Adaptive microphone array sound positioning rescue robot and using method thereof

Abstract

The invention relates to an adaptive microphone array sound positioning rescue robot and a using method thereof. A robot comprises a vehicle body having a running mechanism, a main control unit on the vehicle body and connected with a running driving motor, an obstacle avoiding module and a sound positioning module, wherein the obstacle avoidance module is three sets of supersonic wave detectors, supersonic waves are respectively emitted from the right ahead portion, the front side portion and the front upper portion, an electric cylinder push rod end of the sound positioning module fixed on the vehicle body is equipped with a supporting block and a supporting board, the gear shaft penetrates through the supporting board of which upper and lower surfaces are respectively equipped with a gear and two tooth bar guide rods, and an outer end of each tooth bar guide rod is fixedly equipped with a microphone array element to form a cross array. According to the using method, the three sets of supersonic wave detectors are controlled by a main control unit to detect distances between obstacles and the vehicle body, height and array element separation distances of the microphone arrays are adaptively maintained to be the largest at the maximum degree, moreover, sound received by four array elements is analyzed, positioning on a help-seeking sound source is carried out to correct a navigation angle to approach the help-seeking sound source. Through the using method, a complex disaster site can be rapidly and safely reached, sound source positioning precision is high, and searching efficiency is high.

Description

technical field [0001] The invention relates to an automatic search technology at a disaster site, in particular to a sound positioning rescue robot with an adaptive microphone array and a use method thereof. Background technique [0002] Natural disasters such as earthquakes and landslides, or accidents such as explosions and mines will cause buildings to collapse or strata to collapse. Knowing whether there are trapped people at the disaster site and their exact location is the first step to a successful rescue. Because the scene is dangerous and complicated, it is often difficult for rescuers to enter the scene, and the safety of rescuers cannot be guaranteed. For this reason, intelligent rescue robots are often used at disaster sites. Rescue robots can go deep into collapsed buildings for reconnaissance, determine the location of trapped people, and provide necessary and accurate information for search and rescue in a timely manner. [0003] Visual positioning is an imp...

AI Technical Summary

Problems solved by technology

[0007] 1. When the rescue robot moves on the scene, it often encounters narrow passages and obstacles. The size of the microphone array is limited, and the distance between the array elements is fixed. It will not be able to go deep into the interior of the scene, which will affect the search efficiency;

[0008] 2. Rescue robots often encounter narrow passages with small heights when moving, and the installation position of the triangular plane formed by the three microphones can only be as close as possible to the robot body, resulting in the sound source signal received by the array being easily affected by the robot's track and drive motor. The influence of noise, resulting in a significant decrease in the accuracy of the time delay estimation value obtained by the time delay estimation method, affecting the positioning accuracy

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