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为提高储罐内爬壁机器人的智能水平及作业效率,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.介绍了系统涉及的语音信号处理方法,并利用卡尔曼滤波算法处理定位数据.实验表明15m内该系统的定位距离误差不超过12cm.
In order to improve the intelligent level and work efficiency of climbing robot in tank, a robot positioning system based on passive acoustic localization technology is designed and researched.The system uses the microphone array to pick up the acoustic signal from the robot, and uses the improved time delay estimation method to process the signal , So as to locate the climbing robot.This paper introduces the speech signal processing methods involved in the system and uses Kalman filtering algorithm to process the positioning data.The experiments show that the positioning error of the system within 15m does not exceed 12cm.