被动声探测在油罐机器人位置检测中的应用  

Application of Passive Acoustic Detecting in Localization of Oil Tank Robot

作　　者：缪松华[1] 顿向明[1] 山磊 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]常州远量机器人技术有限公司,江苏常州213164

出　　处：《计算机测量与控制》2012年第8期2080-2082,共3页Computer Measurement &Control

基　　金：江苏省科技支撑计划资助项目(BE2010054)

摘　　要：为了定位油罐内作业机器人,利用被动声探测技术开发了机器人定位系统;设计了一个五元麦克风阵列拾取机器人发出的声信号,运用了改进的声源定位算法处理信号,进而完成油罐机器人的位置检测;给出了位置检测的算法流程,并搭建了实验平台;通过实验表明该方法可行并有实际应用价值。In order to localize the wall--climbing robot in oil tank, a localization system based on passive acoustic detecting technique is developed. A five--element microphone array is designed to receives audio signals emitted from robot, a improved localization method of time delay estimation is addressed for processing the signals, thus the position of the robot is detected. The general algorithm of the detecting sys- tem is proposed and a experimental platform has been set up. The method is proved efficient and practical enough for real--time operation.

关 键 词：油罐机器人 被动声探测 麦克风阵列 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]