Robot continuous sound source positioning method

Abstract

The invention discloses a robot continuous sound source positioning method which comprises the following steps of: (1) acquiring a sound source signal by adopting a microphone array consisting of at least two pairs of microphones, converting the signal into a digital signal and storing the signal by a robot; and (2) carrying out effective audio signal detection on the acquired signal and carrying out sound source positioning operation on the signal containing effective audio frequency to obtain the position of a sound source relative to the robot. The method disclosed by the invention can divide the frequency domain signal obtained after Fourier transformation as for different application scenes and the frequency characteristic and noise characteristic of the sound source when the method is applied into a sound source positioning system of the robot and the calculating capability of the robot is limited, and thereby, the positioning operation time of the robot is greatly reduced, and the positioning speed is high. Meanwhile, as for the characteristic of movement of the robot, after the displacement angle is subjected to motion modification, the accuracy and instantaneity of positioning are greatly improved.

Description

technical field [0001] The invention relates to a sound source localization processing technology in the field of robots, in particular to a continuous sound source localization method applied to a robot based on a microphone array. Background technique [0002] The world facing the robot is a world that can provide complex and changeable information. To make the robot serve human beings, it needs to have corresponding information acquisition methods and processing methods for various application environments, and it also needs to be able to respond to changes in the environment. make different decisions. Robots generally input external environmental information through sensors, the most important of which are the two major information input sources of visual sensors and auditory sensors. In recent years, robot vision technology has made great progress, which greatly expands the application range of robots and improves the working efficiency of robots. However, visual perc...

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Problems solved by technology

[0022] In addition, a problem existing in the existing technology is that when the mobile robot moves relative to the sound source, due to the existence of the calculation delay, assuming that the calculation delay is Td, the current calculated position is only the Td time between the mobile robot and the sound source The previous relative position cannot truly reflect the current relative position between the robot and the sound source, especially when the robot's computing power is not high, this problem is more obvious

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