Sound source independent searching and locating method

Abstract

The invention relates to an independent sound source searching and positioning method which is based on a mobile robot and comprises the following steps: firstly, a microphone array is utilized to carry out initial positioning to a target sound source: an array which consists of four microphones is arranged at the simulated head part of the mobile robot, wherein, the four microphones are respectively distributed and arranged on the four vertex positions of the biggest inscribed square of the exterior frame circle of the simulated head part of the robot, the distance among the microphones are equal and the left and right ears of the mobile robot are formed to be used for respectively collecting two-way aural signals of the target sound source, then the initial position of the target sound source can be obtained after the two-way aural signals are treated with mathematical treatment based on time delay; secondly, aural positioning and visual positioning are fused: namely, after the initial position of the target sound source is obtained, the simulated head part of the robot is horizontally rotated by utilizing azimuth angle information and rotated up and down by utilizing pitch angle information, or the mobile robot body is simultaneously moved so as to cause the target sound source to be within the visual field of the robot; finally, visual signals are utilized to carry out accurate visual positioning to the target sound source.

Description

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AI Technical Summary

Benefits of technology

This patented technology allows for high accuracy when combining both acoustic and vision sounds sources into one location. By utilizing this technique, the device works well even if there are obstacles or other areas that may affect its performance.

Problems solved by technology

This patented describes different ways to improve the ability of detecting and identifying sounds within complex industrial settings like oil refinerery facilities. However current systems lack precise audio object localization capabilities and provide poor situational awareness during operation. Therefore, new techniques must be explored to overcome these limitations while maintaining high efficiency and reliability.

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