Mobile intelligent vehicle following system and method based on near-field microphone array

Abstract

The invention discloses a mobile intelligent vehicle following system and method based on a near-field microphone array. The system comprises a mobile terminal, which is used for recognizing the two-dimensional code mark on a mobile intelligent car and sending an audio signal to the mobile intelligent car. A sensor system based on a microphone array, a two-dimensional code mark, a driving motor and an ARM controller are installed on the mobile intelligent vehicle. The sensor system is used for judging whether the audio signals contain useful signals or not; if the audio signals contain usefulsignals, the position estimation method is used for carrying out position estimation on the received audio signals, and obtaining the position information of the mobile terminal relative to the mobileintelligent vehicle; if not, the receiving of the useful signal can be continued to wait. The sensor system transmits position information to the ARM controller, and the ARM controller performs control of the driving motor according to the position information. The invention is advantageous in that the system provided by the invention only needs to depend on an audio signal sent by the intelligent terminal, the goods can be effectively and conveniently transported in places such as supermarkets or airports, and great practical value is achieved.

Description

Technical field [0001] The invention relates to a mobile smart car system, in particular to a mobile smart car following system and method based on a near-field microphone array. Background technique [0002] In recent years, with the development of society and the advancement of technology, people have higher and higher requirements for intelligence in life and work. At present, the trolleys transporting goods in places such as airports or supermarkets are manually pushed or pulled. When there are a lot of goods or luggage, this kind of human-powered trolley has disadvantages such as bulky and inflexible. Therefore, researching a mobile smart car as a cargo transportation tool has a wide range of application value. The microphone-based acoustic array technology, as the sensor of the mobile smart car, provides the information of the moving direction and moving distance required by the smart car, which is our focus of research. On the other hand, in recent years, with the powerf...

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