CN114325582A - Self-tracking robot sound source positioning system based on dead reckoning - Google Patents
Self-tracking robot sound source positioning system based on dead reckoning Download PDFInfo
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Abstract
A self-tracking robot sound source positioning system based on dead reckoning relates to the technical field of sound source positioning. The invention provides a combination of microphone sound source positioning and a mobile robot platform, which leads a robot-assisted sound source positioning system to carry out sound source positioning and further improves the sound source positioning accuracy aiming at the problems that some microphone array models and sound source positioning algorithms which are used firstly are deeply researched and the positioning accuracy of the existing sound source positioning technology in the indoor environment is greatly influenced by factors such as noise, reverberation and the like.
Description
Technical Field
The invention relates to a sound source positioning technology, in particular to a mobile robot space sound source self-tracking positioning technology based on a dead reckoning, namely, a dead reckoning is utilized to calculate the position coordinates of a robot in operation. By continuously adjusting the running orientation of the robot, the absolute value of the pitch angle of the connecting line of the sound source and the microphone array on the robot is in the minimum state, and the sound source positioning effect is the best at the moment.
Background
The sound source positioning has important application in the aspects of audio and video conference systems, voice intelligent recognition systems, voice control systems and robot interaction. Therefore, the sound source positioning technology gradually becomes a research hotspot, and the sound source positioning technology is also widely applied in the field of mobile robots. In the process of acquiring the sound source signal, external factors such as environmental noise and reverberation inevitably interfere, which may cause problems such as poor sound source positioning accuracy and non-ideal real-time performance.
The dead reckoning is initially used for navigation positioning of ships, and the used accelerometers, magnetic compasses and gyroscopes have high cost and large size. With the development of micro-electro-mechanical system technology, the size, weight and cost of the accelerometer, the digital compass and the gyroscope are greatly reduced, so that the accelerometer, the digital compass and the gyroscope can be applied to robot navigation positioning.
Disclosure of Invention
The invention aims to provide a self-tracking robot sound source positioning system based on a dead reckoning algorithm.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention can be divided into two parts in terms of function: sound source localization function, action execution function. The initial time delay parameter of the sound source target is estimated by adopting the time delay of the generalized cross-correlation algorithm and is used as the initial quantity of the sound source positioning algorithm to start the MUSIC sound source positioning algorithm, and the system can update the sound source position on line in real time according to the time delay information and the position information at the previous moment, so that the effect of tracking the sound source target position in real time is finally achieved. Meanwhile, the robot can adjust the angle of the robot and the microphone according to the position information of the sound source target, so that the microphone array can always keep the optimal receiving state. Meanwhile, the moving speed of the mobile robot can be adjusted, so that the robot can move forward to the position of the target sound source, and the effect of automatically tracking the sound source of the robot is achieved.
The invention mainly comprises the following steps: the system comprises a microphone array, a data acquisition module, a signal processing module and an NI-DANI mobile robot platform.
The invention realizes the sound source positioning function through the microphone array, the data acquisition module and the signal processing module, and realizes the action execution function through the NI-DANI mobile robot platform.
The acoustic sensor array comprises a microphone array consisting of 16 array element MAX9814 type electret microphone, a microphone array arrangement frame and a triangular support.
The signal acquisition and processing module comprises a data acquisition card and a LabVIEW program of a virtual instrument at a PC terminal. And the data acquisition card transmits the digital quantity of the acquired acoustic signals after analog-to-digital conversion into a LabVIEW program of a virtual instrument at the PC end.
The NI-DANI mobile robot platform comprises a sensor, a motor and embedded control hardware of NI Single-Board RIO, wherein the software part is mainly developed by LabVIEW, and the sound source point self-tracking function is realized by a navigation position deduction algorithm developed in LabVIEW software.
The self-tracking robot sound source positioning system based on the dead reckoning makes the absolute value of the pitch angle of the connection line of the sound source and the microphone array on the robot in the minimum state by continuously adjusting the running orientation of the robot, thereby achieving the best sound source positioning effect, and comprises the following steps:
And 2, receiving the acoustic signals by a high-speed synchronous data acquisition card, receiving the acoustic signals of the sound source point acquired by the sound sensor by the high-speed synchronous data acquisition card, performing analog-to-digital conversion, and converting the analog quantity of the acoustic signals into digital quantity.
And 3, collecting sound signals by using a sound sensor, wherein the microphone array is a uniform circular array. M (16) identical microphones are evenly distributed on a circle of radius r on the plane X-Y. And establishing a spatial coordinate system of acoustic imaging by taking the central position of the whole array model, namely the reference array element, as the circle center of a spatial coordinate system and taking the X axis of the coordinate system as a connecting line between the reference array element and the first array element.
Included angle between mth array element and x axis
Expressed as:
(m＝1,2,...,M)
the position of the mth array element in the spatial coordinate system can be expressed as:
the unit vector of an incident sound source in the far field can be expressed as:
so the delay tau between the m-th array element and the reference array elementmCan be expressed as:
wherein <, > represents the inner product, and c is the speed of sound. The azimuth vector of the sound source point can be expressed as:
where ω ═ 2 π f is the carrier frequency, λ is the wavelength of the signal, and the wavelength of the signal can be expressed as: λ ═ c/f. Direction vector
Can be expressed as:
theta (theta is more than or equal to 0 degree and less than or equal to 360 degrees) and
representing the pitch and azimuth of the source signal, respectively.
And 4, calculating the space coordinate of the sound source target relative to the coordinate system of the microphone array by a sound source positioning algorithm, and obtaining the space coordinate of the microphone array relative to the world coordinate system through coordinate transformation. The initial position of the robot motion in the world coordinate system is taken as the origin of coordinates (x is 0, y is 0, and z is 0), the position coordinates of the robot are obtained by using dead reckoning, the calculation principle of the dead reckoning is shown in fig. 1,
wherein x (k), y (k) are the positions of the robot at the moment, psi (k) is the direction of the robot at the moment, SR (k-1), SL (k-1) are the distances traveled by the left and right wheels of the robot within the time from the moment k-1 to the moment k, and b is the distance between the two wheels. In the initial state, x (k), y (k), ψ (k), SR (k-1) and SL (k-1) are all 0.
After the position coordinates of the robot are known, the position coordinates of the microphone array can be obtained. At time k, the coordinates of the microphone array in the robot coordinate system are (x (k), y (k), z (k)) (unit: m), and the microphone array is located at 0.3m directly above the robot, so that z (k) is a constant value and takes a value of 0.3 m.
And 5, adjusting the posture of the robot by calculating the pitch angle between the sound source position and the microphone coordinate origin to obtain the best sound source positioning effect. When the absolute value of the pitching angle is minimum, the sound source is positioned right above the plane of the microphone array at the moment, the reverberation signal received by the microphone array is minimum, and the positioning effect is best.
The propagation speed of sound is c (c 340m/s), and the time of arrival of the sound source signal at the center microphone is t(s). The spatial position coordinates of the sound source point under the microphone array coordinate system can be expressed as:
the coordinate transformation description is shown in fig. 1. The coordinate system of the microphone array is 0.3m above the coordinate system of the robot, so the spatial position coordinates of the sound source point under the coordinate system of the robot can be expressed as:
the unit is m.
The included angle between the coordinates of the sound source point and the Z axis under the robot coordinate system is as follows:
the robot coordinate system comprises the following microphone array coordinates and an included angle on a Z axis:
through the adjustment of the motion of the robot and the angle of the microphone array, the difference value delta eta between the robot and the coordinate of the microphone array in the Z-axis direction is continuously reducedZSo as to achieve the most accurate positioning effect.
Compared with the prior art, the invention has the beneficial effects that:
1. the self-tracking robot sound source positioning robot based on the dead reckoning can adjust the position of the microphone array by utilizing the motion control of the robot when positioning a sound source, so that a sound source target is always positioned in the optimal acquisition angle range of the two-dimensional microphone array.
2. The invention combines the NI-DANI mobile robot platform with the sound source positioning system, so that the robot assists in completing sound source positioning, and the mobile real-time positioning function can be realized. Compared with the traditional fixed microphone array sound source positioning system, the invention has higher positioning precision.
Drawings
FIG. 1: schematic diagram of dead reckoning
FIG. 2: principle diagram for fault sound source positioning
Detailed Description
The invention relates to fault location and visualization when a rotor of a fan cracks, the rotor is not centered and the deflection of the rotor is abnormal, and adopts the following technical scheme and implementation steps, and the overall design scheme of the system is shown in figure 1.
The sound and optics combined fan fault positioning device comprises the following specific implementation steps:
And 2, receiving the acoustic signals by a high-speed synchronous data acquisition card, receiving the acoustic signals of the sound source point acquired by the sound sensor by the high-speed synchronous data acquisition card, performing analog-to-digital conversion, and converting the analog quantity of the acoustic signals into digital quantity.
And 3, collecting sound signals by using a sound sensor, wherein the microphone array is a uniform circular array. M (16) identical microphones are evenly distributed on a circle of radius r on the plane X-Y. And establishing a spatial coordinate system of acoustic imaging by taking the central position of the whole array model, namely the reference array element, as the circle center of a spatial coordinate system and taking the X axis of the coordinate system as a connecting line between the reference array element and the first array element.
Included angle between mth array element and x axis
Expressed as:
(m＝0,1,2,...,M-1)
the position of the mth array element in the spatial coordinate system can be expressed as:
the unit vector of an incident sound source in a field can be expressed as:
so the delay tau between the m-th array element and the reference array elementmCan be expressed as:
wherein <, > represents the inner product, and c is the speed of sound. The azimuth vector of the sound source point can be expressed as:
where ω ═ 2 π f is the carrier frequency, λ is the wavelength of the signal, and the wavelength of the signal can be expressed as: λ ═ c/f. Direction vector
Can be expressed as:
theta (theta is more than or equal to 0 degree and less than or equal to 360 degrees) and
representing the pitch and azimuth of the source signal, respectively.
And 4, calculating the space coordinate of the sound source target relative to the coordinate system of the microphone array by a sound source positioning algorithm, and obtaining the space coordinate of the microphone array relative to the world coordinate system through coordinate transformation. The initial position of the robot motion in the world coordinate system is taken as the coordinate origin (x is 0, y is 0, and z is 0), the position coordinates of the robot are obtained by a dead reckoning algorithm, which is shown in the calculation principle of the dead reckoning algorithm,
wherein x (k), y (k), psi (k) are the instantaneous position and direction of the robot, SR (k-1), SL (k-1) are the distance traveled by the left wheel and the right wheel of the robot from the moment k-1 to the moment k respectively, and b is the distance between the two wheels.
After the position coordinates of the robot are known, the position coordinates of the microphone array can be obtained. At time k, the coordinates of the microphone array in the robot coordinate system are (x (k), y (k), z (k)) (unit: m)
And 5, adjusting the posture of the robot by calculating the pitch angle between the sound source position and the microphone coordinate origin to obtain the best sound source positioning effect. When the absolute value of the pitching angle is minimum, the sound source is right above the plane of the microphone array, the reverberation signal received by the microphone array is minimum, and the positioning effect is best.
The propagation speed of sound is c (c 340m/s), and the time of arrival of the sound source signal at the center microphone is t(s). The spatial position coordinates of the sound source point under the microphone array coordinate system can be expressed as:
the coordinate system of the microphone array is 0.3m above the coordinate system of the robot, so the spatial position coordinates of the sound source point under the coordinate system of the robot can be expressed as:
the unit is m.
The included angle between the coordinates of the sound source point and the Z axis under the robot coordinate system is as follows:
the robot coordinate system comprises the following microphone array coordinates and an included angle on a Z axis:
the difference value delta eta of the coordinate in the Z-axis direction of the microphone array is reduced through the adjustment of the motion of the robot and the angle of the microphone arrayZSo as to achieve the most accurate positioning effect.
Claims (2)
1. Self-tracking robot sound source positioning system based on dead reckoning is characterized by comprising: the system comprises a microphone array, a data acquisition module, a signal processing module and an NI-DANI mobile robot platform;
the sound source positioning function is realized through the microphone array, the data acquisition module and the signal processing module, and the action execution function is realized through the NI-DANI mobile robot platform;
the acoustic sensor array comprises a microphone array consisting of 16 array element MAX9814 type electret microphone, a microphone array arrangement frame and a triangular support;
the signal acquisition and processing module comprises a data acquisition card and a LabVIEW program of a virtual instrument at a PC end; the data acquisition card transmits digital quantity obtained by performing analog-to-digital conversion on the acquired acoustic signals into a LabVIEW program of a virtual instrument at a PC (personal computer) end;
the NI-DANI mobile robot platform comprises a sensor, a motor and embedded control hardware of NI Single-Board RIO, wherein the software part is developed by using LabVIEW, and the sound source point self-tracking function is realized by a navigation deduction algorithm developed in LabVIEW software.
2. The method for applying the dead reckoning-based self-tracking robot sound source positioning system according to claim 1, characterized by comprising the following steps:
step 1, a self-tracking robot sound source positioning system based on a dead reckoning algorithm adopts 16 MAX9814 type electret microphone sensors and a uniform circular array with the radius of 50mm, 15 identical microphones are uniformly distributed on a circle with the radius of 50mm on a plane X-Y, a microphone element is also placed at the circle center, and the array element at the circle center is used as a reference array element;
step 2, receiving the acoustic signals by a synchronous data acquisition card, receiving the acoustic signals of the sound source point acquired by the sound sensor by the synchronous data acquisition card, performing analog-to-digital conversion, and converting the analog quantity of the acoustic signals into digital quantity;
step 3, collecting sound signals by using a sound sensor, wherein the microphone array is a uniform circular array; uniformly distributing M identical microphones on a circle with a radius of r on a plane X-Y; establishing a spatial coordinate system of acoustic imaging by taking the central position of the whole array model, namely the reference array element, as the circle center of a spatial coordinate system and taking the X axis of the coordinate system as a connecting line between the reference array element and the first array element;
included angle between mth array element and x axis
Expressed as:
the position of the mth array element is expressed in a space coordinate system as:
the unit vector of the incident sound source in the far field is expressed as:
so the delay tau between the m-th array element and the reference array elementmExpressed as:
wherein <, > represents the inner product, c is the speed of sound; the azimuth vector of the sound source point is expressed as:
where ω ═ 2 π f is the carrier frequency, λ is the wavelength of the signal, and the wavelength of the signal is expressed as: λ ═ c/f; direction vector
Expressed as:
theta (theta is more than or equal to 0 degree and less than or equal to 360 degrees) and
respectively representing the pitch angle and the azimuth angle of the sound source signal;
step 4, calculating the space coordinate of the sound source target relative to the coordinate system of the microphone array by a sound source positioning algorithm, and obtaining the space coordinate of the microphone array relative to the world coordinate system through coordinate transformation; taking the initial position of the robot motion in the world coordinate system as the origin of coordinates (x is 0, y is 0, and z is 0), and obtaining the position coordinates of the robot through a dead reckoning algorithm;
wherein x (k), y (k) are the positions of the robot at the moment, psi (k) is the direction of the robot at the moment, SR (k-1), SL (k-1) are the distances traveled by the left and right wheels of the robot within the time from the moment k-1 to the moment k, and b is the distance between the two wheels; in the initial state, x (k), y (k), psi (k), SR (k-1) and SL (k-1) are all 0;
obtaining the position coordinates of the microphone array after the position coordinates of the robot are known; at time k, the coordinates of the microphone array in the robot coordinate system are (x (k), y (k), z (k)) (unit: m), and the microphone array is positioned at a position 0.3m above the robot, so that the z (k) is a constant value and takes a value of 0.3 m;
step 5, adjusting the robot posture by calculating the pitch angle between the sound source position and the microphone coordinate origin to obtain the best sound source positioning effect; when the absolute value of the pitch angle is minimum, the sound source is right above the plane of the microphone array at the moment, the reverberation signal received by the microphone array is minimum, and the positioning effect is best;
the propagation speed of sound is c (c is 340m/s), and the time of sound source signals arriving at the central microphone is t(s); the spatial position coordinates of the sound source point under the microphone array coordinate system are expressed as follows:
the coordinate system of the microphone array is 0.3m above the coordinate system of the robot, so the spatial position coordinates of the sound source point under the coordinate system of the robot are expressed as follows:
the unit is m;
the included angle between the coordinates of the sound source point and the Z axis under the robot coordinate system is as follows:
the robot coordinate system comprises the following microphone array coordinates and an included angle on a Z axis:
the difference value delta eta of the coordinate in the Z-axis direction of the microphone array is continuously reduced through the adjustment of the motion of the robot and the angle of the microphone arrayZTo make it reachThe most accurate positioning effect;
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