Voice For The Rescue Robot Positioning System Design And Implementation

Geological disasters occur frequently and bring great challenges to people’s life. The rescue response to the disaster is particularly important. This paper applied microphone array of voice-based localization technology to rescue field and developed a voice localization system used for rescue robot. The main task I did in this paper is as follows:According to the main process and the principle of localization based on microphone array and considering the rescue environment, I did overall design for localization system hardware circuit after detailed calculations and argumentation,and the system I designed finally will have a DSP chip,that is as the core of the control system.I did modularized design and the overall hardware design for localization system throug the detailed calculation and argumentation. The hardware section is divided by module into: microphone array, signal preprocessing unit, data acquisition unit, data process unit, display unit, data storage unit and PC interface unit. I analysed functional requirements and the detailed hardware design circuit for each module. Considering the rescue of the environment than the system will be used in, I filished the job of theoretical analysis and numerical calculation for the key components of the localization system. During the hardware circuit implementation process, considering the signal integrity and the rationality of hardware design brought by the board level speed problem, I was careful with layout and wiring for the circuit board, which is satisfied with certain requirements of electromagnetic compatibility.In the aspect of sound localization algorithm, this paper Introduced and analyzed the steerable beam localization theory and the theory of delay-based localization. It also introduced the method and improvement of the estimated delay in detail. In order to separate the acquisition with the processing and alternate execution to ensure real-time design ideas, I designed the software framework for the localization system, and filished the analysis and implementation for function module involved in the framework one by one. Finally, detailed tests are carried out for each functional module and the analysis and test results show that the system has reached the design intention and is verified the rationality and correctness of the hardware design.