Robot continuous sound source positioning method

A sound source localization and robot technology, which is applied in the field of robots, can solve the problems of low computing power of robots and the inability to truly reflect the relative position of the robot and the sound source, etc.

Inactive Publication Date: 2012-01-04
PEKING UNIV
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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 th

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  • Robot continuous sound source positioning method
  • Robot continuous sound source positioning method
  • Robot continuous sound source positioning method

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Embodiment Construction

[0074] The method of the present invention will be described in detail below according to specific embodiments and accompanying drawings.

[0075] 1. Two pairs of microphone arrays respectively collect the sound source signal and perform analog-to-digital conversion into digital signal, and store it.

[0076] 2. Perform effective audio signal detection on the digital signal collected in 1, perform sound source localization calculation on the signal containing effective audio, and obtain the position of the sound source relative to the robot. Effective audio signal detection is an existing technology, which can be detected according to the characteristics of the sound source signal. In this embodiment, the effective audio signal detection is voice endpoint detection. If there is voice, the sound source localization operation will start. If there is no voice Then no positioning operation is performed. The collected voice signal is divided into frames in the time domain, that is...

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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...

Claims

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Application Information

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IPC IPC(8): G01S5/22
Inventor 沈苗刘宏
Owner PEKING UNIV
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