基于麦克风阵列的储罐内爬壁机器人定位系统研究(英文)

Research on Localization of In-tank Wall-climbing Robot Based on Microphone Array

为提高储油罐内爬壁机器人本体智能及作业效率,研究设计了基于被动声定位技术的机器人定位系统。该定位系统利用麦克风阵列拾取机器人发出的声信号,运用改进的时延估计定位方法处理信号,从而定位爬壁机器人。介绍了系统的总体定位算法,并通过实验表明该系统具有实时实现的有效性和应用价值。

In order to improve the intelligent and work efficiency of a wall-climbing robot in oil tank, a localization system using passive acoustic source location technique is designed. The system receives audio signals emitted from robot with microphone array, and processes the signals with an improved localization method of time delay estimation, thus the localization of robot is completed. General algorithm of the localization system is presented. It has been confirmed that the system is efficient and practical enough for real-time operation.