CN105094136A - Adaptive microphone array sound positioning rescue robot and using method thereof - Google Patents
Adaptive microphone array sound positioning rescue robot and using method thereof Download PDFInfo
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Abstract
The invention relates to an adaptive microphone array sound positioning rescue robot and a using method thereof. A robot comprises a vehicle body having a running mechanism, a main control unit on the vehicle body and connected with a running driving motor, an obstacle avoiding module and a sound positioning module, wherein the obstacle avoidance module is three sets of supersonic wave detectors, supersonic waves are respectively emitted from the right ahead portion, the front side portion and the front upper portion, an electric cylinder push rod end of the sound positioning module fixed on the vehicle body is equipped with a supporting block and a supporting board, the gear shaft penetrates through the supporting board of which upper and lower surfaces are respectively equipped with a gear and two tooth bar guide rods, and an outer end of each tooth bar guide rod is fixedly equipped with a microphone array element to form a cross array. According to the using method, the three sets of supersonic wave detectors are controlled by a main control unit to detect distances between obstacles and the vehicle body, height and array element separation distances of the microphone arrays are adaptively maintained to be the largest at the maximum degree, moreover, sound received by four array elements is analyzed, positioning on a help-seeking sound source is carried out to correct a navigation angle to approach the help-seeking sound source. Through the using method, a complex disaster site can be rapidly and safely reached, sound source positioning precision is high, and searching efficiency is high.
Description
Technical field
The present invention relates to the automatic searching technology of disaster scene, specifically a kind of sound localization rescue robot of adaptive microphone array and using method thereof.
Background technology
In the disaster such as earthquake, landslide or the accident such as blast, mine, all can cause building collapsing or ground subsidence, understanding disaster scene whether trapped personnel and their accurate location, is the first step of successful rescue.Because scene is dangerous and complicated, rescuer enters scene, and often difficulty is comparatively large, and cannot ensure the safety of rescue worker.For this reason, the intelligent rescue robot of many uses in disaster scene, rescue robot can be scouted in deep enough collapsed building, determines the position of trapped personnel, provides necessary accurate information in time for searching and rescuing.
Vision location is a kind of important way of rescue robot to target localization, but vision is subject to the restriction of on-the-spot light, barrier and visibility, and the rescue robot of vision location cannot complete the thorough search of disaster scene.
Audible sound location does not affect by light, barrier, and audible data significantly reduces relative to the required data volume processed in video location, and the movable rescue equipment being more adapted to resource-constrained is installed.And sound can comprehensively be located, accurate location information can be provided for rescue.
Existing based on microphone array sound location technology, utilize the spatial relationship of each array element in microphone array, the time arriving each microphone array element in conjunction with sound is different, positions sound source.Current sound localization technology is mainly Time Delay Estimation Method, and the voice signal that namely calculating sound source sends arrives the time delay estimated value of different microphone array element, in conjunction with the position of the space structure determination sound source of array.The precision of the time delay estimated value of obvious each array element directly determines the precision of target localization.But for the limited rescue robot of platform resource, in sound localization, data sampling rate is restricted.When sampling rate is constant, increases array element distance, can sampling number be increased, and then improve time delay estimated value precision, improve the precision of auditory localization.But existing most of microphone array array structure is fixed.
Chinese invention patent CN104049235A " microphone array in sound source direction device " disclosed in September, 2014, disclose a kind of microphone array of variable geometry, comprise four microphones, wherein three microphones are in a plane, and the angle of another microphone and this plane can change.This structure passes through the angle of change the 4th microphone and other three microphone planes, changes the space structure of array, thus can carry out multiple bearing to target, promotes directed accuracy.But the relative distance between its three array elements immobilizes, in practical application, the 4th array element more can increase the dimension of array.Be applied in rescue robot and have the following disadvantages:
1, in rescue robot movement at the scene, often can run into catwalk and barrier, microphone array size is restricted, and array element distance is fixed, and will go deep into on-the-spot inside, affect searching efficiency;
2, rescue robot often can run into highly less catwalk in moving; the triangle projective planum installation site that its three microphones are formed can only be tried one's best near the body of robot; cause array received to sound-source signal be easily subject to the crawler belt of robot and the noise effect of drive motor; the time delay estimated value precision causing Time Delay Estimation Method to obtain significantly reduces, and affects positioning precision.
The length of 3, installing the dwang of the 4th microphone S4 is certain, needs larger vertical space when the angle of this microphone and XOY plane changes, and when robot body superjacent air space has in limited time, dwang is difficult to rotate the change realizing array.
Therefore, need a kind of can the sound localization rescue robot of microphone array of self-adaptation site space environment, so that thorough search can be carried out to scene in time, realize to trapped personnel location, providing navigation information accurately, for the quality time is striven in rescue.
Summary of the invention
The object of the invention is the sound localization rescue robot designing a kind of adaptive microphone array, comprise the detection front, side and the top barrier that are connected with main control unit and keep away barrier module, regulate the electric cylinder of microphone array level, regulate the pinion and rack of each array element distance in addition, when by catwalk, reduce the spacing of array element and the height of array plane adaptively, with quickly through passage; When space is larger, automatically increases array element distance from the height with array distance car body, improve auditory localization precision.
Another object of the present invention is the using method of the sound localization rescue robot designing a kind of adaptive microphone array, main control unit is according to the signal keeping away barrier module, compare with the safe distance preset, when the distance with barrier is less than safe distance, then instruction electric cylinder reduction microphone array level or instruction step motor-driven gear rack mechanism reduce array element distance, otherwise, when the distance with barrier is greater than safe distance 1.5 times, then raise array plane or increase array element distance.This law can allow rescue robot rapidly by catwalk, and space allows just to make array plane height and array element distance large as far as possible, improves auditory localization precision.
The present invention designs a kind of sound localization rescue robot of adaptive microphone array, comprise the car body with travel mechanism, be arranged on the main control unit on car body, sound localization module and keep away barrier module, travel mechanism comprises drive motor and its walking machine device driven, and the drive motor of described travel mechanism, keeps away barrier module and is all connected with main control unit with sound locating module.Main control unit contains signal processing module, processes the voice signal of the reception of microphone array, calculates, and tries to achieve angle, sound bearing, revises navigation angle with this.Main control unit connects wireless communication module, and this wireless communication module is connected with rescue robot management system bidirectional wireless communication, accepts the instruction of rescue robot management system, and current operational information is sent it back rescue robot management system in real time.
Described to keep away barrier module be ultrasonic detection device, and detect direction and the distance of the barrier around car body, coherent signal is sent to main control unit.When running into barrier, described main control unit, by the route controlling drive motor rotating, rotating speed adjusts robot ambulation, judges whether the height that needs to adjust described array and array element distance simultaneously.
Described ultrasonic detection device comprises three groups of ultrasonic detectors, first group of ultrasonic detector is 1 ~ 2 ultrasonic detector, be installed on before car body, its ultrasound wave transmit direction level and parallel with car body working direction, second group of ultrasonic detector is 2 ~ 4 ultrasonic detectors, be installed on vehicle body side, its ultrasound wave transmit direction level and be 35 ° ~ 50 ° with the angle of car body working direction, namely towards front, car body both sides; 3rd group of ultrasonic detector is 1 ~ 3 ultrasonic detector, be installed on car body end face, the angle of its ultrasound wave transmit direction and car body working direction is 0 ° ~ 50 °, is 35 ° ~ 50 °, with the angle of the vertical top of car body namely above car body front upper place or side.
Described sound localization module includes electric cylinder, back-up block, back up pad, gear shaft, upper lower gear, up and down tooth bar guide rod and microphone array.Leading screw, screw that described electric cylinder comprises servomotor and matches, screw fixes push rod, and servomotor drives screw turns, and leading screw drives screw and push rod rectilinear motion, and leading screw is installed in rotation in cylinder body.Electric cylinder cylinder body is fixed on car body, and when car body is horizontal, push rod center line and horizontal plane, push rod top fixed installation back-up block, back-up block fixedly mounts back up pad, the surface of back up pad and push rod central axis.Gear shaft center line overlaps with the push rod center line of electric cylinder, and gear shaft lower end is rotatably installed on back-up block, and upper end is through back up pad.Stepper motor drives with gear shaft and is connected.Be in above back up pad cog and the lower gear be in below back up pad is all fixedly installed in gear shaft, be in the parallel upper rack guide rod of above back up pad 2 to engage with cogging respectively, the lower tooth bar guide rod being in below back up pad 2 parallel engages with lower gear respectively.The projection of lower tooth bar guide rod in plane residing for upper rack guide rod is vertical with upper rack guide rod.A microphone array element is respectively fixedly mounted in the outer end of 2 upper rack guide rods and 2 lower tooth bar guide rods.Each fixing pole downward or upward in the outer end of 2 upper rack guide rods and 2 lower tooth bar guide rods, microphone array element is fixed on pole, and 4 microphone array elements are in the same plane, when car body is horizontal, this plane and plane-parallel.4 microphone array elements are on four angles of rectangle, form right-angled intersection array.The signal output part of each microphone array element is connected with main control unit.
The minimum spacing of left and right microphone array element equals width of the carbody.
The control signal output terminal of main control unit connects the servomotor of described electric cylinder and the stepper motor of gear shaft.
Described electric cylinder servomotor connects built-in-potential meter, gear shaft connects external pot by regulating device, built-in-potential meter and external potentiometric output signal access main control unit, the feedback height displacement of electric cylinder and the rotational angle of gear shaft, the i.e. horizontal shift of upper and lower tooth bar guide rod.
Described upper rack guide rod and lower tooth bar guide rod, be divided into two parts along its length, and a part is tooth bar, and another part is anodontia guide rod.Support plate upper surface is fixed with the guide groove corresponding to 2 upper rack guide rods, and guide groove is door shape via hole, and the guide rod of every root upper rack guide rod partially passes through a guide groove, and section of rack engages with cogging.Guide groove guarantees that upper rack guide rod moves linearly on the supporting plate on the surface.Be fixed with the door shape via hole guide groove corresponding to 2 lower tooth bar guide rods with its similar support plate lower surface, under every root, the guide rod of tooth bar guide rod partially passes through a guide groove, and section of rack engages with lower gear.Guide groove guarantees that lower tooth bar guide rod moves linearly on back up pad lower surface.
Be provided with rotary platform and camera at car body end face, rotary platform is all connected with main control unit with camera.
The antenna of wireless communication module is installed at car body end face.
Described temperature sensor is arranged on the car body of microphone array, and temperature sensor is connected with main control unit, and Real-Time Monitoring environment temperature also feeds back to main control unit, and main control unit realizes the temperature compensation to acoustic wave propagation velocity according to real time temperature.
The using method of the sound localization rescue robot of a kind of adaptive microphone of the present invention array is as follows, main control unit accepts the search instruction of rescue robot management system by wireless communication module, navigation angle in sector of search by search instruction brings into operation, and each group of ultrasonic detector keeping away barrier module is detected the obstacle signal obtained and send main control unit to.Main control unit obtains the height of microphone array plane according to electric cylinder built-in-potential meter signal, obtains the spacing of microphone array element according to the external pot signal of gear shaft.Four microphone array elements in the same plane receive trapped personnel and sound, voice signal delivers to the signal processing module of main control unit, this signal processing module carries out enlarge leadingly filtering process to four microphone gained voice signals, then by the digital signal that analog-to-digital conversion obtains, again framing windowing process is carried out to it.Whether detect is the sound that trapped personnel sends, whether namely detect is the knock etc. of emergency voice, moan, repetition, when being judged as the sound that trapped personnel sends, carry out auditory localization, with one of them array element gained signal for benchmark, obtain the different delay value that trapped personnel sound arrives other three array elements, the spatial relationship of foundation sound source and each array element of array, the azimuth angle theta obtaining sound source is solved, i.e. sound localization by Time Delay Estimation Method.Current results is sent back rescue robot management system through wireless communication module by main control unit, the Present navigation angle of main control unit using the azimuth angle theta of the sound source of current acquisition as this rescue robot simultaneously, the drive motor controlling travel mechanism is advanced to sound source, search trapped personnel, and according to the trapped personnel sound received in advancing, constantly revise the azimuth angle theta of sound source.
Main control unit is according to first group of ultrasonic detector signal, judge whether the barrier in car body dead ahead is less than the safe distance of setting to the horizontal range of car body, if judge that the barrier in car body dead ahead is less than the safe distance of setting to the horizontal range of car body, the drive motor of main control unit instruction travel mechanism changes car body direct of travel, the route that searching can move ahead, roundabout towards navigation angular direction advance, namely cut-through thing continue towards navigation angular direction advance.
If judge that the barrier in car body dead ahead is more than or equal to the safe distance of setting to the horizontal range of car body, main control unit is judged as front clear, carries out next step and judges.
According to the 3rd group of ultrasonic detector signal, judge whether the distance of car body front upper place barrier and roof microphone array plane meets safe distance, main control unit controls electric cylinder and regulates the height of microphone array plane or change car body direct of travel, makes the distance of car body front upper place barrier and roof microphone array plane be greater than safe distance; Namely front upper place is accessible.
Main control unit is again according to second group of ultrasonic detector signal, judge the spacing of car body both sides barrier and the difference of current microphone array array element distance and safe distance relation, main control unit control step motor-driven gear rack mechanism, reduce increase array element distance or change car body direct of travel, make the difference of car body both sides obstacle spacing and microphone array element distance be greater than safe distance.To advance search by navigation angular direction afterwards.
The concrete method that microphone array height regulates is as follows: main control unit obtains the distance of front upper place barrier and roof microphone array plane according to the signal of the 3rd group of ultrasonic detector, the height distance of current microphone array plane and car body end face is obtained according to built-in-potential meter signal, two data calculate the vertical height H of car body front upper place barrier to current microphone array plane thus, compare with the safe distance A of setting, when judging H < A, the servomotor of main control unit instruction electric cylinder rotates, reduce push rod, namely the height of microphone array is reduced, to H=A, to ensure safety, when the height reduction of microphone array to minimum point, be still H < A, the drive motor of main control unit instruction travel mechanism changes car body direct of travel.When judging H > 1.5A, the servomotor of main control unit instruction electric cylinder rotates, and raises push rod, namely raises microphone array plane; When judging H=(1 ~ 1.5) A, the height of microphone array plane is constant.Set safe distance A is 0.2m ~ 0.5m.
The concrete method that microphone array array element distance regulates is as follows: main control unit obtains the spacing W of car body both sides barrier according to the signal of second group of ultrasonic detector, the spacing w of current microphone array array element is obtained according to external pot signal, main control unit calculates and compares (W-w) < A, the stepper motor of main control unit command gear axle rotates, the upper and lower tooth bar guide rod of upper and lower gear driven moves to back up pad center, reduces array element distance w; When w has been minimum value, be still (W-w) < A, the drive motor of main control unit instruction travel mechanism changes car body direct of travel.As (W-w) > 1.5A, the stepper motor of main control unit command gear axle rotates, and the upper and lower tooth bar guide rod of upper and lower gear driven moves outside back up pad, strengthens array element distance; As (W-w)=(1 ~ 1.5) A, array element distance is constant, the route of the drive motor adjustment car body walking of main control unit instruction simultaneously travel mechanism, makes right or left surface and barrier the distance of car body be equal to or greater than A/2.
Robot is the height of self-adaptative adjustment microphone array plane and the spacing of array element when passing through catwalk, and to adapt to passage, and the height of microphone array plane and the spacing of array element all can remain possible maximal value when space allows.
Temperature sensor Real-Time Monitoring environment temperature also feeds back to main control unit, and main control unit carries out temperature compensation according to real time temperature to acoustic wave propagation velocity.
Main control unit is according to the instruction of rescue robot management system, control rotary platform rotates, control camera real time record car body surrounding environment, and real time video signals is sent to main control unit, main control unit is wirelessly transmitted to rescue robot management system, system manager can situation near this rescue robot of real-time video monitoring, searches the information of trapped personnel in time, the rescue action of favourable rescue worker.
Compared with prior art, the sound localization rescue robot of adaptive microphone array of the present invention and the advantage of using method thereof are: 1, can at the changeable disaster scene fast search of circumstance complication, the accurate orientation obtaining trapped personnel; During by catwalk, the spacing of array element and the height of array plane can be reduced adaptively, so that quickly through passage; When space is larger, automatically can increases array element distance from the height with array distance car body, improve auditory localization precision, for rescue robot provides navigation information accurately, fast search and determine trapped personnel positional information; 2, when spatial altitude allows, self-adaptation raises the height of microphone array plane as much as possible, weakens the impact of car body executing mechanism and drive motor noise; 3, when working direction width allows, self-adaptation is added in array element distance as much as possible, improves time delay estimated value precision, improves sound source direction precision, thus improves the efficiency of rescue robot search target.
Accompanying drawing explanation
Fig. 1 is that one-piece construction schematic diagram is overlooked in the sound localization rescue robot embodiment front of this adaptive microphone array;
Fig. 2 is that one-piece construction schematic diagram is looked up at the sound localization rescue robot embodiment rear of this adaptive microphone array;
Fig. 3 is the sound localization rescue robot embodiment main control unit circuit connection diagram of this adaptive microphone array;
Fig. 4 is the using method embodiment main control unit control flow chart of the sound localization rescue robot of this adaptive microphone array;
Fig. 5 is the using method embodiment microphone array height adaptive adjustment process flow diagram of the sound localization rescue robot of this adaptive microphone array;
Fig. 6 is the using method embodiment microphone array array element distance self-adaptative adjustment process flow diagram of the sound localization rescue robot of this adaptive microphone array.
Number in the figure is: 0, car body, 1, first group of ultrasonic detector, 2, second group of ultrasonic detector, the 3, the 3rd group of ultrasonic detector, 4, rotary platform, 5, camera, 6, the antenna of wireless communication module, 7, back up pad, 8, guide groove, 9, upper rack guide rod, 10, cog, 11, microphone array element, 12, pole, 13, lower tooth bar guide rod, 14, electric cylinder cylinder body, 15, temperature sensor, 16, push rod, 17, lower gear, 18, back-up block.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the technical scheme to invention is described further.
The sound localization rescue robot embodiment of adaptive microphone array
The structure of the sound localization rescue robot embodiment of this adaptive microphone array as illustrated in fig. 1 and 2, comprise the car body with travel mechanism, be arranged on the main control unit on car body 0, sound localization module and keep away barrier module, this routine travel mechanism comprises drive motor and its Athey wheel running gear driven.As shown in Figure 3, the drive motor of described travel mechanism is connected with main control unit.Main control unit contains signal processing module, and main control unit connects wireless communication module, and this wireless communication module is connected with rescue robot management system bidirectional wireless communication.
This example keep away barrier module be ultrasonic detection device, comprise three groups of ultrasonic detectors, first group of ultrasonic detector 1 is 2 ultrasonic detectors, be installed on before car body 0, its ultrasound wave transmit direction level and parallel with car body 0 working direction, second group of ultrasonic detector 2 is 2 ultrasonic detectors, is installed on car body 0 side, its ultrasound wave transmit direction level and be 45 ° with the angle of car body 0 working direction, namely towards front, car body 0 both sides; 3rd group of ultrasonic detector 3 is 1 ultrasonic detector, is installed on car body 0 end face, and the angle of its ultrasound wave transmit direction and car body 0 working direction is 45 °, is 45 °, namely towards car body 0 front upper place with the angle of the vertical top of car body 0.
Described sound localization module includes electric cylinder, back-up block 18, back up pad 7, gear shaft, cog 10, lower gear 17, upper rack guide rod 9, lower tooth bar guide rod 13 and microphone array.Electric cylinder leading screw, screw that described electric cylinder comprises servomotor and matches, screw is fixed push rod 16, and servomotor drives screw turns, and leading screw drives screw and push rod 16 rectilinear motion, and leading screw is installed in rotation in electric cylinder cylinder body 14.Electric cylinder cylinder body 14 is fixed on car body 0, and when car body 0 is horizontal, push rod 16 center line and horizontal plane, push rod 16 top fixed installation back-up block 18, back-up block 18 fixedly mounts back up pad 7, the surface of back up pad 7 and push rod 16 central axis.Gear shaft center line overlaps with push rod 16 center line, and gear shaft lower end is rotatably installed on back-up block 18, and upper end is through back up pad 7.Stepper motor drives with gear shaft and is connected.Be in above back up pad 7 cog 10 and the lower gear 17 be in below back up pad 7 be all fixedly installed in gear shaft, be in the parallel upper rack guide rod 9 of above back up pad 72 10 to engage with cogging respectively, the lower tooth bar guide rod 13 being in below back up pad 72 parallel engages with lower gear 17 respectively.The projection of lower tooth bar guide rod 13 in plane residing for upper rack guide rod 9 is vertical with upper rack guide rod 9.The outer end of 2 upper rack guide rods 9 respectively fixedly mount towards under pole, pole end fixes a microphone array element.The outer end of 2 lower tooth bar guide rods 13 respectively fixedly mounts towards upper pole, and pole end fixes a microphone array element.4 microphone array elements are in the same plane, when car body is horizontal, and this plane and plane-parallel.4 microphone array elements are on four angles of rectangle, form right-angled intersection array.The signal output part of each microphone array element is connected with main control unit.
Described upper rack guide rod 9 and lower tooth bar guide rod 13, be divided into two parts along its length, and a part is tooth bar, and another part is anodontia guide rod.Back up pad 7 upper surface is fixed with the guide groove 8 corresponding to 2 upper rack guide rods, and guide groove 8 is door shape via hole, and the guide rod of every root upper rack guide rod 9 partially passes through a guide groove 8, and section of rack 10 to engage with cogging.Be fixed with the door shape via hole guide groove 8 corresponding to 2 lower tooth bar guide rods 13 with its similar support plate 7 lower surface, under every root, the guide rod of tooth bar guide rod 13 partially passes through a guide groove 8, and section of rack engages with lower gear.
The minimum left and right spacing of this routine microphone array element equals width of the carbody.
As shown in Figure 3, the control signal output terminal of main control unit connects the servomotor of described electric cylinder and the stepper motor of gear shaft.
Described electric cylinder servomotor connects built-in-potential meter, gear shaft connects external pot by regulating device, built-in-potential meter and external potentiometric output signal access main control unit as shown in Figure 3, the feedback height displacement of electric cylinder and the rotational angle of gear shaft, the i.e. horizontal shift of upper and lower tooth bar guide rod.
This example is provided with rotary platform 4 and camera 5 at car body 0 end face, and rotary platform 4 is all connected with main control unit with camera 5 as shown in Figure 3.The antenna 6 of wireless communication module is also installed at car body end face.
The temperature sensor 15 of this example is arranged on the car body 0 of microphone array, and temperature sensor 15 is connected with main control unit.
The using method embodiment of the sound localization rescue robot of adaptive microphone array
The control flow of the using method embodiment main control unit of the sound localization rescue robot of this adaptive microphone array as shown in Figure 4, be specially main control unit accepts rescue robot management system search instruction by wireless communication module, navigation angle in sector of search by search instruction brings into operation, and each group of ultrasonic detector keeping away barrier module is detected the obstacle signal obtained and send main control unit to.Main control unit obtains the height of microphone array plane according to electric cylinder built-in-potential meter signal, obtains the spacing of microphone array element according to the external pot signal of gear shaft.Four microphone array elements in the same plane receive trapped personnel and sound, voice signal delivers to the signal processing module of main control unit, this signal processing module carries out enlarge leadingly filtering process to four microphone gained voice signals, then by the digital signal that analog-to-digital conversion obtains, again framing windowing process is carried out to it.Whether detect is the sound that trapped personnel sends, whether namely detect is the knock etc. of emergency voice, moan, repetition, when being judged as the sound that trapped personnel sends, carry out auditory localization, with one of them array element gained signal for benchmark, obtain the different delay value that trapped personnel sound arrives other three array elements, the spatial relationship of foundation sound source and each array element of array, the azimuth angle theta obtaining sound source is solved, i.e. sound localization by Time Delay Estimation Method.Current results is sent back rescue robot management system through wireless communication module by main control unit, the Present navigation angle of main control unit using the azimuth angle theta of the sound source of current acquisition as this rescue robot simultaneously, the drive motor controlling travel mechanism is advanced to sound source, search trapped personnel, and according to the trapped personnel sound received in advancing, constantly revise the azimuth angle theta of sound source.
Whether the sound adopting prior art to detect the reception of microphone array element is the sound that trapped personnel sends.The voice that people sends and moan short-time energy higher, spectral fluctuations is comparatively large, and spectrum flatness is less, and noise flatness is comparatively large, and short-time energy method bind profile flatness can distinguish the voice and moan that noise and people send.
It is the sound being interrupted, repeating that trapped personnel knocks sent emergency sound, and knock energy is higher, and frequency is more stable, and the interval time between knocking for twice is more or less the same, and the periodic pulse signal of class of formation can be recognized.
Main control unit is according to first group of ultrasonic detector 1 signal, judge whether the barrier in car body 0 dead ahead is less than the safe distance of setting to the horizontal range of car body 0, if judge that the barrier in car body 0 dead ahead is less than the safe distance of setting to the horizontal range of car body 0, the drive motor of main control unit instruction travel mechanism changes car body 0 direct of travel, the route that searching can move ahead, roundabout towards navigation angular direction advance.
Main control unit changes the signal of car body 0 direct of travel according to second group of ultrasonic detector 2, the relatively distance of car body and arranged on left and right sides barrier, former navigation angular direction turns α angle towards the side that obstacle distance is larger, if the distance of both sides barrier is identical, then angular direction of navigating bears right α angle; Again according to first group of ultrasonic detector 1 signal, judge whether the barrier in car body 0 dead ahead is less than the safe distance of setting to the horizontal range of car body 0, if judge that the barrier in car body 0 dead ahead is still less than the safe distance of setting to the horizontal range of car body 0, then continue to go to 2 α angles to this side, judge that car body 0 could move ahead according to first group of ultrasonic detector 1 signal again, so progressively turn to, until find the transitable route of car body 0.Described α is 10 ~ 30 degree.
If judge that the barrier in car body 0 dead ahead is more than or equal to the safe distance of setting to the horizontal range of car body 0, main control unit is judged as front clear, carries out next step and judges.
Main control unit is according to the 3rd group of ultrasonic detector 3 signal, judge whether the distance of car body 0 front upper place barrier and roof microphone array plane meets safe distance, main control unit controls electric cylinder and regulates the height of microphone array plane or change car body 0 direct of travel, makes the distance of car body 0 front upper place barrier and roof microphone array plane be greater than safe distance;
Main control unit also will according to second group of ultrasonic detector 2 signal, judge the spacing of car body 0 both sides barrier and the difference of current microphone array array element distance and safe distance relation, main control unit control step motor-driven gear rack mechanism, reduce increase array element distance or change car body direct of travel, make the difference of car body 0 both sides obstacle spacing and microphone array element distance be greater than safe distance.
As shown in Figure 5, main control unit obtains the distance of front upper place barrier and roof microphone array plane according to the signal of the 3rd group of ultrasonic detector 3, the height distance of current microphone array plane and car body 0 end face is obtained according to built-in-potential meter signal, two data calculate the vertical height H of car body 0 front upper place barrier to current microphone array plane thus, the safe distance A=0.3m of this example setting, when judging H < 0.3m, the servomotor of main control unit instruction electric cylinder rotates, reduce push rod 16, namely the height of microphone array is reduced, to H=0.3m, to ensure safety, when the height reduction of microphone array to minimum point, be still H < 0.3m, the drive motor of main control unit instruction travel mechanism changes car body 0 direct of travel.When judging H > 0.45m, the servomotor of main control unit instruction electric cylinder rotates, and raises push rod 16, namely raises microphone array plane; When judging H=0.3m ~ 0.45m, the height of microphone array plane is constant.
As shown in Figure 6, main control unit obtains the spacing W of car body 0 both sides barrier according to the signal of second group of ultrasonic detector 2, the spacing w of current microphone array array element is obtained according to external pot signal, main control unit calculates and compares (W-w) < 0.3m, the stepper motor of main control unit command gear axle rotates, the upper and lower tooth bar guide rod of upper and lower gear driven moves to back up pad 7 center, reduces array element distance w; When w has been minimum value, be still (W-w) < 0.3m, the drive motor of main control unit instruction travel mechanism changes car body direct of travel.As (W-w) > 0.45m, the stepper motor of main control unit command gear axle rotates, and the upper and lower tooth bar guide rod of upper and lower gear driven moves outside back up pad 7, strengthens array element distance; As (W-w)=0.3m ~ 0.45m, array element distance is constant, and the route of drive motor adjustment car body 0 walking of main control unit instruction simultaneously travel mechanism, makes the distance of car body 0 right flank or left surface and barrier be equal to or greater than 0.15m.
Temperature sensor 15 Real-Time Monitoring environment temperature also feeds back to main control unit, and main control unit carries out temperature compensation according to real time temperature to acoustic wave propagation velocity.
Main control unit is according to the instruction of rescue robot management system, control rotary platform 4 to rotate, control camera 5 real time record car body surrounding environment, and real time video signals is sent to main control unit, main control unit is wirelessly transmitted to rescue robot management system.
Above-described embodiment, be only the specific case further described object of the present invention, technical scheme and beneficial effect, the present invention is not defined in this.All make within scope of disclosure of the present invention any amendment, equivalent replacement, improvement etc., be all included within protection scope of the present invention.
Claims (10)
1. the sound localization rescue robot of adaptive microphone array, comprise the car body (0) with travel mechanism, be arranged on the main control unit on car body (0), sound localization module and keep away barrier module, travel mechanism comprises drive motor and its walking machine device driven, and the drive motor of described travel mechanism, keeps away barrier module and is all connected with main control unit with sound locating module; Main control unit contains message processing module, and main control unit connects wireless communication module, and this wireless communication module is connected with robot management system bidirectional wireless communication; It is characterized in that:
It is described that to keep away barrier module be ultrasonic detection device, described ultrasonic detection device comprises three groups of ultrasonic detectors, first group of ultrasonic detector (1) is 1 ~ 2 ultrasonic detector, be installed on before car body (0), its ultrasound wave transmit direction level and parallel with car body (0) working direction; Second group of ultrasonic detector (2) is 2 ~ 4 ultrasonic detectors, be installed on car body (0) side, its ultrasound wave transmit direction level and be 35 ° ~ 50 ° with the angle of car body (0) working direction, namely towards car body (0) front, both sides; 3rd group of ultrasonic detector (3) is 1 ~ 3 ultrasonic detector, be installed on car body (0) end face, the angle of its ultrasound wave transmit direction and car body (0) working direction is 0 ° ~ 50 °, angle above vertical with car body (0) is 35 ° ~ 50 °, namely above car body (0) front upper place or side;
Described sound localization module includes electric cylinder, back-up block (18), back up pad (7), gear shaft, cog (10), lower gear (17), upper rack guide rod (9), lower tooth bar guide rod (13) and microphone array; Electric cylinder leading screw, screw that described electric cylinder comprises servomotor and matches, screw is fixed push rod (16), servomotor drives screw turns, leading screw drives screw and push rod (16) rectilinear motion, and leading screw is installed in rotation in electric cylinder cylinder body (14); Electric cylinder cylinder body (14) is fixed on car body (0), when car body (0) is horizontal, push rod (16) center line and horizontal plane, push rod (16) top fixed installation back-up block (18), back-up block (18) fixedly mounts back up pad (7), the surface of back up pad (7) and push rod (16) central axis; Gear shaft center line overlaps with push rod (16) center line, and gear shaft lower end is rotatably installed on back-up block (18), upper end through back up pad (7); Stepper motor drives with gear shaft and is connected, be in back up pad (7) top cog (10) and the lower gear (17) be in below back up pad (7) is all fixedly installed in gear shaft, the 2 parallel upper rack guide rods (9) being in back up pad (7) top engages with cog (10) respectively, and the lower tooth bar guide rod (13) being in below back up pad (7) 2 parallel is engaged with lower gear (17) respectively; The projection of lower tooth bar guide rod (13) in the residing plane of upper rack guide rod (9) is vertical with upper rack guide rod (9); A microphone array element (11) is respectively fixedly mounted in the outer end of 2 upper rack guide rods (9) and 2 lower tooth bar guide rods (13); 4 microphone array elements (11) form right-angled intersection array; The signal output part of each microphone array element (11) is connected with main control unit;
The control signal output terminal of main control unit connects the servomotor of described electric cylinder and the stepper motor of gear shaft;
Described electric cylinder servomotor connects built-in-potential meter, and described gear shaft connects external pot by regulating device, built-in-potential meter and external potentiometric output signal access main control unit.
2. the sound localization rescue robot of adaptive microphone array according to claim 1, is characterized in that:
The each fixing pole (12) downward or upward in outer end of described 2 upper rack guide rods (9) and 2 lower tooth bar guide rods (13), microphone array element (11) is fixed on pole (12) end, 4 microphone array elements (11) are in the same plane, when car body (0) is horizontal, this plane and plane-parallel; 4 microphone array elements (11) are on four angles of rectangle.
3. the sound localization rescue robot of adaptive microphone array according to claim 1, is characterized in that:
Described upper rack guide rod (9) and lower tooth bar guide rod (11), be divided into two parts along its length, and a part is tooth bar, and another part is anodontia guide rod; Back up pad (7) upper surface is fixed with the guide groove (8) corresponding to 2 upper rack guide rods (9), guide groove (8) is door shape via hole, the guide rod of every root upper rack guide rod (9) partially passes through a guide groove (8), and section of rack engages with cog (10); Described back up pad (7) lower surface is fixed with the guide groove (8) of the door shape via hole corresponding to 2 lower tooth bar guide rods (13), under every root, the guide rod of tooth bar guide rod (13) partially passes through a guide groove (8), and section of rack engages with lower gear (17).
4. the sound localization rescue robot of adaptive microphone array according to claim 1, is characterized in that:
Described car body (0) end face is provided with rotary platform (4) and camera (5), and rotary platform (4) is all connected with main control unit with camera (5).
5. the sound localization rescue robot of adaptive microphone array according to claim 1, is characterized in that:
Temperature sensor (15) is arranged on the car body (0) of microphone array, and temperature sensor (15) is connected with main control unit.
6. the using method of the sound localization rescue robot of adaptive microphone array according to any one of claim 1 to 5, is characterized in that:
Main control unit accepts the search instruction of rescue robot management system by wireless communication module, navigation angle in sector of search by search instruction brings into operation, and each group of ultrasonic detector keeping away barrier module is detected the obstacle signal obtained and send main control unit to; Main control unit obtains the height of microphone array plane according to electric cylinder built-in-potential meter signal, obtains the spacing of microphone array element according to the external pot signal of gear shaft; Four microphone array elements in the same plane receive the sound that trapped personnel sends, voice signal delivers to the signal processing module of main control unit, this signal processing module carries out enlarge leadingly filtering process to four microphone gained voice signals, then by the digital signal that analog-to-digital conversion obtains, again framing windowing process is carried out to it; Whether detect is the sound that trapped personnel sends, when being judged as the sound that trapped personnel sends, carry out auditory localization, with one of them array element gained signal for benchmark, obtain the different delay value that trapped personnel sound arrives other three array elements, the spatial relationship of foundation sound source and each array element of array, solves the azimuth angle theta obtaining sound source by Time Delay Estimation Method; Current results is sent back rescue robot management system by wireless communication module by main control unit, the Present navigation angle of main control unit using the azimuth angle theta of the sound source of current acquisition as this rescue robot simultaneously, the drive motor controlling travel mechanism is advanced to sound source, search trapped personnel, and according to the trapped personnel sound received in advancing, constantly revise the azimuth angle theta of sound source;
Main control unit is according to first group of ultrasonic detector signal, judge whether the barrier in car body dead ahead is less than the safe distance of setting to the horizontal range of car body, if judge that the barrier in car body dead ahead is less than the safe distance of setting to the horizontal range of car body, the drive motor of main control unit instruction travel mechanism changes car body direct of travel, the route that searching can move ahead, roundabout towards navigation angular direction advance;
If judge that the barrier in car body dead ahead is more than or equal to the safe distance of setting to the horizontal range of car body, main control unit is judged as front clear, carries out next step and judges;
Main control unit is according to the 3rd group of ultrasonic detector signal, judge whether the distance of car body front upper place barrier and roof microphone array plane meets safe distance, main control unit controls electric cylinder and regulates the height of microphone array plane or change car body direct of travel, makes the distance of car body front upper place barrier and roof microphone array plane be greater than safe distance;
Main control unit is again according to second group of ultrasonic detector signal, judge the spacing of car body both sides barrier and the difference of current microphone array array element distance and safe distance relation, main control unit control step motor-driven gear rack mechanism, reduce increase array element distance or change car body direct of travel, make the difference of car body both sides obstacle spacing and microphone array element distance be greater than safe distance, to advance search by the direction determined.
7. the using method of the sound localization rescue robot of adaptive microphone array according to claim 6, is characterized in that:
Described main control unit obtains the distance of front upper place barrier and roof microphone array plane according to the signal of the 3rd group of ultrasonic detector, the height distance of current microphone array plane and car body end face is obtained according to built-in-potential meter signal, two data calculate the vertical height H of car body front upper place barrier to current microphone array plane thus, compare with the safe distance A of setting, when judging H < A, the servomotor of main control unit instruction electric cylinder rotates, reduce push rod, namely the height of microphone array is reduced, to H=A; When the height reduction of microphone array to minimum point, be still H < A, the drive motor of main control unit instruction travel mechanism changes car body direct of travel; When judging H > 1.5A, the servomotor of main control unit instruction electric cylinder rotates, and raises push rod, namely raises microphone array plane; When judging H=(1 ~ 1.5) A, the height of microphone array plane is constant, and set safe distance A is 0.2m ~ 0.5m.
8. the using method of the sound localization rescue robot of adaptive microphone array according to claim 6, is characterized in that:
Described main control unit obtains the spacing W of car body both sides barrier according to the signal of second group of ultrasonic detector, the spacing w of current microphone array array element is obtained according to external pot signal, main control unit calculates and compares (W-w) < A, the stepper motor of main control unit command gear axle rotates, the upper and lower tooth bar of upper and lower gear driven moves to back up pad center, reduces array element distance w; When w has been minimum value, be still (W-w) < A, the drive motor of main control unit instruction travel mechanism changes car body direct of travel; As (W-w) > 1.5A, the stepper motor of main control unit command gear axle rotates, and the upper and lower tooth bar guide rod of upper and lower gear driven moves outside back up pad, strengthens array element distance; As (W-w)=(1 ~ 1.5) A, array element distance is constant, the route of the drive motor adjustment car body walking of main control unit instruction simultaneously travel mechanism, make right or left surface and barrier the distance of car body be equal to or greater than A/2, set safe distance A is 0.2m ~ 0.5m.
9. the using method of the sound localization rescue robot of adaptive microphone array according to claim 6, is characterized in that:
Set temperature sensor on the car body of microphone array, temperature sensor Real-Time Monitoring environment temperature also feeds back to main control unit, and main control unit carries out temperature compensation according to real time temperature to acoustic wave propagation velocity.
10. the using method of the sound localization rescue robot of adaptive microphone array according to claim 6, is characterized in that:
Described car body end face is provided with rotary platform and camera, and rotary platform is all connected with main control unit with camera;
Described main control unit is according to the instruction of rescue robot management system, control rotary platform rotates, control camera real time record car body surrounding environment, and real time video signals is sent to main control unit, real time video signals is wirelessly transmitted to rescue robot management system by main control unit.
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| CN114428519A (en) * | 2021-12-30 | 2022-05-03 | 浙江汉邦通讯设备有限公司 | High-precision communication vehicle signal receiving control system and driving debugging device thereof |
| CN114428519B (en) * | 2021-12-30 | 2023-11-14 | 浙江汉邦瑞商信息技术有限公司 | High-precision communication vehicle signal receiving control system and driving and debugging device thereof |
| CN114720943A (en) * | 2022-06-06 | 2022-07-08 | 深圳市景创科技电子股份有限公司 | Multi-channel sound source positioning method and system |
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