光達及聲音陣列之感知融合於溯源定位輪型機器人

A Wheeled Robot that Integrates the Perception of LiDAR and Microphone Array into Traceable Positioning

蔡元笙(Yuan-Sheng Tsai)

指導教授 ： 李揚漢

淡江大學/工學院/電機工程學系碩士班/碩士(2022年)

https://doi.org/10.6846/TKU.2022.00277

摘要

本論文主要是在設計，如何在家庭以及工廠中尋找異常聲音的來源，並且進行建模及尋找聲音的來源，本論文主要運用Turtlebot3機器人，加入光達跟聲音陣列，搭配兩塊樹梅派4B，一塊用來處理光達跟IMU訊息，另一塊用來處理聲音陣列的訊息，主要透過ROS機器人作業系統進行溝通，使用者可以透過電腦控制機器人或者運用本論文自主移動策略，最終使用者可以透過電腦的可視化界面，觀看機器人運作的情況及聲源位置的標記，並得知機器人收到聲音的角度，最後讓場域的安全人員，來進行簡易的排查異常問題，透過這樣的系統，能夠減少大量的人力，並且方便找出場域異常的位置。

關鍵字

光達 ； 聲音陣列 ； 溯源 ； 避障 ； 可視化界面

並列摘要

This thesis is mainly to design to find the source of abnormal sound source in homes and factories. This thesis uses the Turtlebot3 robot with the LiDAR, Microphone Array and two Raspberry pi 4B. One is used to process the information of LiDAR and IMU, the other is used to process the information of the Microphone array. Our system mainly communicates through the robot operating system(ROS). The user can control the robot through the computer or use the autonomous strategy. The end user can observe the robot and the abnormal sound source location through the visual computer interface. Our system can be easier for security guard to find out where the abnormal sound source occurs.

並列關鍵字

LiDAR ； Robot ； SLAM ； Microphone Array

參考文獻

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