摘要
在发生火灾或地震的建筑物内,由于烟雾或墙体倒塌等原因,救援机器人往往无法通过视觉、超声和红外等传感器直接发现建筑物内不可见区域或者其他房间中呼救的目标.利用声音信号波长较长可以衍射绕过障碍物传播的特性,结合现有的语音识别技术,开发出基于听觉的救援机器人导航系统.该系统使机器人可以在全局运动控制中跟踪幸存者的呼救声并向幸存者移动.通过相关实验验证了基于听觉的救援机器人导航方法的可行性.
A rescue robot often can not directly find the target shouting for help which is in other rooms or invisible places in the building by using visual, ultrasonic or infrared ray sensors because of smoke or collapsed walls. The sound can diffract over obstacles due to the long wavelength of audio signals. Combined with the speech recognition technology, an audio navigation system was developed for the rescue robot. This navigation system makes it feasible to guide the rescue robot run to the target shouting for help in global motion control. Experimental results verified the feasibility of the navigation system.
出处
《北京科技大学学报》
EI
CAS
CSCD
北大核心
2012年第1期71-75,共5页
Journal of University of Science and Technology Beijing
基金
国家高技术研究发展计划资助项目(2007AA04Z229)
河北省自然科学基金资助项目(F2010000137)
关键词
救援机器人
听觉
语音识别
导航
rescue robots
audio
speech recognition
navigation
