CN101866005A - Space sensing device, mobile carrier and positioning and control operation method thereof - Google Patents

Abstract

A space sensing device, a mobile carrier and an operation method for positioning and controlling the mobile carrier. The space sensing device is suitable for a mobile carrier and comprises an attitude angle calculation module, a position calculation module and an operation processing system. The attitude angle calculation module can calculate the attitude angle between the moving carrier and the axes in different directions in the space at present according to the input signal fusion operation of one or more sensors. In addition, the position calculation module can calculate the position of the mobile carrier in the space at present according to the attitude angle and the acceleration parameters, and outputs positioning information to the operation processing system. In addition, the operation processing system can obtain another space positioning information through the mechanical wave distance sensor. Therefore, the operation processing system can fuse and calculate the positioning information of the two to obtain real-time three-dimensional positioning information so as to control the motion track of the mobile carrier in the space.

Description

Spatial sensing device, mobile carrier and calculation method for its positioning and control

technical field

The invention relates to a positioning and surrounding environment sensing technology, and in particular to a positioning and surrounding environment sensing technology performed when a mobile carrier moves in space.

Background technique

As we all know, global satellite positioning is the most common current positioning technology. However, global satellite positioning technology still has many limitations, especially the limitations of terrain and environment. This is because the technology of global satellite positioning is achieved by receiving positioning signals sent by positioning satellites in earth orbit and performing triangulation. Therefore, in some environments, such as in a building or under water, the technology of global satellite positioning cannot be applied due to the inability to effectively receive satellite signals.

In some known patents, some technologies are also provided, so that the global satellite positioning technology can also be used in special environments, such as underwater. For example, WO2008048346 provides a positioning technology for an underwater submersible. In this patent, the inventor uses the buoy on the water surface to receive the positioning signal sent by the positioning satellite, and calculates the relative position between the buoy and the submarine. Next, the received positioning signal is received from the buoy, and then the relative position between the buoy and the submarine is used to correct and calculate the position of the submarine.

Although in the prior art, the submarine can utilize buoys on the water surface to receive positioning signals, and then the submarine itself is positioned. However, when the signal is transmitted under the water surface, it will be interfered by water as a medium, which greatly reduces the reliability of the signal. In addition, because the positioning signal needs to be transmitted to the submarine through the buoy for calculation, the known technology cannot perform real-time positioning when the GPS signal is not received.

In addition, there are also some technologies that use electromagnetic waves, such as optical methods, for positioning. In some environments, however, the positioning of electromagnetic waves is also limited. For example, when an underwater robot is working in an aquarium, if the underwater robot emits electromagnetic waves for positioning, the electromagnetic waves will not be reflected because the tank wall of the aquarium is made of transparent glass. penetrate the cylinder wall. In this way, it is impossible to locate by electromagnetic waves.

Contents of the invention

The invention provides a mobile carrier, which can be positioned when moving in some special environments, and can adjust its moving track according to the surrounding environment.

The present invention also provides a space sensing device, which can locate a mobile carrier in real time when it moves in a space.

In addition, the present invention also provides a control method when the mobile carrier moves in space, which can control the movement of the mobile carrier in space.

The invention provides a mobile carrier, including a sensing module, a positioning system, a mechanical wave transceiver, an operation processing system and a control system. The sensing module is used to sense the movement of the mobile carrier in a space, and output at least one set of space parameters to the positioning system. Thereby, the positioning system can locate the mobile carrier according to these spatial parameters, and output a positioning information. In addition, the mechanical wave transceiver device can transmit a mechanical wave into the space, and receive the reflected mechanical wave after encountering an object to generate environmental information. Wherein, the environment information can be sent to the computing processing system together with the positioning information. Therefore, the calculation processing system can generate real-time calculation information to the control system according to the positioning information and the environment information. In this way, the control system can control the movement of the mobile carrier in space according to the real-time computing information.

From another point of view, the present invention also provides a space sensing device, which includes an attitude angle calculation module and a position calculation module. The attitude angle calculation module can calculate the angle between the mobile carrier in space and different direction axes according to the multiple angular velocity parameters and acceleration parameters or magnetic force line cutting angle parameters generated when the mobile carrier moves in space. attitude angle. In addition, the position calculation module can calculate the current position of the mobile carrier in space according to these attitude angles and multiple acceleration parameters, and output a piece of positioning information.

From another point of view, the present invention also provides a control method when the mobile carrier moves in space, including detecting the movement of the mobile carrier in space, and positioning the mobile carrier according to the detection result to generate positioning information . In addition, the present invention can also send out a mechanical wave from the mobile carrier to the space, and receive the mechanical wave reflected by the object to obtain environmental information. In this way, the present invention can perform calculations on positioning information and environment information to control the movement of the mobile carrier in space.

Since the present invention performs positioning according to the received spatial parameters, the present invention has better accuracy. In addition, the present invention uses mechanical waves to detect changes in the surrounding environment, so the present invention can also be applied to some special environments such as underwater.

In order to make the above and other objects, features and advantages of the present invention more comprehensible, preferred embodiments are described below in detail together with accompanying drawings.

Description of drawings

FIG. 1 is a system block diagram of a mobile carrier according to a preferred embodiment of the present invention.

FIG. 2 is a system block diagram of a positioning system and a sensing module according to a preferred embodiment of the present invention.

FIG. 3A is a schematic diagram of an angular velocity parameter.

FIG. 3B is a schematic diagram of an attitude angle.

FIG. 4 is a system block diagram of an attitude calculation module, a position calculation module and a calibration unit according to a preferred embodiment of the present invention.

FIG. 5 is a system block diagram of an operation processing system according to a preferred embodiment of the present invention.

FIG. 6 is a system block diagram of a control system according to a preferred embodiment of the present invention.

[Description of main component symbols]

102: Space Sensing Device

104: Control system

106: Sensing module

108: Mechanical wave transceiver

112: Positioning system

114: Operation processing module

202: Angular velocity sensor

204: Acceleration sensor

212: Attitude angle calculation module

214: Position calculation module

216: Calibration unit

302: mobile carrier

402: four-element operation unit

404: Direction cosine calculation unit

406: Acceleration calculation unit

408: Acceleration Integrator

410: Velocity Integrator

412: Coordinate conversion operation unit

502: Map comparison module

504: Data comparison module

602: Arithmetic unit

604: Control unit

612: display module

COMP1: comparison result

D: Direction

EIFO: Environmental Information

ERR: error value

FD1, FD2: feedback data

IN: input command

O: origin

PIFO: positioning information

REOP: real-time operation information

X(ref), Y(ref), Z(ref), X(B), Y(B), Z(B): coordinate axes

a _{x, g} , a _{y, g} , a _{z, g} : acceleration parameters

a _x , a _y , a _z : acceleration components

e0 _t , e1 _t , e2 _t , e3 _t : Four-element operands

e0 _t-1 , e1 _t-1 , e2 _t-1 , e3 _t-1 : feedback four-element operand

p, q, r: angular velocity parameters

x _G , y _G , z _G : Coordinate values in the earth coordinate system

Z _x , Z _y and Z _z : the relative distance between the carrier and the environment

θ, φ, ψ: attitude angle

Detailed ways

The following description will be accompanied by corresponding diagrams to illustrate specific embodiments of the mobile carrier and its system provided by the present invention. The mobile carrier provided by the present invention may be a robot, and its operating space may be an underwater space, but the present invention is not limited thereto.

FIG. 1 is a system block diagram of a mobile carrier according to a preferred embodiment of the present invention. Please refer to FIG. 1 , the mobile carrier provided in this embodiment includes a space sensing device 102 and a control system 104 . Wherein, the space sensing device 102 can instantly locate the position of the mobile carrier in the space according to the movement of the mobile carrier in a space. In addition, the space sensing device 102 may also determine changes in the environment of the space where the mobile carrier is located. After the space sensing device 102 obtains the above information, it can transmit it to the control system 104 . In this way, the control system 104 can properly control the trajectory of the mobile carrier in space according to the input instruction IN and the information output by the space sensing device 102 .

In order to effectively locate the mobile carrier and determine the change of the environment in the space where the mobile carrier is located, this embodiment also includes a sensing module 106 and a mechanical wave transceiver device 108 , which can be coupled to the space detection device 102 respectively. The sensing module 106 can sense the movement of the mobile carrier in space, and can output a plurality of spatial parameters to the space sensing device 102, so as to locate the mobile carrier in real time. In addition, the mechanical wave transceiver 108 can transmit a mechanical wave to the space where the mobile carrier works, and when the mechanical wave encounters an object and is reflected, it can receive the reflected mechanical wave. In this way, the mechanical wave transceiving device 108 can output an environment information EIFO to the space sensing device 102 according to the reflected mechanical wave.

In some embodiments, when the operating environment of the mobile carrier is an underwater environment, the mechanical wave transceiving device 108 is realized by a sonar device. In other words, the mechanical waves emitted by the mechanical wave emitting device 108 may be sonar waves. Because the frequency of sonar waves is very low, it is suitable for transmission in media with a density greater than air. Therefore, when the mobile carrier is operating underwater, it is suitable to use sonar waves to detect the environment.

Please continue to refer to FIG. 1 , the space detection device 102 may include a positioning system 112 and an arithmetic processing system 114 . Wherein, the positioning system 112 can be coupled to the sensing module 106 to receive the output spatial parameters thereof, and the output of the positioning system 112 can be coupled to the operation processing module 114 . In addition, the operation processing module 114 can be coupled to the mechanical wave transceiver device 108 to receive the output environment information EIFO, and output a real-time operation information REOP to the control system 104 according to the received information.

FIG. 2 is a system block diagram of a positioning system and a sensing module according to a preferred embodiment of the present invention. Please refer to FIG. 2 , in this embodiment, the sensing module 106 includes an angular velocity sensor 202 and an acceleration sensor 204 . The angular velocity sensor 202 can be realized by a gyroscope, which is used to sense the angular velocity of the mobile carrier in different directions when the carrier moves in space, and generate multiple angular velocity parameters p, q and r. In addition, the acceleration sensor 204 can be realized by using an accelerometer, which can sense the acceleration of each direction axis when the mobile carrier moves in space, and generate multiple acceleration parameters a _{x, g} , a _{y, g} and a _{z, g} .

FIG. 3A is a schematic diagram of angular velocity parameters. Please refer to FIG. 3A , where the coordinate system represented by the coordinate axes X(ref), Y(ref) and Z(ref) is a reference coordinate system. When a mobile carrier 302 moves in this reference coordinate system, its moving direction can be defined as a body Z (B) axis, and according to the body Z (B) axis, the body X (B) axis and body X (B) axis can be defined in addition Y (B) axis. The aforementioned angular velocity parameters p, q, and r are the angular velocities generated by the object 302 on the body X(B) axis, body Y(B) axis and body Z(B) axis.

Please refer to Fig. 2 again, in this embodiment, the above-mentioned angular velocity parameters p, q and r, and acceleration parameters a _x , a _y and a _z can all be sent to the positioning system 112, so as to determine the position of the mobile carrier in space location for real-time positioning. The positioning system 112 may include an attitude angle calculation module 212 , a position calculation module 214 and a correction unit 216 . Wherein, the attitude angle calculation module 212 can be coupled to the angular velocity sensor 202 and the correction unit 216 , and the position calculation module 214 can be coupled to the correction unit 216 and the operation processing system 114 in addition to the attitude angle calculation module 212 . In addition, the output of the arithmetic processing system 114 can also be coupled to the calibration unit 216 .

The attitude angle calculation module 212 can calculate the attitude angles θ, φ, and ψ of the mobile carrier according to the angular velocity parameters p, q, and r, and the first feedback data FD1 output by the correction unit 216 . FIG. 3B is a schematic diagram of an attitude angle. Please refer to FIG. 3B together. According to the reference coordinate system and the body coordinate system in FIG. 3A , the attitude angles θ, φ and ψ of the mobile carrier 302 can be defined.

The attitude angle calculation module 212 can send the calculated attitude angles θ, φ and ψ to the position calculation module 214 . In this way, the calculation module 214 can calculate the current position of the mobile carrier 302 in space according to the attitude angles θ, φ and ψ, acceleration parameters a _{x, g} , a _{y, g} and a _{z, g} and a second feedback data FD2 Position coordinates x _t , y _t and z _t , and generate positioning information PIFO to the arithmetic processing system 114 and the correction unit 216 .

FIG. 4 is a system block diagram of an attitude calculation module, a position calculation module and a calibration unit according to a preferred embodiment of the present invention. Referring to FIG. 4 , the attitude angle calculation module 212 includes a four-element operation unit 402 and a direction cosine operation unit 404 . The four-element operation unit 402 can be coupled to the angular velocity sensor 202 and the correction unit 216 in FIG. 2 to receive the angular velocity parameters p, q and r, and the first feedback data FD1. And through the angular velocity parameters p, q, r and the first feedback data FD1, the four-element operation unit 402 can calculate the four-element operation elements (Quatemion) e0 _t , e1 _t , e2 _t and e3 _t , and send them to the direction cosine ( Direction Cosine) computing unit 404. When the direction cosine operation unit 404 receives the four-element operation elements e0 _t , e1 _t , e2 _t and e3 _t , it can perform cosine transformation on them, and obtain attitude angles θ, φ and ψ according to the first feedback data FD1. In this embodiment, the first feedback data FD1 includes the four-element operand (e0, e1, e2, e3) _t-1 and attitude angle (θ, φ, ψ) _t-1 obtained in the previous unit time .

In addition, the position calculation module 214 includes an acceleration calculation unit 406 , an acceleration integrator 408 , a velocity integrator 410 and a coordinate conversion calculation unit 412 . The acceleration calculation unit 406 may be coupled to the direction cosine calculation unit 404 and to the acceleration integrator 408 . In addition, the speed integrator 410 can also be coupled to the acceleration integrator 408 and to the coordinate conversion operation unit 412 . Wherein, the acceleration integrator 408 and the velocity integrator 410 can also be coupled to, for example, the correction unit 216 in FIG. 2 , and the coordinate conversion calculation unit 412 can be coupled to the calculation processing system 114 in FIG. 2 .

The acceleration computing unit 406 can also be coupled to, for example, the acceleration sensor 204 in FIG. 2 to receive acceleration parameters a _x,g , a _y,g and a _z,g . The acceleration parameters a _x,g , a _y,g and a _z,g sensed by the acceleration sensor 204 contain components of the earth's gravitational acceleration, rather than simply the acceleration of the moving carrier. Therefore, the acceleration calculation unit 406 is required to extract the gravitational acceleration factor from the acceleration parameters a _{x, g} , a _{y, g} , a _{z, g} measured by the sensor according to the attitude angles θ, φ, ψ, And the actual acceleration components a _x , a _y , a _z of the mobile carrier on different direction axes in space are obtained. Taking FIG. 3 as an example, the velocity values a _x , a _y , and a _z obtained by the acceleration calculation unit 406 are the acceleration components on the axes X, Y, and Z when the mobile carrier 302 moves in the direction D.

Next, the acceleration calculation unit can send the acceleration components a _x , a _y and a _z to the acceleration integrator 408 . At this time, the acceleration integrator 408 can integrate the acceleration components a _x , a _y and a _z according to the second feedback data FD2, and obtain the velocity components v _x and v _y of the mobile carrier in each direction in space and v _z .

After the acceleration integrator 408 obtains the velocity components v _x , v _y and v _z , they can be output to the velocity integrator 410 . In this way, the speed integrator 410 can integrate the speed components v _x , v _y and v _z according to the second feedback data FD2, and obtain the displacement values x _B , y _B , z _B . And the displacement values x _B , y _B , z _B can be sent to the coordinate transformation operation unit 412 . In this way, the coordinate conversion operation unit 412 can perform operations on the displacement values x _B , y _B , z _B according to a transfer matrix, so as to obtain the coordinate values x _G , y _G , and z _G , and send it to the operation processing system 114 as the positioning information PIFO. In this embodiment, the second feedback data FD2 includes velocity components (v _x , v _y and v _z ) _t-1 obtained in the previous unit time, coordinate values of the earth coordinate system (x _G , y _G , z _G ) _t-1 and the displacement value (x _B , y _B , z _B ) _t-1 .

FIG. 5 is a system block diagram of an operation processing system according to a preferred embodiment of the present invention. Referring to FIG. 5 , the computing processing system 114 in this embodiment includes a map comparison module 502 and a data comparison module 504 . The map comparison module 502 has a built-in map model of the space where the mobile carrier is located, and the map comparison module 502 can be a data comparison module 504 . In addition, the data comparison module 504 can also be coupled to the control system 104 and the mechanical wave transceiver device 108 .

When the map comparison module 502 receives the positioning information PIFO, it can compare the built-in map model to determine whether the object is an original terrain feature in the space, and the map comparison module 502 can output the comparison result COMP1 to the data Compare modules. At this time, the data comparison module 504 can use the returned mechanical wave calculated by the mechanical wave transceiver device 108 to calculate the relative distance between the carrier and the environment EIFO, which is composed of Z _x , Z _y and Z _z , and the environment information EIFO calculated by the position calculation module. The positions x _G , y _G , and z _G of the carrier in the earth coordinate system are compared, and an error value ERR is obtained. At this time, the data comparison module 504 can send the error value ERR to the correction unit 216 in the positioning system 112 and send it to the control system 104 as real-time operation information REOP.

Please refer to FIG. 2 and FIG. 5 together. When the calibration unit 216 receives the error value ERR, it can determine whether the error value ERR is greater than a preset value. If the correction unit 216 finds that the error value ERR is not greater than the preset value, the environment information EIFO is used to correct the positioning information PIFO, and corresponding first feedback data FD1 and second feedback data FD2 are generated. In contrast, if the error value ERR is greater than the preset value, it means that there may be obstacles on the path of the mobile carrier moving in space. At this time, the correction unit 216 outputs the original positioning information PIFO as the first feedback data FD1 and the second feedback data FD2 .

FIG. 6 is a system block diagram of a control system according to a preferred embodiment of the present invention. Please refer to FIG. 6 , the control system 104 in this embodiment includes a computing unit 602 and a control unit 604 . The computing unit 602 can be coupled to the data comparison unit 404 in the computing processing system 114 and to the control unit 104 . In addition, the computing unit 602 can also receive an instruction IN input by the user. In this way, the operation unit 602 can perform a mixed operation on the input instruction IN and the real-time operation information REOP, and send the operation result RSL to the control unit 604 . Therefore, if the mobile carrier is moving in space and an obstacle is found in the direction of motion, the control unit 604 can control the movement of the mobile carrier according to the calculation result RSL generated by the calculation unit 602, so as to avoid the obstacle and avoid the obstacle. reach the destination. In some embodiments, the control unit 604 can be realized by a single chip.

In some optional embodiments, a display module 612, such as a liquid crystal display or a light emitting diode, may also be configured on the mobile carrier. The display module 612 is used to reflect and display the current status of the mobile carrier. For example, when the mobile carrier 604 finds an obstacle, the control unit 604 can turn on the display module 612 . In this way, the user can verify whether the action response of the mobile carrier is correct.

In summary, since the present invention can use the spatial parameters generated by the sensing module to locate the mobile carrier, the present invention can not only accurately locate the position of the mobile carrier, but also detect the real-time posture of the mobile carrier. In addition, the present invention can also use mechanical waves to detect changes in the surrounding environment, so the present invention can also be applied in some special environments. In addition, the present invention combines the sensing module and the mechanical wave to detect alternately, so the influence of noise can be reduced.

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Those skilled in the art may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection shall prevail as defined by the appended claims.

Claims (18)

1. A mobile carrier, comprising: a sensing module, sensing the movement of the mobile carrier in a space, and outputting at least one set of space parameters; a positioning system, coupled to the sensing module, to locate the mobile carrier according to these spatial parameters, and output a positioning information; A mechanical wave transceiver device, used to transmit a mechanical wave into the space, and after the mechanical wave encounters an object and is reflected, receives the reflected mechanical wave to generate environmental information; an operation processing system, coupled to the positioning system and the mechanical wave transceiver device, to generate real-time operation information according to the positioning information and the environmental information; and A control system, coupled with the calculation processing module, controls the movement of the mobile carrier in the space according to the real-time calculation information. 2. The mobile carrier as claimed in claim 1, wherein the sensing module comprises: an angular velocity sensor, which senses the angular velocity of the mobile carrier in the space, and generates a plurality of angular velocity parameters for the positioning system; and An acceleration sensor senses the acceleration of the mobile carrier on each direction axis in the space, and generates a plurality of acceleration parameters for the positioning system. 3. The mobile carrier of claim 2, wherein the positioning system comprises: a four-element operation unit, coupled to the angular velocity sensor, and receiving a plurality of feedback four-element operation elements, so as to convert these angular velocity parameters into a plurality of real-time four-element operation elements according to a first feedback data; A direction cosine operation unit, coupled to the four-element operation unit, to calculate the current attitude angle of the mobile carrier between the space and different direction axes according to the real-time four-element operation units and the first feedback data ; an acceleration computing unit, coupled to the direction cosine computing unit, to calculate the gravitational acceleration components of the mobile carrier in all directions according to the attitude angles and extract the gravitational acceleration factor from the acceleration parameters; an acceleration integrator, coupled to the acceleration calculation unit, and receiving these angular velocity parameters, to perform integral operation on these gravitational acceleration components according to a second feedback data, and obtain the velocity components of the mobile carrier in different directions; a velocity integrator, coupled to the acceleration integrator, to integrate the velocity components according to the second feedback data, and obtain displacement values of the mobile carrier in different directions; a coordinate conversion operation unit, coupled to the speed integrator, to calculate the relative position coordinate value of the mobile carrier in the space according to the displacement values, and send it to the operation processing system as the positioning information; and A correction unit, coupled to the calculation processing system, determines whether to perform correction processing on the relative position coordinates according to the real-time calculation information, so as to generate the first feedback data and the second feedback data. 4. The mobile carrier as claimed in claim 3, wherein the first feedback data includes the four-element operands and the attitude angles obtained in the previous unit time, and the second feedback data includes The velocity components, the relative position coordinate values and the displacement values of the mobile carrier in different directions are obtained. 5. The mobile carrier as claimed in claim 1, wherein the mechanical wave is a sonar wave. 6. The mobile carrier as claimed in claim 1, wherein the computing processing system comprises: A map comparison module, coupled to the positioning system, has a map model of the space where the mobile carrier is located, so as to generate a map coordinate data according to the positioning information; and A data comparison module is coupled to the map comparison module, the mechanical wave transceiver device and the control system to compare the map coordinate data with the environment information and generate a comparison value. 7. The mobile carrier of claim 6, wherein the control system comprises: an operation unit, coupled to the data comparison module, to output an operation result according to the comparison value; and A control unit is coupled to the calculation unit to control the movement of the mobile carrier in the space according to the calculation result. 8. The mobile carrier as claimed in claim 1, further comprising a display module for displaying the status of the control system. 9. The mobile carrier as claimed in claim 8, wherein the display module comprises a light emitting diode or a liquid crystal display. 10. A space sensing device adapted to position a mobile carrier when it moves in a space, the space sensing device comprising: An attitude angle calculation module, used to calculate the current position of the mobile carrier in the space and different direction axes according to a plurality of angular velocity parameters generated when the mobile carrier moves in the space and based on a first feedback data the included attitude angle; and A position calculation module, coupled to the attitude angle calculation module, to calculate the current relative position coordinate value of the mobile carrier in the space according to the attitude angles, a plurality of acceleration parameters and a second feedback data, as a Positioning information output, wherein these angular velocity parameters are the angular velocities of the mobile carrier on different direction axes when it moves in the space. 11. The space sensing device according to claim 10, wherein the attitude angle calculation module comprises: A four-element operation unit receives the angular velocity parameters and the first feedback data to convert these angular velocity parameters into a plurality of immediate four-element operation elements; and A direction cosine operation unit is coupled to the four-element operation unit to calculate the attitude angles according to the real-time four-element operation elements and the first feedback data. 12. The space sensing device as claimed in claim 10, wherein the position calculation module comprises: An acceleration calculation unit, coupled to the attitude angle calculation module, to calculate the acceleration components of the mobile carrier in various directions based on the attitude angles and extracting the acceleration of gravity factor from the acceleration parameters; an acceleration integrator, coupled to the acceleration computing unit, and receiving these angular velocity parameters, to perform integral operations on these gravitational acceleration components according to the second feedback data, and obtain acceleration components of the mobile carrier in different directions; a velocity integrator, coupled to the acceleration integrator, to integrate the velocity components according to the second feedback data, and obtain displacement values of the mobile carrier in different directions; and A coordinate conversion calculation unit is coupled to the speed integrator to calculate the relative position coordinates of the mobile carrier in the space according to the displacement values, and use it as the positioning information. 13. The space sensing device as claimed in claim 10, wherein the mobile carrier has a sonar device for emitting a sonar wave, and receiving the reflected sonar wave after the sonar wave is reflected by an object, so as to Obtain environmental information. 14. The space sensing device as claimed in claim 13, further comprising an operation processing system, coupled to the position calculation module and the sonar device, to generate real-time operation information according to the relative position coordinate values and the environmental information . 15. The space sensing device as claimed in claim 14, wherein the computing processing system comprises: a map comparison module, coupled to the position calculation module, and having a map model of the space where the mobile carrier is located, to generate a map coordinate data according to the positioning information; and A data comparison module is coupled to the map comparison module, the mechanical wave transceiver device and the control system to compare the map coordinate data with the environment information and generate a comparison value. 16. A method for controlling a mobile carrier in space, comprising the following steps: Detecting the movement of the mobile carrier in the space, and locating the mobile carrier according to the detection result to generate positioning information; sending a mechanical wave from the mobile carrier to the space, and receiving the mechanical wave reflected by the object to obtain environmental information; and Computing is performed on the positioning information and the environment information to control the movement of the mobile carrier in the space. 17. The control method according to claim 16, wherein the step of generating the positioning information comprises the following steps: Detecting the angular velocity of the mobile carrier on different axes in the space, and obtaining the current attitude angle of the mobile carrier in the space according to a first feedback data; Detecting the acceleration of the mobile carrier on axes in different directions in the space, and generating a plurality of acceleration parameters; According to these attitude angles, the factors of gravitational acceleration are extracted from these acceleration parameters, and the acceleration components of the mobile carrier on different direction axes of the space are calculated; integrating the acceleration components according to the angular velocity parameters and a second feedback data to obtain velocity components of the mobile carrier in different directions in the space; integrating the velocity components according to the second feedback data, and obtaining displacement values of the mobile carrier in different directions in the space; and The relative position coordinates of the mobile carrier in the space are calculated according to the displacement values as the positioning information. 18. The control method as claimed in claim 16, wherein the mechanical wave is a sonar wave.

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