声导航自行小车研究

采用特定频率的声音信号作为声源对小车进行导航,使小车能够通过接收和处理声信号以确定声源方向和位置,并行进至声源处的功能。其中,用硬件滤波电路对声信号进行滤波处理,由FPGA计算声信号到达的时间差,单片机计算出声源偏离小车的角度和距离并产生PWM波驱动电机运转。在行进过程中,小车可以自主追踪移动声源,修正移动路径。准确到达声源处是声导航自行小车的重点和难点。

Study on the Sound Navigated Car

This project uses a specific frequency sound signal as the sound source of the car navigation,so that the car can be implemented by receiving and processing signals.The car determines the sound source direction and position,and proceeds to the sound source.Hardware filtering circuit is employed to filter the sound signal and the time difference of the acoustic signal arrivals is computed with FPGA,and the microcontroller calculates the angle and distance of the sound source deviating from the trolley and generates a PWM wave to drive the motor.In the process of moving the car can track moving sound source independently and correct movement path.Reaching the accurate sound source is the focus and difficulty.