机器人双耳声源定位

摘要

机器人拥有听声辩位能力是机器人智能化的重要表现.研究机器人声源定位具有广泛的应用前景.对于基于双耳听觉的声源定位,文中根据听觉系统中的“双耳效应”及“耳廓效应”等线索进行定位,首先建立了拟人机器人头部模型,通过头部转动实现前后方位的判定.其次,运用时间差(ITD)算法模型和声级差(ILD)算法模型分别实现了信号的水平方位的定位.并且应用互相关算法进行信号时延的估算.最后根据耳廓效应,根据频谱的变化实现了垂直方位的定位.本文通过定位算法编写程序,并且通过输入的声源信号实现声源方位的确定及误差分析.%Robot auditory perception ability is an important manifestation of robot intelligent.Sound source localization technology is one of the important research directions of robot audition and has good prospects for application.For binaural approaches,this paper uses the binaural effect and pinnae principle clues in the auditory system to sound source localization in robotics.The head model of humanoid robot is established,and the position of the front or back azimuth is determined by the rotation of the head.Then it uses ITD algorithm and the ILD algorithm to achieve the azimuth.Time-delay estimator is calculated according to the cross Correlation.The program is written based on the positioning algorithm and the location of the sound source is determined according to the input of the signal.