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Distributed sound source detection method and sound detection robot based on method

A detection method and robot technology, applied in the direction of instruments, manipulators, measuring devices, etc., to achieve the effects of high detection accuracy, strong fault tolerance and survivability, and large detection range

Active Publication Date: 2018-05-29
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0006] The technical problem solved by the present invention is: aiming at the deficiencies in the existing technology and the needs of intelligent robots in sound perception, it is proposed to combine the distributed sound source localization technology and the robot formation coordination technology in the communication system and the common points of hardware resources, A new method of distributed sound source detection based on multi-robot system is proposed. This method optimizes and enhances the detection ability of existing robots for sound source targets, so that multiple robots can complete more complex collaborative functions. This technology can be applied to military, It has broad application prospects in many aspects such as industrial production and home robots

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  • Distributed sound source detection method and sound detection robot based on method
  • Distributed sound source detection method and sound detection robot based on method
  • Distributed sound source detection method and sound detection robot based on method

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Embodiment Construction

[0042] The core idea of ​​the present invention is to use multiple mobile robots with sound source detection capabilities, through a wireless sensor network, and adopt a cross direction finding algorithm to fuse the sound source orientation information of multiple robots, so as to realize real-time positioning and trajectory tracking of sound source targets.

[0043] The distributed sound source detection method based on the present embodiment is as follows:

[0044] The distributed sound source detection method of this real-time example is based on a multi-robot formation cooperative sound source detection system composed of one monitoring computer and three sound detection robots. The method includes the following steps, as shown in the appendix figure 1 shown.

[0045] Step 1, system layout: place 3 sound detection robots in a square area of ​​50m×50m, and place them in an equilateral triangle topology as much as possible according to the site conditions according to the op...

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Abstract

The invention relates to a distributed sound source detection method and a sound detection robot based on the method. Compared with a traditional single-robot sound source detection system, a distributed sound source localization technology-based multi-robot cooperative sound source detection system has the advantages of large detection range, high detection accuracy, high environmental adaptability, fault-tolerance and the like and can be adopted as a new group robot environment sensing means. Thus, the environment sensing capability of the robot can be greatly improved, and a solid foundation can be laid for the formation and cooperation of intelligent robots.

Description

technical field [0001] The invention relates to a distributed sound source detection method and the design and realization of a sound detection robot system based on the method. Background technique [0002] In recent years, the technology of intelligent mobile robots has developed vigorously. As the two main ways for robots to perceive the environment, image and sound have some shortcomings. Specifically, the image-based environmental perception technology has a large amount of data, is easily affected by light, and has limited detection angle and distance. However, the existing sound-based environmental perception technology has limited detection range, poor anti-interference ability, and weak reliability. And other issues. Therefore, it is of great significance to study robust and accurate robot sound perception technology to improve the performance of robots. [0003] The main task of robot sound perception technology is to enable the robot to make real-time and accura...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/22B25J11/00B25J19/02
CPCB25J11/00B25J19/02B25J19/026G01S5/22
Inventor 陈建峰祁文涛戚茜李晓强闫青丽周荣艳
Owner NORTHWESTERN POLYTECHNICAL UNIV
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