室内机器人的声源定向系统设计

针对室内移动机器人的声源定向的问题,利用拾音器阵列建立了一套基于DSP的声源定向系统.系统采用广义互相关算法计算声波到达拾音器阵列的时间差,然后基于时间差和三维声源定向模型来估算声源方向.通过对比多次实验,选择了适合硬件平台和室内环境的理论算法,保证了实用性.定向结果被验证是准确可靠的,误差被控制在可接受范围内.

Sound Source Orientation System for Indoor Robot

Aiming at the problem of indoor sound source orientation of indoor mobile robot,the system uses pickup array to establish a sound source orientation system.The system uses the generalized cross-correlation time delay estimation algorithm to calculate the sonic time difference of arrival.Then,the sound source orientation is calculated with the time differences and three-dimensional model of orien-tation of the sound source.By comparing many experiments,a theoretical algorithm is selected for the hardware platform and the indoor environment.The applicability is guaranteed.The result is verified to be accurate and reliable,the error is controlled within an acceptable range.