为了定位油罐内作业机器人,利用被动声探测技术开发了机器人定位系统;设计了一个五元麦克风阵列拾取机器人发出的声信号,运用了改进的声源定位算法处理信号,进而完成油罐机器人的位置检测；给出了位置检测的算法流程,并搭建了实验平台;通过实验表明该方法可行并有实际应用价值.%In order to localize the wall-climbing robot in oil tank, a localization system based on passive acoustic detecting technique is developed. A five-element microphone array is designed to receives audio signals emitted from robot, a improved localization method of time delay estimation is addressed for processing the signals, thus the position of the robot is detected. The general algorithm of the detecting system is proposed and a experimental platform has been set up. The method is proved efficient and practical enough for real-time operation.
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