Robot Sound Source Direction Detection Using Multi-Sensor Fusion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Microphone arrays face difficulties in accurately distinguishing between direct and reflected sound sources, leading to potential misidentification of sound source directions, especially when sound reaches a robot by reflecting off walls.
Innovation Solution
An autonomously acting robot equipped with a microphone array, a recognizing unit, and a drive mechanism that selects motions based on detected sound sources, uses image analysis and temperature sensors to identify sound emitting bodies and heat generating bodies, and tracks objects with predetermined characteristics to accurately determine sound source directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a microphone array is used to detect sound source direction, then the robot can identify the direction of sound sources, but it cannot distinguish between direct sound and reflected sound, leading to misidentification of sound source directions
Solution Approach 1:
The patent combines multiple sensing modalities (microphone array for acoustic detection, camera for visual detection, temperature sensor for thermal detection) to cross-validate sound source identification. By merging data from these different sensors, the system can distinguish between direct and reflected sound paths, resolving the contradiction between directional detection capability and identification reliability.
Solution Approach 2:
The patent introduces an image recognition system as an intermediary to verify sound source locations. The camera captures images of detected sound sources, and image processing confirms whether the acoustic signal originates from a valid source, acting as a mediator between the microphone array and the final identification decision.
2Device complexity
If the robot uses only microphone array for sound source detection, then the device complexity is low, but the measurement precision of sound source direction is insufficient in complex acoustic environments
Solution Approach 1:
The patent makes the robot system multi-functional by equipping it with sensors that serve multiple purposes: the camera not only detects sound sources visually but also provides environmental context; the temperature sensor not only detects heat but also helps identify living beings; the microphone array not only detects sound direction but also works with image data to confirm source validity. This multi-functionality improves measurement precision without proportionally increasing complexity.
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
The robot can accurately identify sound source directions, reducing misinterpretation and improving its ability to locate sound sources, even in complex acoustic environments.
Implementation Method 1
When a voice is emitted from a certain sound source, each of the multiple of microphones collects sound. As installation positions of the microphones differ, a slight variation occurs in timings at which the sound arrives at each microphone.
Implementation Method 2
a temperature sensor that detects a temperature distribution of a space
Data Source
AI summary
A robot detects a voice using a microphone array, and identifies a sound source direction. The robot directs a head portion in the sound source direction. When an object including characteristics as a voice emitting body is detected in a filming region of a sound source direction identified using the microphone array, the voice emitting body is identified as a voice emission source. When a voice emitting body is identified as a voice emission source, the robot directs a body toward a sound source (emission source). When a special environmental sound is detected, a predetermined motion is executed.