Dataset for Sound-based Anomalies Detection in Agricultural Robotics Application
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This data set contains data related to a Mowing Intelligent Tool (MowIT). Two different microphones were used to collect the sound samples, recording the audio with just one single channel, with a sampling rate of 44100 Hz and 16 bits resolution. The data provided by an inertial measurement unit (IMU) was also recorded since that was already integrated into the MowIT. Two different data collections were performed in different open-air environments with grass to cut. In each collection, eight different sample sets were made, five with the machine cutting using a trimmer line and the other three using the blades. Various combinations were used in each set, and tools were or were not placed on each of the three cutting axes of the MowIT. For each group, the acquisitions were designated from 0 to 7. Each folder of the first collection is a combination containing two audio files, one for each microphone used, the IMU data and a photograph of the lower part of the MowIT to understand the configuration used. In the second collection, to improve the variety of data, three distinct sub-sets were performed for combination: the first with the MowIT turned on but not cutting grass and the next two cutting grass. In samples 4 and 7, there is one audio where the MowIT cuts but stops due to motor stress. In sample 6, the initial recording was not made without cutting grass, and only the two recordings were made cutting grass.
本数据集包含割草智能工具（Mowing Intelligent Tool, MowIT）相关的实验数据。数据采集环节采用两款不同麦克风获取音频样本，以单声道格式录制，采样率为44100 Hz，采样位数为16比特。由于惯性测量单元（Inertial Measurement Unit, IMU）已集成于MowIT中，因此同步记录了其输出的惯性传感数据。本次数据集包含两次在不同户外割草场景下完成的采集任务。单次采集过程中共设置8组独立样本集：其中5组采用打草绳进行割草作业，剩余3组采用刀片式割草结构完成作业。每组样本集下均设置多种工况组合，即分别将作业工具安装或不安装于MowIT的三个切割轴上。各组采集任务按0至7进行编号标识。首次采集的每个文件夹均包含两类音频文件（对应两款麦克风各一份）、IMU传感数据，以及一张MowIT下部的实拍照片，用于说明本次采集所用的设备配置方案。为提升数据多样性，第二次采集针对每种组合设置了三个独立子样本集：第一子样本集为MowIT开机但未执行割草作业，其余两个子样本集均执行割草作业。在编号为4和7的样本中，存在MowIT割草过程中因电机过载停机的音频片段。编号为6的样本未采集无割草作业时的初始录音，仅包含两段割草作业过程中的音频记录。
