CN206357252U - The robot of sound bearing is determined using four sound receivers - Google Patents
The robot of sound bearing is determined using four sound receivers Download PDFInfo
- Publication number
- CN206357252U CN206357252U CN201720018032.3U CN201720018032U CN206357252U CN 206357252 U CN206357252 U CN 206357252U CN 201720018032 U CN201720018032 U CN 201720018032U CN 206357252 U CN206357252 U CN 206357252U
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- China
- Prior art keywords
- sound
- robot
- receivers
- sound source
- bearing
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses the robot that sound bearing is determined using four sound receivers, it is characterized in that：A sound receiver has all been respectively mounted on four angles of square of the approximately the same plane of the robot body；Four sound receivers gather the signal data of sound source respectively, then according to intensity size exclusion that sound receiver farthest from sound source, then sound source is calculated to the difference of the distance of two sound receivers with FFT, sound source angle is calculated by solving a triangle again, sound bearing is determined, in order to the interactive voice of robot.The beneficial effects of the utility model are to accurately measure to calculate sound source to the orientation of robot, in order to the interactive voice of robot.
Description
Technical field
The utility model is related to a kind of robot, more particularly to a kind of four sound receivers of use determine sound bearing
Robot.
Background technology
The measurement of known robot sound bearing is measured using two sound receivers, because its algorithm is very multiple
Miscellaneous, operand is huge, can not also realize real-time measurement.
Utility model content
In order to overcome disadvantages mentioned above, the utility model provides a kind of use and determines sound source using four sound receivers
The robot in orientation.
The technical scheme that the utility model is used to achieve the above object is：
The robot of sound bearing is determined using four sound receivers, it is characterized in that：
A sound receiver has all been respectively mounted on four angles of square of the approximately the same plane of the robot body；
Four sound receivers gather the signal data of sound source respectively, then according to that farthest from sound source of intensity size exclusion
Sound receiver, then calculates sound source to the difference of the distance of two sound receivers with FFT, then is spoken by solving a triangle calculating
Source angle, determines sound bearing, in order to the interactive voice of robot.
The beneficial effects of the utility model are to accurately measure to calculate sound source to the orientation of robot, in order to machine
The interactive voice of device people.
Brief description of the drawings
The utility model is further illustrated with implementation below in conjunction with the accompanying drawings.Fig. 1 is structure chart of the present utility model, Fig. 2
It is to calculate sound source to the schematic diagram of the difference of the distance of two sound receivers with FFT.
In figure, 1 is robot body,2 be sound receiver,3 be sound source.
Embodiment
In Fig. 1, the robot of sound bearing is determined using four sound receivers, it is characterized in that：
A sound receiver has all been respectively mounted on four angles of square of the approximately the same plane of the robot body 1
2；Four sound receivers 2 gather the signal data of sound source 3 respectively, then farthest from sound source according to intensity size exclusion
That sound receiver 2, then calculates sound source to the difference of the distance of two sound receivers 2, then pass through solving a triangle meter with FFT
Sound source angle is calculated, the orientation of sound source 3 is determined, in order to the interactive voice of robot.
Such as Fig. 1, rectangular coordinate system is set up with robot central point, because intensity of sound increases with distance and reduces, the 4th
The signal that sound receiver 2 is received is minimum, it is possible to determine sound source in second quadrant of coordinate system, you can to determine that sound source exists
90 degree between 180 degree.
In fig. 2, sound source is calculated to the difference of the distance of two sound receivers with FFT, then sound calculated by solving a triangle
Source angle.
Because sound receiver is mounted in robot, thus known sound receiver 1 and sound receiver 2 away from
From k.In addition, sound receiver 1 and sound receiver 2 can be calculated to sound source range difference d using prior art.Main mesh
Be to seek angle a.
According to Pythagorean theorem：
Formula 1：
Formula 2：, obtain
Formula 2- formulas 1, transposition, are obtained, order,
So,
In actual applications, due to sound source from receiver farther out, you can think, so,,, angle a can be calculated.
It is described above, only it is preferred embodiment of the present utility model, not makees any formal to the utility model
Limitation, it is any without departing from the utility model plan content, above example is made according to technical spirit of the present utility model
Any simple modification, equivalent variations and modification, in the range of still falling within technical solutions of the utility model.
Claims (1)
1. the robot of sound bearing is determined using four sound receivers, it is characterized in that：The robot body's is same
A sound receiver has all been respectively mounted on four angles of square of plane；Four sound receivers gather sound source respectively
Signal data, then according to intensity size exclusion that sound receiver farthest from sound source, then calculate sound source with FFT and arrive
The difference of the distance of two sound receivers, then sound source angle is calculated by solving a triangle, determine sound bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720018032.3U CN206357252U (en) | 2017-01-09 | 2017-01-09 | The robot of sound bearing is determined using four sound receivers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720018032.3U CN206357252U (en) | 2017-01-09 | 2017-01-09 | The robot of sound bearing is determined using four sound receivers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206357252U true CN206357252U (en) | 2017-07-28 |
Family
ID=59379776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720018032.3U Expired - Fee Related CN206357252U (en) | 2017-01-09 | 2017-01-09 | The robot of sound bearing is determined using four sound receivers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206357252U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514676A (en) * | 2017-01-09 | 2017-03-22 | 广东大仓机器人科技有限公司 | Robot determining direction of sound source by adopting four sound receivers |
| CN110844402A (en) * | 2019-11-01 | 2020-02-28 | 贵州大学 | Garbage bin system is summoned to intelligence |
-
2017
- 2017-01-09 CN CN201720018032.3U patent/CN206357252U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514676A (en) * | 2017-01-09 | 2017-03-22 | 广东大仓机器人科技有限公司 | Robot determining direction of sound source by adopting four sound receivers |
| CN110844402A (en) * | 2019-11-01 | 2020-02-28 | 贵州大学 | Garbage bin system is summoned to intelligence |
| CN110844402B (en) * | 2019-11-01 | 2022-05-17 | 贵州大学 | Garbage bin system is summoned to intelligence |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170728 Termination date: 20180109 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |