Design of Mending Robot Based on Hearing and Virtual Reality

摘要

A novel mending robot is designed in this paper. The system consists of a robot which has a microphone array corresponding to humanpsilas ears and a virtual reality robot teleoperation system. Leaky point localization is realized based on time delay of arrival (TDOA) estimation using robot hearing. The robot can get to the leaky point and mend leaky chemistry container via virtual reality teleoperation system. Virtual robot and virtual environment are set up according to the real scene. Virtual robot is the agent of the real robot. Data glove is used to operate the virtual robot to complete the control towards the real robot. It can make the operator control the real robot to find the leaky point fast and conveniently. The system was tested in chemistry factory: robot could find the leaky point successfully and accomplish the mending task smoothly. A great deal of experiments prove that this robot mending system is reliable and efficient.