Multi-robot cooperative 3D sound source identification and positioning method

Abstract

The invention discloses a multi-robot cooperative 3D sound source identification and positioning method. The method comprises the following steps: (1) collecting audio signals of microphones of robots; (2) performing cross-correlation calculation on each audio signal and a reference audio signal, and if a calculation result reaches a set threshold, identifying the audio signal as a to-be-identified audio signal; (S3) for each robot, calculating a cross-correlation function between the audio signals of any two microphones on the robot, then discretizing a direction space, calculating the sum ofthe cross-correlation functions under corresponding time delay in each direction, and finding out a maximum response value, wherein the direction corresponding to the maximum response value is the direction of the sound source relative to the robot; and (S4) solving the coordinates of the sound source, and correcting the coordinates of the sound source according to the direction of the sound source and the position of each robot. Compared with the method for calculating the position of the space sound source through the arrival time difference, the method for searching the maximum correlationfunction value based on the discrete space is provided, the reverberation resistance is higher, the search cost is lower, and the operation speed is high.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a multi-robot cooperative 3D sound source identification and positioning method. Background technique [0002] Sound source localization is the process of judging the position of sound-emitting objects by the auditory system, which includes horizontal sound source localization and vertical sound source localization and the identification of the distance from the listener. The recognition of the direction of the sound source is a basic method for humans and animals to perceive the environment, which is beneficial for animals to catch prey, find mates and avoid danger. In a complex sound field with multiple sound sources, the sound source localization function is more helpful to lock the acoustic target from the background sound and separate useful information. [0003] The identification and localization technology of sound source has very important application in the target localiza...

AI Technical Summary

Problems solved by technology

[0004]The general sound source identification method mainly adopts the method of extracting the main frequency component of the signal to judge whether it is within the frequency range of this type of sound. Due to the low sampling frequency of the microphone on the robot, it is easy to be interfered by high-frequency noise and cause false recognition

In addition, the general method used for sound source localization uses the GCC-PHAT algorithm to establish a spatial geometric relationship based on the time difference of arrival (TDOA) of the sound source, and calculate the direction of the sound source, but this method is also easily disturbed by reverberation

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