基于传声器阵列的机器人声源定位系统

随着计算机技术和信号处理技术的发展，各种具有特殊功能的机器人应用到人们的生产生活中。听觉系统可以弥补机器人视觉系统存在的不足，使机器人在黑暗或有障碍物遮挡的环境中，利用声音信息感知环境中存在的目标，并对其定位，辅助机器人工作，尤其在灾难现场搜救、军事等领域，声源定位系统具有独特的优势。针对机器人声源定位系统进行研究，设计了基于传声器阵列的机器人声源定位系统，采用平面四元传声阵列，利用广义互相关算法，实现对声源的定位，具有较高的实用价值。

The Robot Sound Source Locating System Based on Microphone Array

With the development of computer technology and signal processing technology,all kinds of robots with spe-cial functions are applied to the production and life of people. The auditory system can make up for the deficiency ex-isting in the robot vision system,the robot in the dark or obstructions of environment,using sound information percep-tion environment in the presence of the target,and the positioning,robot assisted work,especially in the field of disas-ter rescue,military and other fields,sound source localization system has a unique advantage. The sound source local-ization robot system for research,design based on microphone array sound source localization robot system by four ele-ment planar microphone array, using the generalized cross correlation algorithm, to achieve the sound source localiza-tion. Experimental results show that the system has high positioning accuracy,with a high practical value.