Indoor static sound source positioning method based on swarm robots

A swarm robot, sound source localization technology, applied in the direction of positioning, instruments, measuring devices, etc., can solve the problem of unable to obtain the optimal sound source position, and achieve the effect of simple structure, improved fault tolerance rate, and high positioning accuracy

Active Publication Date: 2020-12-18
HEBEI UNIV OF TECH
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  • Abstract
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Problems solved by technology

The sound source localization methods mentioned in the above patents all use a microphone array comp...

Method used

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  • Indoor static sound source positioning method based on swarm robots
  • Indoor static sound source positioning method based on swarm robots
  • Indoor static sound source positioning method based on swarm robots

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Embodiment 1

[0098] This embodiment provides a method for locating indoor stationary sound sources based on swarm robots, which is characterized in that the method adopts the steps of the above-mentioned positioning method and the following parameters:

[0099] Assuming that the radius of each robot is 5cm, and the initial relative position of each robot is fixed, let N=2,

[0100] See the table below for other parameters:

[0101] Table 1 parameters

[0102]

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Abstract

The invention discloses an indoor static sound source positioning method based on swarm robots, and the method employs a plurality of robots for the indoor sound source positioning, each robot carriesa single microphone, is simple in structure, and improves the error-tolerant rate in a positioning process. In the positioning process, multiple times of sound source position calculation are carriedout, and higher positioning precision is obtained by continuously approaching a sound source. In each sound source position calculation, grouping positioning is carried out according to the number ofrobots, finally, weights are allocated according to the difference value of the positioning result of each group and the average value of the positioning results of all groups, and the final sound source position judgment at a certain moment is obtained after each group of results are multiplied by the weights and accumulatively added. The optimal sound source position is obtained by assigning weights to multiple groups of sound source position estimation values at different moments. The reference microphone is arranged to simplify the calculation amount of the swarm robot in the positioningprocess, and the positioning precision is improved through cooperation and multiple times of movement of multiple robots.

Description

technical field [0001] The invention belongs to the technical field of sound source location positioning, in particular to an indoor static sound source positioning method based on swarm robots. Background technique [0002] With the development of the field of robotics, the application scenarios of robots are becoming more and more extensive. Indoor sweeping robots, service robots, etc. appear in people's lives. The indoor sound source positioning of robots uses sound sensors to enable robots to have auditory systems, making up for dark light. And the shortcomings of vision sensor failure under dark conditions make the robot work in a wider range of environments. Robotic sound source localization technology requires the help of sound sensors such as microphones, and often requires multiple microphones to better locate the position of the sound source. Most of the current research is to mount a microphone array integrating multiple microphones on a single robot to realize t...

Claims

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Application Information

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IPC IPC(8): G01S5/20
CPCG01S5/20Y02T90/00
Inventor 孙昊陆国庆
Owner HEBEI UNIV OF TECH
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