【作者】 刘鹏飞；

【导师】 王祁；

【作者基本信息】 哈尔滨工业大学 ， 仪器科学与技术， 2010， 硕士

【摘要】 声源搜寻机器人是由麦克风阵列、磁阻传感器、无线传感器网络节点、移动小车组成的系统,利用麦克风传感器阵列采集语音信息,利用磁阻传感器测量航向角,能够实现声源识别、声源定位及声源搜寻,最终寻找到目标声源。机器人系统将无线传感器网络、微处理器技术、信号处理和计算机技术融合在一起,在机器人语音控制、危险场合人员搜救等领域有着广阔的应用前景。系统由3个移动机器人小车组成,3个机器人作为网络节点与上位机(Sink节点)共同组成无线传感器网络。上位机对3个机器人小车的声源识别结果进行融合,从而实现机器人协同工作,在含噪声环境下寻找各自的声源目标。在搜寻过程中,机器人将关键信息以文本格式存储在SD卡中,上位机实时显示各个机器人的航向角和声源方向角等信息,并完成机器人的控制功能。本文主要从机器人系统的算法理论、硬件电路和软件代码三方面进行了研究,并通过实验验证方案的有效性。算法理论采用了Mel频率倒谱系数、改进广义互相关和球形插值定位法,分别实现了声源识别、麦克风阵列时延估计和声源定位。此外,依据声源搜寻方法指导机器人完成声源搜寻。硬件电路基于DSP TMS320F28335平台,功能模块包括外扩RAM存储器,电机驱动控制,麦克风阵列及磁阻传感器信号调理,实时时钟,SD卡存储器,无线传感器网络节点,串口通信。软件代码由DSP数据处理和控制程序、上位机显示和控制程序及无线传感器网络节点收发程序三部分组成。DSP数据处理和控制程序为系统的核心,完成了算法运行和机器人控制。上位机软件接收和显示机器人发送的航向角、声源方向角、声源识别结果等信息,完成声源识别结果的融合,并实现三个机器人的控制功能。无线传感器网络节点收发程序完成机器人之间及与Sink节点的无线通信,并实现节点(机器人)间距离的测量。最后对整个声源搜寻系统进行了实验。利用三个音箱分时播放三段含有噪声音乐,三个机器人最终寻找到各自的目标声源,实验结果达到预期设计目标,从而验证了本系统设计的有效性。更多还原

【Abstract】 Sound source search robot is composed of microphone array sensors, magneto resistive sensor, wireless sensor networks node and mobile robot vehicle. Using microphone array sensors for voice acquisition and magneto resistive sensor for course measurement, robot can accomplish sound source recognition, source localization and source search, and ultimately find sound source target. The robot system combines wireless sensor networks, microprocessor technology, signal processing and computer technology together, and will have a broad application prospects at voice control of robot and person search and rescue in dangerous situations.The system consists of three mobile robots, which as network nodes and PC (Sink node) compose the wireless sensor network. PC fuses the sound source recognition results of the three robots, can realizes that the three robots working together and searching each sound target in environment with noise. In the process of sound search, robot saves the key message as text file in the SD card memory, PC displays the course, angle of sound and so on information of each robot, and also accomplishes control of the robots.In this paper, theory of algorithms, hardware and software in three areas of robot system are studied, and the effectiveness of the design program is verified through experiments.Theory of algorithms adopt Mel-frequency Cepstral coefficients, generalized cross correlation and spherical interpolation positioning method, which are used to achieve sound source recognition, time delay of estimation and source localization respectively. In addition, the sound search method leads robot to complete the task of sound source search.Hardware platform is based on DSP TMS320F28335, and function modules contain external extended RAM, motor control and drive, signal conditioning of microphone array and the magneto resistive sensors, real-time clock, SD card memory, wireless sensor networks node, serial communication.Software platform is composed of three parts programs: DSP data processing and control, PC display and control and wireless sensor networks (WSN) node transceiver. Program of DSP data processing and control, which is the core of the system, can accomplish the operation of algorithms and control of robot; Program of PC receives and displays the course, sound source direction angle, results of sound source recognition and so on information which is sent by robots, fuses sound source recognition results of the three robots, and achieves the control of the three robots; Program of WSN node transceiver fulfills wireless communication between the robots and Sink node, and also achieves measurement of the distance between nodes (robots).Finally, experiments of sound source search system are performed. When the three songs containing noise are played asynchronously through three speakers respectively, the three robots can find their own sound sources eventually, and achieves the desired result and validates the effectiveness of this system.更多还原