiment is that it does not rely on external references or detection data such as base stations or edge detection. It can complete the intersection selection by simply moving the robot itself slightly, recording its historical position, and analyzing its motion state. This improves the scene adaptability of robot positioning and is especially suitable for special situations such as edge detection failure.

[0105] Meanwhile, the screening logic based on motion continuity conforms to the laws of physical motion, has high positioning accuracy, and the entire process has low computational load and fast response speed, which will not affect the robot's working efficiency. In conjunction with the basic positioning steps and component position calibration steps mentioned above, it can ensure the positioning stability of the robot.

[0106] In some embodiments, when multiple signal transceiver components are set at the boundary of the enclosed water area, the real-time position of the robot within the enclosed water area is determined based on the distance between the robot and each signal transceiver component, as well as the position information of each signal transceiver component, including: With each signal transceiver component as its center and the distance between the robot and each signal transceiver component as its radius, multiple arcs are formed corresponding to the signal transceiver components. Find the common intersection point of multiple arcs; The robot's real-time position is determined based on common intersections.

[0107] When multiple signal transceiver components are set up at the boundary of a closed water area, multiple arc segments are generated by geometric drawing based on the position information and corresponding distance data of the multiple signal transceiver components and the common intersection point is obtained. In this way, the real-time position of the robot can be directly determined. This method is suitable for medium and large-sized closed water areas with high positioning accuracy requirements, such as public swimming pools and medium-sized reservoirs.

[0108] In this embodiment, three or more signal transceiver components have been fixedly deployed at the boundary of the enclosed water area. The deployment positions of the components can be key nodes of the water area boundary (such as the four corners of a rectangular pool or the turning point of an irregular water area) to ensure that the signal coverage of each component can completely cover the entire enclosed water area operation area. The coordinate positions of all signal transceiver components in the contour map of the enclosed water area have been calibrated by the edge-moving mapping method combined with minimum distance detection mentioned above, and have been stored in the robot's control module.

[0109] When multiple signal transceiver components are set at the boundary of a closed water area, the robot's control module first calls the locally stored contour map of the closed water area and the position coordinates of each signal transceiver component. Based on the geometric drawing algorithm, arc drawing is performed. That is, with the position coordinates of each signal transceiver component as the center and the corresponding straight-line distance between the robot and the component as the radius, the corresponding arc is drawn on the contour map. All points on each arc satisfy the geometric condition that the distance to the corresponding signal transceiver component is equal to the target distance.

[0110] For example Figure 5 Taking the three signal transceiver components shown as an example, points A, B, and C are the coordinates of the three signal transceiver components. arc1, arc2, and arc3 are the corresponding arcs drawn on the contour map with the coordinates of each of the three signal transceiver components as the center and the corresponding straight-line distances between the robot and the component (L1, L2, and L3, respectively) as the radius. A common intersection point P0 of multiple arcs can be obtained.

[0111] Since the robot's true position must simultaneously satisfy the distance constraints with all signal transceiver components, in an ideal error-free environment, the arcs corresponding to three or more non-collinear signal transceiver components will form a unique common intersection point, which is the robot's true position.

[0112] In actual aquatic environments, slight disturbances such as water flow disturbances and signal propagation attenuation may cause a small number of arcs to deviate from the theoretical trajectory. In this case, the control module can use a fitting optimization algorithm to process the intersection data of multiple arcs, remove abnormal intersections with excessive deviations, and select the common intersection with the highest degree of overlap as the valid intersection, so as to directly determine the robot's real-time position.

[0113] The control module stores the coordinates corresponding to the common intersection point as the robot's current real-time position and simultaneously pushes them to the task path planning module and motion control module to facilitate the robot's subsequent tasks. If multiple signal transceiver components are redundantly deployed, even if some components experience signal failure, the remaining normally functioning components can still generate a sufficient number of arcs and obtain the common intersection point through the above logic, ensuring the continuity and reliability of the robot's positioning function.

[0114] The advantage of this embodiment lies in its redundant design and geometric constraints based on multiple signal transceiver components, which significantly improves positioning accuracy. Compared to scenarios with only two signal transceiver components, it eliminates the need for additional intersection point selection based on base station location, boundary distance, or motion state information, simplifying the robot's positioning logic while improving positioning efficiency. Furthermore, this method possesses strong anti-interference capabilities and fault tolerance, making it particularly suitable for the high-precision positioning requirements of robots in medium to large enclosed water areas.

[0115] In the positioning method of this application embodiment, in order to improve the positioning adaptability of water areas of different sizes, the first time interval for the ranging module to transmit ranging signals is adjusted according to the size information of the enclosed water area, and the second time interval for determining the real-time position is synchronously adapted and adjusted based on the first time interval.

[0116] This method can be used in conjunction with any positioning scenario mentioned above (such as a scenario with two signal transceiver components or different starting positions). Specifically, it dynamically adjusts the first time interval for the ranging module to transmit ranging signals by adjusting the size parameters of the enclosed water area, and simultaneously adapts and adjusts the second time interval for determining the real-time position, thereby achieving a balance between positioning real-time performance, accuracy, and energy efficiency.

[0117] In this embodiment, since the robot has generated a contour map of the enclosed water area using the edge-moving mapping scheme described above, the size information of the enclosed water area can be directly extracted from the contour map stored in the robot's control module. This includes, but is not limited to, the length, width, area, and perimeter of the water area. The timing module on the robot can accurately record the time interval, and the control module can generate adjustment commands based on the size information to regulate the signal transmission rhythm of the ranging module and the timing of determining the robot's position, ensuring the synchronous adaptation of the two time intervals.

[0118] In this embodiment, the control module first retrieves the outline map of the enclosed water area from the local storage unit and extracts the size information of the enclosed water area through a map parsing algorithm. For example, for enclosed water areas with regular shapes (such as rectangular swimming pools or circular reservoirs), the length, width, or diameter data marked in the outline map can be read directly; for enclosed water areas with irregular shapes, the maximum span (longest diagonal length) and area data of the enclosed water area in the outline map can be calculated.

[0119] Subsequently, based on the extracted size information of the enclosed water area, the first time interval for the ranging module to transmit ranging signals is adjusted. For example, the matching relationship between size, signal coverage requirements, and energy efficiency can be used as the adjustment logic for the first time interval. When the enclosed water area is large (such as a large swimming pool with a length greater than 5 meters or a reservoir with an area greater than 20 square meters), the robot's operating range is wider, and the distance of a single signal propagation is longer. If a short first time interval is maintained, it will lead to frequent transmission of ranging signals, which will not only increase the robot's energy consumption but also generate a large amount of redundant distance data. Therefore, for large-sized water areas, the control module can output adjustment commands to appropriately increase the first time interval, for example, from the basic interval of 0.5 seconds to 1-1.5 seconds, to ensure that effective and non-redundant distance data can be obtained with each signal transmission.

[0120] When the enclosed body of water is small (such as a small swimming pool less than 3 meters long or a reservoir less than 10 square meters in area), the robot's working space is compact and its position changes rapidly. If the initial time interval is too long, distance data updates will be delayed, affecting the accuracy of real-time position determination and even causing the position to lag behind the actual movement. Therefore, for small bodies of water, the control module can shorten the initial time interval, for example, by adjusting it to 0.2-0.3 seconds, and increase the transmission frequency of the ranging signal to ensure the real-time nature of the distance data, providing data support for accurate positioning.

[0121] Finally, based on the adjusted first time interval, the second time interval for determining the real-time position is synchronously adjusted. Since the robot determines its real-time position based on distance data acquired from ranging signals, the second time interval is directly dependent on the first time interval. Only after acquiring new ranging signals and corresponding distance data can the real-time position be determined for the next moment. Therefore, the control module can keep the second time interval consistent with the adjusted first time interval: when the first time interval increases to 1 second, the second time interval is synchronously adjusted to 1 second, meaning that a position determination process is performed every second after acquiring new distance data; when the first time interval is shortened to 0.3 seconds, the second time interval is synchronously shortened to 0.3 seconds, achieving time synchronization between distance data updates and position determination.

[0122] The advantage of this embodiment lies in its ability to flexibly adapt the positioning method to enclosed water environments of varying sizes through dynamically adjusted time intervals. This avoids the energy waste associated with fixed time intervals in large water areas and the insufficient accuracy in small water areas. Furthermore, the synchronized adaptation of the two time intervals ensures the temporal matching of distance data and position determination, guaranteeing the continuity of the robot's positioning process.

[0123] In some embodiments, when the robot communicates with each signal transceiver component, specific identification information is used to identify the ranging signal of each signal transceiver component. The specific identification information includes a specific code value and / or a specific frequency.

[0124] Before the robot establishes a communication connection with each signal transceiver component, the control module can call up the preset identification information parameters from the local storage unit to assign exclusive specific identification information to each signal transceiver component. The specific identification information can take the form of a specific code value, a specific frequency, or a combination of both.

[0125] Among them, the specific code value adopts a pseudo-random coding sequence, and each coding sequence has a unique code structure. It can be embedded into the ranging signal by amplitude modulation or phase modulation of the ultrasonic ranging signal. The specific frequency is based on the ultrasonic propagation characteristics, and a non-overlapping frequency band in the range of 20 kHz to 2000 kHz is selected. Each signal transceiver component is assigned a dedicated frequency range to ensure that the signal frequencies of different signal transceiver components do not cross-interfere.

[0126] Subsequently, during communication between the robot and the various signal transceiver components, the ranging module, according to the instructions of the control module, transmits ranging signals carrying specific identification information to the corresponding components. For example, if a specific code value is used, the ranging module first embeds a unique pseudo-random code into the ranging signal, and then transmits the encoded signal. After receiving the signal, the signal transceiver component decodes the signal through its internal decoding unit. Only when the decoded code value matches its own preset code value will the signal be further processed and a response signal generated; otherwise, the signal is discarded directly.

[0127] For example, if a specific frequency identifier is used, the ranging module adjusts the frequency of its transmitted signal to the dedicated frequency band of the corresponding component before transmitting the signal. The signal transceiver component filters the signal through its internal filtering unit, retaining only the signal within its own dedicated frequency band, thus achieving accurate signal identification. If two identifier forms are used simultaneously, the ranging signal carries both a dedicated pseudo-random code and is located in a dedicated frequency band. The signal transceiver component must simultaneously meet the code value matching and frequency matching conditions to respond, further improving its anti-crosstalk capability.

[0128] It is worth noting that this identification method is particularly advantageous in multi-component parallel communication scenarios. For example, when two or more signal transceiver components are deployed at the boundary of an enclosed water area, the robot can simultaneously or at different times transmit ranging signals carrying unique identifiers to different components. Each component only responds to its own matched ranging signal, preventing signal misidentification due to the superposition of multiple ranging signals. Even in the presence of interference in the aquatic environment (such as water flow disturbance or bubble effects), the specific identification information can still ensure the accuracy of the ranging signal identification, ensuring the reliability of the ranging data and providing fundamental support for determining the robot's real-time position.

[0129] The advantage of this embodiment lies in its ability to uniquely identify the ranging signals of different components through specific identification information, effectively solving the signal crosstalk problem in scenarios with multiple signal transceiver components and improving communication stability and ranging accuracy. Furthermore, the configuration of the identification information is flexible and can be dynamically adjusted according to the size of the enclosed water area and the number of components deployed, adapting to different application scenarios. Moreover, this identification method requires no additional hardware costs and can be implemented solely through software algorithm optimization.

[0130] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0131] This application also provides an embodiment of a robot, such as... Figure 6 As shown, the robot 600 includes a ranging module 601 and a controller 602; wherein, the ranging module 601 is used to transmit ranging signals to at least two signal transceiver components in an enclosed water area and to receive response signals transmitted by at least two signal transceiver components, the signal transceiver components being disposed at the boundary of the enclosed water area; the controller 602 is used to execute any of the control methods.

[0132] In some embodiments, the robot works in collaboration with the controller through its onboard ranging module. It can transmit ranging signals to the signal transceiver component at the boundary of the enclosed water area and receive response signals. At the same time, the controller executes any of the positioning methods mentioned above to accurately determine the robot's real-time position within the enclosed water area, so that the robot can carry out underwater operations such as cleaning and inspection.

[0133] In some embodiments, the enclosed water area includes, but is not limited to, swimming pools, small reservoirs, enclosed pools, and other water areas with fixed boundaries, and the signal transceiver components are pre-fixed and deployed at the boundary of the enclosed water area (such as pool walls or edge supports).

[0134] In some embodiments, the ranging module is an integrated module with signal transmission, reception, and basic signal processing functions. It integrates an ultrasonic transmitting unit, an ultrasonic receiving unit, and a signal conditioning unit. The ultrasonic transmitting unit can transmit ultrasonic ranging signals in the range of 20 kHz to 2000 kHz, which is adapted to the underwater signal propagation characteristics. The ultrasonic receiving unit can accurately capture the response signal fed back by the signal transceiver component and has anti-interference capabilities, which can filter interference signals such as water flow and bubbles in the aquatic environment. The signal conditioning unit is used to amplify, filter, and process the received response signal to ensure that the signal quality meets the processing requirements of the controller.

[0135] In actual operation, the ranging module is controlled by the controller to transmit ranging signals directionally to at least two signal transceiver components in the enclosed water area. In some embodiments, before transmission, specific identification information (such as specific code value or specific frequency) can be embedded in the ranging signal according to the controller configuration to avoid signal crosstalk between different signal transceiver components. At the same time, the ranging module receives the response signals transmitted by each signal transceiver component in real time, processes them through the signal conditioning unit, and transmits them to the controller to provide raw signal data for distance calculation.

[0136] The controller integrates a processor, a storage unit, and a timing control unit. The storage unit pre-stores the execution logic code of any of the aforementioned positioning methods, as well as basic parameters such as the location information of the signal transceiver components, configuration parameters of specific identification information, and the propagation speed of ultrasonic waves in water. The timing control unit can accurately record various time nodes during the signal interaction process. The processor is used to call the code and parameters in the storage unit to execute any of the aforementioned positioning method embodiments.

[0137] The robot provided in this embodiment has a simple structure. Through the coordinated operation of the ranging module and the controller, it can execute the entire process of the positioning method. It has high positioning accuracy and strong stability, and can be widely used in various closed water operation scenarios. It has strong practicality and scenario adaptability. At the same time, it does not need to rely on complex external positioning equipment, which reduces the positioning cost of the robot.

[0138] Corresponding to the positioning method in the above embodiments, Figure 7 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application, with reference to... Figure 7 The positioning device is used in enclosed water areas, where at least two signal transceiver components are installed at the boundary of the enclosed water area, including: Acquisition unit 701 is used to acquire the distance between the robot and each signal transceiver component.

[0139] The determining unit 702 is used to determine the real-time position of the robot in the enclosed water area based on the distance between the robot and each signal transceiver component, as well as the position information of each signal transceiver component.

[0140] Furthermore, based on any of the above embodiments, as an example of this application, when two signal transceiver components are set at the boundary of an enclosed water area, the determining unit includes: The first unit is used to form two arcs corresponding to each signal transceiver component, with each signal transceiver component as the center and the distance between the robot and each signal transceiver component as the radius. The second unit is used to obtain the intersection point of two circular arcs; The third unit is used to determine the robot's real-time position based on the intersection point.

[0141] Furthermore, based on any of the above embodiments, as an example of this application, there are two intersection points, and the third unit is specifically used for: If the robot's starting position is the base station position, then the spatial relationship between each intersection point and the base station position is determined, and the base station position is pre-marked; Based on the spatial relationship between each intersection point and the base station location, a target intersection point is selected from the two intersection points as the robot's real-time position.

[0142] Furthermore, based on any of the above embodiments, as an example of this application, there are two intersection points, and the third unit is specifically used for: If the robot's starting position is any position within the enclosed water area, then obtain the distance between the robot and the boundary of the enclosed water area; Based on the distance between the robot and the boundary of the enclosed water area, a target intersection point is selected from the two intersection points as the robot's real-time position.

[0143] Furthermore, based on any of the above embodiments, as an example of this application, there are two intersection points, and the third unit is specifically used for: If the robot's starting position is any position within the enclosed water area, and the distance between the unknown robot and the boundary of the enclosed water area is unknown, then obtain the robot's historical position from the previous moment at the current moment, and determine the intersection point at the current moment. Based on the spatial relationship between each intersection point and its historical position, as well as the robot's motion state information, a target intersection point is selected from two intersection points as the robot's real-time position. The motion state information includes the driving trajectory and direction of travel.

[0144] Furthermore, based on any of the above embodiments, as an example of this application, when multiple signal transceiver components are set at the boundary of an enclosed water area, the determining unit includes: The fourth unit is used to form multiple arcs corresponding to each signal transceiver component, with each signal transceiver component as the center and the distance between the robot and each signal transceiver component as the radius. The fifth unit is used to obtain the common intersection point of multiple arcs; The sixth unit is used to determine the robot's real-time position based on common intersections.

[0145] Furthermore, based on any of the above embodiments, as an example of this application, the apparatus further includes: The mapping unit is used to control the robot to move along the boundary of the enclosed water area in order to create a contour map of the enclosed water area; The marking unit is used to detect the minimum distance between the robot and each signal transceiver component during the robot's movement along the boundary, and to use the robot's position coordinates on the contour map when the minimum distance is detected as the position information of the corresponding signal transceiver component.

[0146] Furthermore, based on any of the above embodiments, as an example of this application, the acquisition unit includes: The control subunit is used to control the robot's ranging module to transmit ranging signals; The determination subunit is used to determine the distance between the robot and each signal transceiver component based on the time information of the ranging module transmitting ranging signals and each signal transceiver component receiving ranging signals and returning response signals. The time information includes the ranging signal transmission time, signal processing time, and response signal transmission time.

[0147] Furthermore, based on any of the above embodiments, as an example of this application, a subunit is defined, specifically for: Obtain the ranging signal transmission time, signal processing time, response signal transmission time, and signal propagation speed corresponding to each signal transceiver component; The distance between the robot and the signal transceiver components is determined based on the ranging signal transmission time, signal processing time, response signal transmission time, and signal propagation speed. The ranging signal transmission time is determined from the first moment when the ranging module transmits the ranging signal to the second moment when each signal transceiver component receives the ranging signal; the signal processing time is determined from the second moment when each signal transceiver component receives the ranging signal to the third moment when each signal transceiver component transmits the response signal; and the response signal transmission time is determined from the third moment when each signal transceiver component transmits the response signal to the fourth moment when the ranging module receives the response signal.

[0148] Furthermore, based on any of the above embodiments, as an example of this application, the device further includes: The adjustment unit is used to adjust the first time interval for the ranging module to transmit ranging signals based on the size information of the enclosed water area, and to synchronously adapt and adjust the second time interval for determining the real-time position based on the first time interval.

[0149] Furthermore, based on any of the above embodiments, as an example of this application, the device further includes: a differentiation unit, used to identify the ranging signal of each signal transceiver component by using specific identification information when the robot communicates with each signal transceiver component, wherein the specific identification information includes a specific code value and / or a specific frequency.

[0150] It is understood that the embodiments of the positioning device and any implementation thereof correspond to the embodiments of the positioning method and any implementation thereof. The technical effects corresponding to the embodiments of the positioning device and any implementation thereof can be found in the technical effects corresponding to the above-mentioned embodiments of the positioning method and any implementation thereof, and will not be repeated here.

[0151] It should be noted that the positioning device provided in the above embodiments is only an example of the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0152] The functional units and modules in the above embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of the embodiments of this application.

[0153] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0154] This application also provides an electronic device, which includes one or more processors and a memory; The memory is coupled to one or more processors. The memory is used to store computer program code, which includes computer instructions. One or more processors invoke the computer instructions to cause the electronic device to perform the positioning method described above.

[0155] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 800 can be a mobile phone, smart screen, tablet computer, wearable electronic device, in-vehicle electronic device, augmented reality (AR) device, virtual reality (VR) device, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA), projector, or a communication device such as a server, storage device, or base station, or a smart car, etc. This application embodiment does not impose any limitations on the specific type of electronic device.

[0156] The memory 801 can be used to store computer software programs 802 and modules. The processor 803 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 801. The memory 801 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device (such as audio data, telephone book, etc.). In addition, the memory 801 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0157] The processor 803 may include one or more processors such as a central processing unit (CPU), an application processor (AP), and a baseband processor. The processor can serve as the nerve center and command center of the wireless router. The processor 803 can generate operation control signals based on instruction opcodes and timing signals to control instruction fetching and execution. The memory 801 can be used to store executable program code, including instructions. The processor 803 executes various functional applications and data processing of the network device by running the instructions stored in the memory. The memory 801 may include a program storage area and a data storage area, such as storing data for audio signals to be played. For example, the memory may be Double Data Rate Synchronous Dynamic Random Access Memory (DDR) or Flash memory.

[0158] This application also provides a computer program product containing computer instructions, which, when run on an electronic device, enables the electronic device to perform the aforementioned positioning method.

[0159] The computer program products provided in the embodiments of this application are all used to execute the methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects corresponding to the methods provided above, and will not be repeated here.

[0160] In the above embodiments, implementation can also be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0161] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0162] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments claimed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0163] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0164] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0165] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A positioning method, characterized in that, Applied to enclosed water areas, wherein the boundaries of the enclosed water areas are provided with at least two signal transceiver components, the method includes: Obtain the distance between the robot and each of the aforementioned signal transceiver components; The real-time position of the robot within the enclosed water area is determined based on the distance between the robot and each of the signal transceiver components, as well as the position information of each of the signal transceiver components.

2. The method according to claim 1, characterized in that, When two signal transceiver components are set at the boundary of the enclosed water area, determining the robot's real-time position within the enclosed water area based on the distance between the robot and each signal transceiver component, and the position information of each signal transceiver component, includes: With each of the signal transceiver components as the center and the distance between the robot and each of the signal transceiver components as the radius, two arcs corresponding to the signal transceiver components are formed. Obtain the intersection point of the two arcs; The robot's real-time position is determined based on the intersection point.

3. The method according to claim 2, characterized in that, There are two intersection points, and determining the robot's real-time position based on the intersection points includes: If the robot's starting position is the base station position, then the spatial relationship between each intersection point and the base station position is determined, and the base station position is pre-calibrated; Based on the spatial relationship between each intersection point and the location of the base station, a target intersection point is selected from the two intersection points as the real-time location of the robot.

4. The method according to claim 2, characterized in that, The intersection points are two, and determining the robot's real-time position based on the intersection points further includes: If the robot's starting position is any position within the enclosed water area, then the distance between the robot and the boundary of the enclosed water area is obtained; Based on the distance between the robot and the boundary of the enclosed water area, a target intersection point is selected from the two intersection points as the robot's real-time position.

5. The method according to claim 2, characterized in that, The intersection points are two, and determining the robot's real-time position based on the intersection points further includes: If the robot's starting position is any position within the enclosed water area, and the distance between the robot and the boundary of the enclosed water area is unknown, then the robot's historical position at the previous moment is obtained, and the intersection point is determined at the current moment. Based on the spatial relationship between each intersection point and the historical position, and the robot's motion state information, a target intersection point is selected from the two intersection points as the robot's real-time position. The motion state information includes the driving trajectory and the direction of travel.

6. The method according to claim 1, characterized in that, When multiple signal transceiver components are set at the boundary of the enclosed water area, determining the robot's real-time position within the enclosed water area based on the distance between the robot and each signal transceiver component, and the position information of each signal transceiver component, includes: With each of the signal transceiver components as the center and the distance between the robot and each of the signal transceiver components as the radius, multiple arcs corresponding to the signal transceiver components are formed. Obtain the common intersection point of multiple said arcs; The robot's real-time position is determined based on the common intersection point.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Control the robot to move along the boundary of the enclosed water area to create a contour map of the enclosed water area; During the movement of the robot along the boundary, the minimum distance between the robot and each of the signal transceiver components is detected, and the position coordinates of the robot in the contour map when the minimum distance is detected are used as the position information of the corresponding signal transceiver component.

8. The method according to any one of claims 1 to 6, characterized in that, The acquisition of the distance between the robot and each of the signal transceiver components includes: The ranging module of the robot is controlled to transmit ranging signals; Based on the time information of the ranging module transmitting the ranging signal and each of the signal transceiver components receiving the ranging signal and returning a response signal, the distance between the robot and each of the signal transceiver components is determined, wherein the time information includes the ranging signal transmission time, the signal processing time, and the response signal transmission time.

9. The method according to claim 8, characterized in that, The determination of the distance between the robot and each of the signal transceiver components based on the time information of the ranging module transmitting the ranging signal and each of the signal transceiver components receiving the ranging signal and returning a response signal includes: The ranging signal transmission time, the signal processing time, the response signal transmission time, and the signal propagation speed corresponding to each of the signal transceiver components are obtained. The distance between the robot and the signal transceiver component is determined based on the ranging signal transmission time, the signal processing time, the response signal transmission time, and the signal propagation speed. The ranging signal transmission time is determined from the first moment when the ranging module transmits the ranging signal to the second moment when each of the signal transceivers receives the ranging signal; the signal processing time is determined from the second moment when each of the signal transceivers receives the ranging signal to the third moment when each of the signal transceivers transmits the response signal; and the response signal transmission time is determined from the third moment when each of the signal transceivers transmits the response signal to the fourth moment when the ranging module receives the response signal.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Based on the size information of the enclosed water area, the first time interval for the ranging module to transmit ranging signals is adjusted, and the second time interval for determining the real-time position is synchronously adapted and adjusted based on the first time interval.

11. The method according to any one of claims 1 to 10, characterized in that, When the robot communicates with each of the signal transceiver components, the ranging signal of each signal transceiver component is identified by specific identification information, which includes a specific code value and / or a specific frequency.

12. A robot, characterized in that, The robot includes a ranging module and a controller; The ranging module is used to transmit ranging signals to at least two signal transceiver components in an enclosed water area and to receive response signals transmitted by at least two of the signal transceiver components, wherein the signal transceiver components are disposed at the boundary of the enclosed water area. The controller is configured to perform the method as described in any one of claims 1 to 11.

13. A positioning device, characterized in that, Applied to enclosed water areas, wherein the boundary of the enclosed water area is provided with at least two signal transceiver components, including: The acquisition unit is used to acquire the distance between the robot and each of the signal transceiver components; The determining unit is used to determine the real-time position of the robot in the enclosed water area based on the distance between the robot and each of the signal transceiver components, and the position information of each of the signal transceiver components.

14. The apparatus according to claim 13, characterized in that, When two signal transceiver components are installed at the boundary of the enclosed water area, the determining unit includes: The first unit is used to form two arcs corresponding to the signal transceivers, with each of the signal transceivers as the center and the distance between the robot and each of the signal transceivers as the radius. The second unit is used to obtain the intersection point of the two arcs; The third unit is used to determine the real-time position of the robot based on the intersection point.

15. The apparatus according to claim 14, characterized in that, There are two intersection points, and the third unit is specifically used for: If the robot's starting position is the base station position, then the spatial relationship between each intersection point and the base station position is determined, and the base station position is pre-calibrated; Based on the spatial relationship between each intersection point and the location of the base station, a target intersection point is selected from the two intersection points as the real-time location of the robot.

16. The apparatus according to claim 14, characterized in that, There are two intersection points, and the third unit is further used for: If the robot's starting position is any position within the enclosed water area, then the distance between the robot and the boundary of the enclosed water area is obtained; Based on the distance between the robot and the boundary of the enclosed water area, a target intersection point is selected from the two intersection points as the robot's real-time position.

17. The apparatus according to claim 14, characterized in that, There are two intersection points, and the third unit is further used for: If the robot's starting position is any position within the enclosed water area, and the distance between the robot and the boundary of the enclosed water area is unknown, then the robot's historical position at the previous moment is obtained, and the intersection point is determined at the current moment. Based on the spatial relationship between each intersection point and the historical position, and the robot's motion state information, a target intersection point is selected from the two intersection points as the robot's real-time position. The motion state information includes the driving trajectory and the direction of travel.

18. The apparatus according to claim 13, characterized in that, When multiple signal transceiver components are set at the boundary of the enclosed water area, the determining unit includes: The fourth unit is used to form multiple arcs corresponding to each of the signal transceiver components, with each of the signal transceiver components as the center and the distance between the robot and each of the signal transceiver components as the radius. The fifth unit is used to obtain the common intersection point of multiple arcs; The sixth unit is used to determine the real-time position of the robot based on the common intersection point.

19. The apparatus according to any one of claims 13 to 18, characterized in that, The device further includes: The mapping unit is used to control the robot to move along the boundary of the enclosed water area in order to create a contour map of the enclosed water area. The marking unit is used to detect the minimum distance between the robot and each of the signal transceiver components during the process of the robot moving along the boundary, and to use the position coordinates of the robot in the contour map when the minimum distance is detected as the position information of the corresponding signal transceiver component.

20. The apparatus according to any one of claims 13 to 19, characterized in that, The acquisition unit includes: The control subunit is used to control the ranging module of the robot to transmit ranging signals; A subunit is defined for determining the distance between the robot and each of the signal transceiver components based on the time information of the ranging module transmitting the ranging signal and each of the signal transceiver components receiving the ranging signal and returning a response signal. The time information includes the ranging signal transmission time, the signal processing time, and the response signal transmission time.

21. The apparatus according to claim 20, characterized in that, The determining subunit is specifically used for: The ranging signal transmission time, the signal processing time, the response signal transmission time, and the signal propagation speed corresponding to each of the signal transceiver components are obtained. The distance between the robot and the signal transceiver component is determined based on the ranging signal transmission time, the signal processing time, the response signal transmission time, and the signal propagation speed. The ranging signal transmission time is determined from the first moment when the ranging module transmits the ranging signal to the second moment when each of the signal transceivers receives the ranging signal; the signal processing time is determined from the second moment when each of the signal transceivers receives the ranging signal to the third moment when each of the signal transceivers transmits the response signal; and the response signal transmission time is determined from the third moment when each of the signal transceivers transmits the response signal to the fourth moment when the ranging module receives the response signal.

22. The apparatus according to any one of claims 13 to 21, characterized in that, The device further includes: The adjustment unit is used to adjust the first time interval for the ranging module to transmit ranging signals based on the size information of the enclosed water area, and to synchronously adapt and adjust the second time interval for determining the real-time position based on the first time interval.

23. The apparatus according to any one of claims 13 to 22, characterized in that, The differentiation unit is used to identify the ranging signal of each signal transceiver component with specific identification information when the robot communicates with each of the signal transceiver components. The specific identification information includes a specific code value and / or a specific frequency.

24. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the electronic device to implement the method as described in any one of claims 1 to 11.

25. A computer program product, characterized in that, Includes a computer program, which, when run, causes the method as described in any one of claims 1 to 11 to be performed.

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