CN109710966B - Method for designing cylindrical body of service robot based on scattered sound power - Google Patents
Method for designing cylindrical body of service robot based on scattered sound power Download PDFInfo
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- CN109710966B CN109710966B CN201811341590.9A CN201811341590A CN109710966B CN 109710966 B CN109710966 B CN 109710966B CN 201811341590 A CN201811341590 A CN 201811341590A CN 109710966 B CN109710966 B CN 109710966B
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Abstract
The invention discloses a service robot cylindrical body design method based on scattered sound power, which comprises the steps of firstly determining the lower frequency limit and expected sound power level gain of a sound production system of a robot, then establishing a sound radiation model of the robot body, calculating radiation sound power when different body radiuses to obtain a change curve of the sound power level gain random body radius and frequency product, and finally determining the minimum value of the body radius according to the sound power change curve, low frequency cut-off frequency and expected sound power gain. The invention can rapidly determine the cross section diameter required by the cylindrical shell of the robot, improves the radiation sound power of the sound production system and improves the interactive listening experience.
Description
Technical Field
The invention relates to a service robot cylindrical body design method based on scattered sound power, and belongs to the technical field of robots.
Background
With the increasing development of technology, there is an increasing demand for robots, especially service robots. During man-machine interaction, the sound signal sent by the service robot is required to have enough strength to ensure that the service object can answer naturally and clearly.
Most of the existing service robots adopt a single loudspeaker, and the radiation acoustic energy of a sound production system has an upper limit. In order to improve sound emission performance, the most straightforward approach is to use multiple speaker units to form an array. The basic principle of the loudspeaker array is that a plurality of loudspeaker units are distributed in space according to a certain topological structure, and the amplitude and the phase of the sound signals fed to each loudspeaker unit are adjusted through an algorithm, so that the control of the sound signals in a specific direction or at a specific position is realized. The existing speaker array has the defects of multiple speaker units and subsequent signal processing, high hardware cost and corresponding algorithm configuration. In addition, uniformity of the radiation performance of the speaker unit also affects sound emission performance.
For aesthetic purposes, the different components are often mounted in the approximately cylindrical body of the robot in applications. The dimensions of the fuselage depend on the cost of manufacture, aesthetic requirements and the size of the internal components. The research of improving the sound radiation performance of the sound production system by utilizing the sound scattering of the robot body is not reported.
Disclosure of Invention
The invention aims to: the invention aims to provide a service robot cylindrical body design method based on scattered sound power, by using the method, the section diameter required by a cylindrical shell of a robot can be rapidly determined, the radiated sound power of a sound production system is improved, and the interactive listening experience is improved.
The technical scheme is as follows: in order to achieve the above purpose, the invention adopts the following technical scheme:
a service robot cylindrical body design method based on scattered sound power comprises the following steps:
the robot body radiation model established in the step 2 is simplified into a point sound source radiation model on an infinite large cylinder, and the sound power level gain is as follows:
wherein the method comprises the steps of
ρ air Is air density, Q is speaker source intensity, k is wave number, ω is angular frequency, a is body radius, ε n Is a constant value, and is used for the treatment of the skin,
and->
The derivatives of Hankel functions of class 1 and class 2 respectively, n being the order of the Hankel function, pi being the circumference ratio, t being the integral variable, when n=0, ε n Taking 1, when n is not equal to 0, ε n 2, taking;
Compared with the prior art, the invention has the following beneficial effects:
1. the radiated sound power of the robot radiation system is improved.
2. Compared with the conventional loudspeaker array method, the system has low complexity and low software and hardware cost.
3. Only the robot shape is required to be changed, so that the implementation is convenient.
Drawings
Fig. 1 is a schematic view of a cylindrical body of a service robot.
Fig. 2 is a simplified point sound source cylindrical scattering model.
Fig. 3 is a graph of sound power level gain as a function of frequency and radius product.
Detailed Description
The present invention is further illustrated in the accompanying drawings and detailed description which are to be understood as being merely illustrative of the invention and not limiting of its scope, and various equivalent modifications to the invention will fall within the scope of the appended claims to the skilled person after reading the invention.
A service robot cylindrical body design method based on scattered sound power comprises the following steps:
1. a lower frequency limit and an expected sound power level gain of the robotic sound emitting system are determined.
2. And (3) establishing a robot body acoustic radiation model, and calculating radiated acoustic power when different body radiuses to obtain a change curve of the product of the acoustic power level gain random body radius and the frequency.
3. The minimum value of the fuselage radius is determined from the acoustic power profile, the low frequency cut-off frequency and the expected acoustic power gain. Neglecting the display screen, fig. 1 can be simplified to an acoustic scattering model in which the point source is located on an infinite cylinder as shown in fig. 2, and its radiated acoustic power can be estimated using equation (1). Therefore, the robot body radiation model established in the step 2 can be simplified into a point sound source radiation model on an infinite cylinder, and the sound power level gain is as follows:
wherein the method comprises the steps of
ρ air Is air density, Q is speaker source intensity, k is wave number, ω is angular frequency, a is body radius, ε n Is a constant value, and is used for the treatment of the skin,
and->
The derivatives of Hankel functions of class 1 and class 2 respectively, n being the order of the Hankel function, pi being the circumference ratio, t being the integral variable, when n=0, ε n Taking 1, when n is not equal to 0, ε n 2, taking;
assume that the speaker source intensity is 1 x 10 -3 m/s 3 The free field sound power level was 89.6dB at a frequency of 400 Hz.
1. Determining that the lower limit of the frequency of the voice signal output by a server of a certain model is 400Hz, and the gain of the expected sound power level is 2dB;
2. the sound power level gain versus frequency f and cylinder radius a is calculated according to equation (3), as shown in fig. 3.
It can be seen from fig. 3 that when the acoustic power gain is to be 2dB, the product of the frequency and the radius is at a minimum 80Hz, and the minimum of the body radius is 0.2m, considering that the lower frequency limit of the output speech signal is 400 Hz.
According to formula (1), the sound power level is 90.8dB when the radius of the cylindrical body is 0.1m, the sound power level is 91.6dB when the radius of the cylindrical body is 0.2m, the sound power level is 91.9dB when the radius of the cylindrical body is 0.3m, and the sound power gain reaches the expected value and is more than 2dB when the radius of the cylindrical body is more than 0.2m compared with the sound power of the free space.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (2)
1. The service robot cylindrical body design method based on the scattered sound power is characterized by comprising the following steps of:
step 1, determining a lower frequency limit and an expected sound power level gain of a sound production system of a robot;
step 2, establishing a robot body acoustic radiation model, and calculating radiated acoustic power when different body radiuses to obtain a change curve of the product of the acoustic power level gain random body radius and the frequency;
step 3, determining the minimum value of the radius of the airframe according to a change curve of the gain of the sound power level along with the product of the radius of the airframe and the frequency, the low-frequency cut-off frequency and the expected sound power gain;
the calculation of the sound power level gain random body radius and frequency product change curve can use a point sound source radiation model on an infinite cylinder, and the sound power level gain is as follows:
wherein the method comprises the steps of
ρ air Is air density, Q is speaker source intensity, k is wave number, ω is angular frequency, a is body radius, ε n Is a constant value, and is used for the treatment of the skin,
and->
The derivatives of Hankel functions of class 1 and class 2 respectively, n being the order of the Hankel function, pi being the circumference ratio, t being the integral variable, when n=0, ε n Taking 1, when n is not equal to 0, ε n Taking 2.
2. The method for designing a cylindrical body of a service robot based on scattered sound power according to claim 1, wherein: the desired sound power level gain is 2dB and the minimum value of the body radius is 0.2m when the lower frequency limit of the output voice signal is 400 Hz.
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| US5604893A (en) * | 1995-05-18 | 1997-02-18 | Lucent Technologies Inc. | 3-D acoustic infinite element based on an oblate spheroidal multipole expansion |
| CN1929697B (en) * | 2006-09-29 | 2010-10-13 | 南京大学 | Optimization method and device for loudspeaker array |
| WO2010004056A2 (en) * | 2009-10-27 | 2010-01-14 | Phonak Ag | Method and system for speech enhancement in a room |
| DE102013017582A1 (en) * | 2012-10-19 | 2014-04-24 | Fusionsystems Gmbh | Method for automatically-adaptive generation of audible sound as function of system state of e.g. car, involves adjusting relationship between component of input space and associated generation of sound, by rule-based fuzzy system |
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