Mobile Device Sound Source Positioning via Triangulation
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Solution Overview
Problem
Current mobile robots face challenges in accurately detecting and moving towards a sound source, especially in environments with limited illumination or visual obstructions, as existing sound source direction detectors are not effective in determining the precise position of the sound source.
Innovation Solution
A mobile device equipped with a sound detector, direction estimator, traveling direction determination unit, sound source position calculator, and voice output unit, which calculates the distance to a sound source by estimating the directional angle and moving perpendicular to the sound source's direction, using a reference distance and recall sound to navigate towards it.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sound source direction detector is used to detect the direction of a sound source, then the mobile device can identify the direction of the sound source, but the precision of detecting the precise position of the sound source is insufficient
Solution Approach 1:
The detection process is segmented into multiple stages: first detecting the sound source direction, then moving perpendicular to that direction by a reference distance, and finally calculating the precise position using triangulation. This divides the complex position detection task into manageable segments that improve precision without requiring a single complex detector
Solution Approach 2:
The system transitions from two-dimensional direction detection to three-dimensional position determination by adding the reference distance movement as a spatial dimension. This allows calculation of the sound source position in 3D space using the formula involving reference distance L and directional angle θ, thereby improving measurement precision
2Measurement precision
If the mobile device moves directly toward the sound source, then the detection process is simplified, but the device cannot accurately determine the precise position without additional information
Solution Approach 1:
The mobile device performs a preliminary action by moving perpendicular to the sound source direction by a reference distance before final position calculation. This preliminary movement provides the necessary baseline for triangulation, enabling precise position determination while maintaining operational simplicity through automated calculation
Solution Approach 2:
The system uses feedback by detecting the directional angle after moving the reference distance and using this information to calculate the sound source position. The calculated position then provides feedback for navigation toward the sound source, creating a closed-loop system that improves precision without complicating operation
3Reliability
If existing sound source direction detectors are used, then the system can detect sound direction, but it fails to accurately detect the position in environments with obstacles or limited illumination
Solution Approach 1:
The system introduces an intermediary calculation process that uses the reference distance and directional angle as intermediate variables to determine the sound source position. This intermediary approach bypasses the limitations of direct detection in obstructed environments by using acoustic triangulation, which is reliable regardless of visual conditions or obstacles
Solution Approach 2:
The system changes the detection parameter from direct sound direction to a combination of sound direction and reference distance. By using the formula R = L/cos(180−θ) where L is reference distance and θ is directional angle, the system adapts to different environments by calculating position based on acoustic parameters rather than relying on visual or direct detection methods
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate detection and movement towards a sound source, even in environments with obstacles, by calculating the distance using the directional angle and reference distance, effectively addressing the limitations of existing sound source detection methods.
Implementation Method 1
The sound source direction detector detects the direction of the sound source using order of a sound signal output through a receiver mounted in the robot
Data Source
AI summary
A mobile device moves by calculating a distance between a sound source and the mobile device using a sound source direction estimation technique. The mobile device moves by a reference distance in a direction perpendicular to a direction in which the mobile device faces the sound source when call sound of the sound source is generated, outputs voice to instruct to the sound source to generate recall sound, checks a directional angle of the mobile device when recall sound is generated by the sound source, calculates the distance between the sound source and the mobile device according to the reference distance and the directional angle of the mobile device, and moves to the vicinity of the sound source.