基于音频带通滤波的排险机器人导航方法  

Band-pass filter based audio navigation for danger disposal robot

作　　者：岳大为[1] 东楷涵[1] 刘作军[1] 王德峰[1,2] 

机构地区：[1]河北工业大学控制科学与工程学院,天津300130 [2]中石化沧州分公司,河北沧州061000

出　　处：《河北工业大学学报》2013年第2期5-9,共5页Journal of Hebei University of Technology

基　　金：国家高技术研究发展计划(863计划)(2007AA04Z229);河北省自然科学基金(F2010000137)

摘　　要：化工厂发生气体泄露事故时,由于烟雾浓度大,基于视觉导航的排险机器人无法发挥作用.利用管道泄露喷气声的音频信号可以衍射绕过障碍物传播的特性,开发出基于听觉的机器人导航系统,使机器人可以在全局运动控制中跟踪声源向目标点移动,具有视觉、超声、红外传感器等无法达到的优点.本文模拟人双耳接收声音信号的场强差原理,针对气体泄露时所发出的特殊频率的声音,开发出基于带通滤波技术的排险机器人听觉导航系统,并进行了相关实验,得到了理想的效果.A visual-based danger disposal robot can not work in a chemical plant full of smoke caused by leakage.According to the diffraction property of audio signal,the sound can bypass obstacles.An audio-based robot navigation system is developed to make it feasible to guide the robot run to the target for motion control in complex unknown and unvisualable enviroment.So the audio navigation can remedy the inadequacy of visual,ultrasonic and infrared sensors.Expired by the difference of sound field strength between two ears,a band-pass filter-based audio navigation system is proposed to trace the special frequency sound caused by the pipe leakage.And ideal effects are obtained in experiments.

关 键 词：排险机器人 导航 带通滤波器 听觉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]