ACOUSTIC PHASE-FINDER Russian patent published in 2020 - IPC G01S3/802 G01S15/46 G05D1/02 

FIELD: robotics.

SUBSTANCE: invention relates to robotics, namely to equipment for orientation of transport robots based on acoustic signal of stationary beacon or beacon of a leading transport device. Acoustic direction finder determining direction of acoustic harmonic signal source consists of three microphones forming three orthogonal measuring bases, three pre-processing units including preliminary amplifiers, band-pass filters, limit amplifiers, inverters and shapers of short pulses, rectifiers, comparison circuit, divider by two, logic unit, counters, triggers, parallel registers, clock oscillator, microcontroller.

EFFECT: direction finder technical result is elimination of ambiguity of bearing due to determination of sign of phase shift along two orthogonal bases due to application of logic unit and sign triggers, as well as reducing the direction-finding error by selecting a table of inverse trigonometric functions from the microcontroller memory in comparison to absolute values of phase shifts.

1 cl, 3 dwg, 2 tbl