CN201210187Y - Robot automatically searching sound source - Google Patents

Abstract

The utility model relates to a robot that can automatically search the sound source, which comprises a mobile robot that is provided with an impersonate head and a microphone array, wherein, a PC is arranged inside the mobile robot, and is characterized in that the microphone array is composed of four microphones that are respectively mounted on four peaks of the largest inscribed square of the overall circle of the impersonate head of the robot; both sides of the impersonate head of the mobile robot are provided with two microphones that are the left ear and the right ear of the mobile robot, so as to form a stereo dual-ear microphone array, and the microphones are connected with the PC that is arranged inside the mobile robot through four sound cards; the impersonate head of the mobile robot can rotate by 180 degrees from right to left.

Description

A kind of robot of independent searching sound source

Technical field

The utility model relates to a kind of automatic detection and Robotics, be specially a kind of robot that can be applicable to have under the actual indoor environment independent searching sound source of three-dimensional binaural sound sense sensor array, international Patent classificating number intends being Int.Cl.G01D 21/02 (2006.01).

Background technology

Along with the great attention of various countries, be that the dangerous operation mobile robot's of feature demand shows especially day by day with anti-riot, anti-terrorism, fire-fighting fire extinguishing, the rescue of getting rid of the danger etc. to government utilities such as national security, social securities.Industrial, the detection of various hazardous chemical reactors, dangerous material storage tank and pipeline thereof and the demand of arch maintenance robot grow to even greater heights, especially in petrochemical industry, development along with China's Petrochemical, the Leak Detection of all kinds of chemical reaction containers and conveyance conduit has become the gordian technique that accident is avoided in petrochemical industry with repairing, but the outstanding problem that exists at present is how to realize the accurate judgement of mobile robot to suspicious object.In particular surroundings, search and follow the tracks of specific objective, obtain, judge that Sounnd source direction carries out the identification of sound simultaneously and carries out work such as automatic aiming and just seem very important for hitting weapon with the accurate distance of institute's tracking target, for assuring the safety for life and property of the people, promote the harmonious development of economic society to have great realistic meaning.

Audio source tracking, location combine with mobile robot technology, by using the mobile robot to find, follow the tracks of to determine sound source position and sound recognition, this active or independent searching can remedy the shortcoming of classic method (to source of leaks scene search as fixation of sensor network technique, professional or trained animal etc.) existence effectively.On the one hand, because mobile robot's motility, it is equivalent to form a mobile sensor network, compares fixation of sensor and can cover bigger scope and move flexible; On the other hand, robot can be developed fast, and maintenance cost is low, and can work long hours, and does not also have Personal Risk and problems such as notice limited time, fatiguability.Mobile sensor network plays a part very important in the process that sound source is surveyed.

Sound sensation sensor (hereinafter to be referred as microphone) can be combined as array in various mode.Microphone array can be strengthened the signal of different directions.Because the various weighted sums of microphone are equivalent to handle in a different manner identical data, signal source on a plurality of directions just can be extracted simultaneously, therefore microphone array can overcome the limitation of single microphone aspect reception and processing spacing wave, has good performance.The microphone array form mainly contains linear array, face battle array, three-dimensional array.Each microphone array all has its original one side.The problem that existing microphone array exists is: linear array is because its axial symmetry may cause the space fuzzy when the location; The face battle array can position target on whole plane, can be that the half space on boundary positions to plane, array place also; Three-dimensional array can position whole space, but their array quantity is many, and algorithm is wanted the many of complexity, and operand is bigger; In addition, it is less that existing microphone array combines with robot, and has significant limitation, for example, (Yuki TAMAI etc. form real-time 2 of array based on 128 microphones and tie up auditory localizations, IEEEInternational Workshop on Robot and Human Interactive Communication proceeding people such as Yuki TAMAI, 2004,65-70; Yuki TAMAI, Satoshi KAGAMI, Hiroshi MIZOGUCH1, Yutaka AMEMIYA, Koichi anathema, Tachyon TAKANO, Real-Time 2Dimensional Sound Source Localization by 128-Channel Huge MicrophoneArray, Proceedings of the 2004 IEEE International Workshop on Robot andHuman Interactive Communication, 2004:65-70) propose the method that array that 128 microphones of a kind of usefulness form carries out auditory localization, its microphone quantity is too many, complex structure, the head that is used in robot is neither actual, also need not; Again for example, and people such as K.Nakadai (K.Nakadai etc., based on the auditory localization and the difference of the robot sense of hearing, IEEE International Conference on SpokenLanguage Processing proceeding,, 193-196 in 2002; K.Nakadai, H.G.Okuno, and H.Kitano, sound source localization and separation for robot audition, Proceedings IEEE International Conference on Spoken Language Processing, 2002:193-196) and people (Takehiko Katayama such as Takehiko, development based on the three-dimensional sonic location system of ears model, Toyohashi University of Technology master ' s thesis, 2005; Takehiko Katayama, Development of 3-D Sound Localization System by BinauralModel, Toyohashi University of Technology master ' s thesis, 2005) two microphones of a kind of usefulness that propose respectively are as the method for the auditory localization of the left and right sides ear of robot, the quantity of its microphone again very little, and the linear array of two microphone compositions can not be carried out the space orientation of sound source, can not satisfy actual needs.

The utility model content

At the deficiencies in the prior art, the technical problems to be solved in the utility model is, a kind of robot of independent searching sound source has been proposed, this robot has three-dimensional ears microphone array, the space orientation of sound source can initiatively be carried out and from motion tracking, and simple in structure, calculated amount is less, helps practical application.

The technical scheme that the utility model solve the technical problem is: the robot that designs a kind of independent searching sound source, it comprises mobile robot and the microphone array with anthropomorphic head, dress PC in the mobile robot, it is characterized in that described microphone array is made up of 4 microphones, the cloth imperial palace that is contained in robot humanoid head gabarit circle connects on foursquare four vertex positions respectively, and each 2 microphone of both sides of the anthropomorphic head of mobile robot, be respectively mobile robot's left and right sides ear, constitute three-dimensional ears microphone array, described microphone links to each other by the PC of adorning in 4 road sound cards and the mobile robot; Described mobile robot's anthropomorphic head can left-right rotation 180 degree.

Compared with prior art, the robot of independent searching sound source of the present utility model has following advantage:

1. function admirable.The utility model robot personalizes microphone array especially, as the left and right sides ear of robot humanoid head, but the position of independent searching sound source not only, and can utilize mobile robot body carry out sound source from motion tracking.

2. simple in structure.The array that the utility model only adopts 4 microphones to form promptly can carry out the space orientation of sound source, and is simple in structure, and calculated amount is little, is applicable to the real-time implementation of location.

3. dirigibility is big.Compare the fixation of sensor network technique and determine sound source position, the utility model is because the movability of robot is equivalent to form a mobile sensor network, and therefore the dirigibility of search is bigger.

Description of drawings

The three-dimensional ears microphone array that Fig. 1 has for the utility model independent searching sound source robot is at the structural representation of a kind of embodiment of installation of the anthropomorphic head of mobile robot.

Fig. 2 concerns coordinate system figure for three-dimensional ears microphone array and the sound source position that the utility model independent searching sound source robot has.

Fig. 3 searches for the positioning principle block diagram for the sound source of a kind of embodiment of three-dimensional ears microphone array that the utility model independent searching sound source robot has.

Embodiment

Be described in detail the utility model below in conjunction with embodiment and accompanying drawing thereof.Embodiment is to be to implement under the prerequisite with technical solutions of the utility model, has provided detailed embodiment and process.But the protection domain of the utility model claim is not limited to following embodiment.

The independent searching sound source robot of the utility model design is (hereinafter to be referred as robot, referring to Fig. 1,3), it comprises mobile robot and the microphone array with anthropomorphic head, and the dress PC is characterized in that described microphone array (is M by 4 microphones in the mobile robot ₁-M ₁) form, the cloth imperial palace that is contained in the anthropomorphic head gabarit circle of mobile robot (vertical plane) connects on foursquare four vertex positions (be between each microphone distance equate) respectively, and each side 2 microphones of the anthropomorphic head of mobile robot, be respectively mobile robot's left and right sides ear, constitute three-dimensional ears microphone array (being called for short microphone array or array), described microphone links to each other with the interior PC of mobile robot by 4 road sound cards; Described mobile robot's anthropomorphic head can left-right rotation 180 degree (promptly can make 360 degree and rotate search).

Studies show that the array of being made up of n microphone can obtain n-1 time delay, determine that therefore the target location in the space needs 4 microphones at least.So the selected planar array of being made up of 4 microphones of the utility model is as the location array of sound source.So both can reach requirement, and finish the work, calculated amount neither be very big, for realizing that real-time location is very helpful.

Consider the requirement of mobile robot's real-time and calculated amount, the utility model embodiment has adopted the localization method based on time delay.The committed step of location was divided into for 2 steps: time delay is estimated and the location.

The microphone array of the utility model robot is simple in structure, and calculated amount neither be very big, can finish the location to spatial sound source again, for realizing that real-time auditory localization has very big benefit.The position that the utility model has been set up sensor array and sound source concerns coordinate system (referring to Fig. 2).In Fig. 2, S is a sound source, M ₁-M ₄The expression microphone, θ represents the position angle, and Φ represents the elevation angle, and L represents the square length of side of microphone array.Can obtain the expression formula of following three parameters as calculated respectively:

$\mathrm{tg\φ}=\frac{{\mathrm{\τ}}_{41}-{\mathrm{\τ}}_{21}}{{2\mathrm{\τ}}_{31}+{\mathrm{\τ}}_{21}-{\mathrm{\τ}}_{41}}---\left(1\right)$

$\cos \mathrm{\θ}=\frac{C}{2L}\sqrt{{({2\mathrm{\τ}}_{31}-{\mathrm{\τ}}_{41}+{\mathrm{\τ}}_{21})}^2+{({\mathrm{\τ}}_{41}-{\mathrm{\τ}}_{21})}^2}---\left(2\right)$

$R=\frac{C\·({2\mathrm{\τ}}_{31}-{\mathrm{\τ}}_{41}+{\mathrm{\τ}}_{21})({\mathrm{\τ}}_{41}-{\mathrm{\τ}}_{21})}{4\·{\mathrm{\τ}}_{41}+{\mathrm{\τ}}_{21}}---\left(3\right)$

R in the formula (3) represents the distance at sound source and microphone array center, and C is the velocity of sound.τ _IjTime delay in expression the utility model microphone array between any two microphones is (as τ ₄₁Expression microphone M ₄And M ₁Between time delay).From above-mentioned formula, need only microphone M as can be seen ₁With microphone M ₂～M ₄Form respectively three microphones to and try to achieve M ₂～M ₄With respect to microphone M ₁Time delay just can obtain the position of sound source.

The principle of work of the utility model robot is (referring to Fig. 3): the mobile robot utilizes its ears microphone array to carry out auditory localization.Sound source is different to the distance of any two microphones, so time of arrival is also different, and the time that arrives these two microphones just has a time delay.Such principle realizes with regard to being based in location of the present utility model.In the practical application, microphone can be accepted the voice signal in the work space and handle accordingly.Any a pair of microphone of above-mentioned three microphone centerings (is microphone M ₁And M _jThe microphone of forming is to .M _jBe microphone M ₂～M ₄In any one), if do not detect voice signal, just ambient noise signal is noted, and is tried to achieve the cross-power spectrum of two-way noise signal; When detecting voice signal, voice signal (comprises sampling, filtering, end-point detection, branch frame, windowing, pre-emphasis through a series of pre-service, fast fourier transform) tries to achieve the cross-power spectrum of two-way voice signal, and deduct the cross-power spectrum of original neighbourhood noise therein, can obtain tangible voice signal information like this.In the practical application, every pair of microphone of left and right sides ear (microphone M ₁, M ₂For the auris dextra microphone of robot right, microphone M ₃, M ₄For the left ear microphone of robot to) can accept the voice signal in the work space, but sound source is to microphone M ₁-M ₄In any two microphones (microphone M for example ₂With microphone M ₄) distance different, so time of arrival is also different, the time that arrives these two microphones just has a time delay.The cross-power spectrum that tentatively removes between two signals of noise gives certain weighting (frequency domain weighting) in frequency domain, and signal and noise are carried out albefaction handle, the higher frequency content of signal to noise ratio (S/N ratio) in the enhancing signal, thereby further suppress The noise, change (IFFT) through inverse-Fourier again and be transformed into time domain, obtain the broad sense cross correlation function between two signals, the time delay between corresponding two microphones of broad sense cross correlation function peak value, time delay is tried to achieve in detection to broad sense cross correlation function peak value.After obtaining the right time delay data of each microphone, be updated in above-mentioned three location parameter formula that obtain by the geometric model localization method ((1)-(3)), just can obtain the position of target sound source.The implementation procedure of hardware: the voice signal that collects passes to PC in the robot by the sound card that is connected with microphone, and PC is by handling the voice signal that collects according to above-mentioned algorithm written program.After calculating the position of target sound source, the positional information of sound source can send to the ROBOT CONTROL system, after control system obtains positioning result, utilize the PMAC card be equipped with and servomotor can control mobile robot's (body) carry out sound source from motion tracking.

At the state of ground of different actual application environment, that the mobile robot of the utility model embodiment can adopt is wheeled, crawler type or wheel combined mobile robot.The motion control of robot is finished by PMAC motion control card and servomotor.

Described independent searching sound source is meant uses the mobile robot, the process of finding, following the tracks of sound source clue and definite sound source position in the mode of autonomous (non-remote control).The utility model robot can be used for the warehouse security personnel of petrochemical industry Leak Detection, integrated mill, the aspects such as dangerous matter sources detection of public safety.

The utility model is not addressed part and is applicable to prior art.

Claims (1)

1. the robot of an independent searching sound source, it comprises mobile robot and the microphone array with anthropomorphic head, dress PC in the mobile robot, it is characterized in that described microphone array is made up of 4 microphones, the cloth imperial palace that is contained in robot humanoid head gabarit circle connects on foursquare four vertex positions respectively, and the both sides of the anthropomorphic head of mobile robot are 2 microphones respectively, are respectively mobile robot's left and right sides ear, constitute three-dimensional ears microphone array; Described microphone links to each other by the PC of adorning in 4 road sound cards and the mobile robot; Described mobile robot's anthropomorphic head can left-right rotation 180 degree.

Images