| 摘要 |
PURPOSE:To automatically find out a noise source without relying on man power, by detecting the vector direction of sound at a sound collecting place and successively moving a sound collector in said vector direction. CONSTITUTION:The robot 2 moving to an arbitrary position and posture by a robot controller 5 has a sound collecting probe 4 mounted to the leading end thereof. The sound collecting probe 4 collects the noise from a sound source 1 at an arbitrary position and inputs the same to a computer 7 through a two- channel FFT 6. The computer 7 calculates the vector direction of the sound at the aforementioned sound collecting position and the aforementioned controller 5 is controlled in order to move the sound collecting probe 4 by a predetermined distance in said vector direction and drives the robot 2. Next, the above mentioned sound collection is performed at this moving point and, in the same way as mentioned above, a vector direction is detected and the probe is moved. By successively performing this operation, the position of the noise source 1 is searched by the probe 4.
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