Autonomous Robot Sound Source Localization Using Map Verification
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Solution Overview
Problem
Autonomous action robots struggle to accurately estimate the direction of a sound source when it is not a direct sound, leading to incorrect movement towards the sound source due to interference from walls and obstacles.
Innovation Solution
The robot is equipped with a sound acquisition unit, sound source localization unit, distance measurement unit, map information generation unit, and sound source direction determination unit, which together assess whether the acoustic signal is a direct sound or a reflection, allowing it to adjust its movement plan accordingly based on two-dimensional and potentially three-dimensional map information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses sound source localization based on acoustic signals, then it can identify the direction of the sound source, but it cannot accurately estimate the direction when the sound is reflected by walls or obstacles
Solution Approach 1:
The patent introduces map information (showing walls and obstacles) as an intermediary to mediate between the acoustic signal and the sound source direction estimation. The sound source direction determination unit uses the map information to judge whether the acoustic signal is a direct sound or reflection, thereby resolving the contradiction by adding an intermediate verification step that improves reliability without sacrificing measurement precision
Solution Approach 2:
The patent implements a feedback mechanism where the sound source direction determination unit continuously monitors the relationship between the estimated sound source direction, robot position from map information, and environmental obstacles. When inconsistencies are detected (indicating reflection), the system adjusts its direction estimation accordingly, creating a closed-loop feedback system that maintains accuracy in complex acoustic environments
2Ease of operation
If the robot moves toward the estimated sound source direction, then it can respond to human voice, but it may move in the wrong direction when the sound is a reflection
Solution Approach 1:
The patent applies preliminary action by performing sound source direction determination (including reflection judgment using map information) before the robot executes movement. This preliminary verification step ensures that the robot only moves toward the sound source when the direction is confirmed to be accurate, preventing wasted movement toward incorrect locations while maintaining the ability to respond to human voice
Solution Approach 2:
The map information serves as an intermediary that verifies the validity of the sound source direction estimation before the robot commits to movement. By checking whether the estimated direction is consistent with the physical environment (walls and obstacles shown in map information), the system ensures measurement precision is maintained while preserving ease of voice response
3Adaptability or versatility
If the robot uses acoustic signals in environments with walls and corners, then it can acquire sound in rooms, but it cannot directly acquire sound due to reflections and diffractions
Solution Approach 1:
The patent uses feedback by continuously comparing the estimated sound source direction with the robot's position and the environmental layout from map information. This feedback mechanism allows the system to detect when direct sound is blocked by walls or corners and when reflections are being received, enabling the robot to adapt its sound acquisition strategy to maintain information quality in room environments
Solution Approach 2:
The sound source direction determination unit acts as an intermediary that filters and validates acoustic information. By using map information to judge whether received sounds are direct or reflected, it prevents loss of useful direct sound information while still allowing the robot to operate effectively in room environments where some reflection is inevitable
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 the robot to accurately determine the sound source direction and move towards it even in environments with obstacles, improving navigation and reducing errors in sound source localization.
Implementation Method 1
a sound acquisition unit configured to acquire an acoustic signal
Implementation Method 2
a distance measurement unit configured to perform measurements related to distance for a predetermined range
Data Source
AI summary
An autonomous action robot includes: a sound acquisition unit that acquires an acoustic signal; a sound source localization unit that estimates a direction of a sound source with respect to the acoustic signal; a distance measurement unit that performs measurements related to distance for a predetermined range; a map information generation unit that generates two-dimensional map information and that estimates a self-location of the autonomous action robot, using information of the distance; a sound source direction determination unit that re-estimates the direction of the sound source based on the two-dimensional map information, the estimated self-location information, and the estimated sound source direction; an action generation unit that generates an action plan based on the two-dimensional map information and the sound source direction estimated by the sound source direction determination unit; and a control unit that controls the autonomous action robot according to the action plan.