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Method for positioning sound source by robot

A sound source localization and robotics technology, applied in the information field, can solve the problems of wasting computing cost and time, high complexity, and not considering the characteristics of sound sources, etc.

Inactive Publication Date: 2012-04-11
PEKING UNIV
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  • Summary
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AI Technical Summary

Problems solved by technology

[0021] The weighting function in the prior art only considers the influence of a series of environmental factors such as background noise and reverberation, and does not consider the characteristics of the sound source itself
At the same time, the existing method performs correlation calculations on all frequency points, which is highly complex and wastes a lot of calculation cost and time

Method used

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  • Method for positioning sound source by robot
  • Method for positioning sound source by robot
  • Method for positioning sound source by robot

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Embodiment Construction

[0084] image 3 Shown the realization technology step of the present invention, concrete process is as follows:

[0085] 1. The microphones in the microphone array respectively collect and preprocess the sound source signal, convert the signal into a digital signal, and store it.

[0086] 2. Carry out the endpoint detection of the effective audio signal on the signal collected in 1. In this example, the audio endpoint detection is performed. If there is an effective audio signal, the sound source localization operation will be started. If there is no effective audio signal, the positioning will not be performed. operation. And the collected effective audio signal data is processed in the time domain by frame division, that is, every time a certain amount of data (data with a frame size) is collected, a sound source localization operation is performed.

[0087] A valid audio signal is determined based on the frequency range of the sound source. Taking the human voice positio...

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Abstract

The invention discloses a method for positioning a sound source by a robot. The method comprises the following steps of: 1) the robot collects sound source signals by using at least a pair of microphones and converts the signals into digital signals for storage; and 2) sound source positioning calculation is carried out on the stored digital signals through improved weighing cross-correlation calculation. In the method provided by the invention, a weighing function in the cross-correlation calculation is improved, thereby reducing influence of interference factors such as background noise, reverberation and the like and improving positioning accuracy. Furthermore, the microphones are easy to arrange so that the corresponding positioning effect can be achieved by arranging a smaller number of microphone pairs.

Description

technical field [0001] The invention relates to an audio processing technology applied in the field of robots, in particular to a sound source localization method for robots. It belongs to the field of information technology. Background technique [0002] In the robot's perception system of the surrounding environment, visual perception and auditory perception are the two most important sources of information. The biggest advantage of auditory perception over visual perception system is that the amount of data is small, so the requirements for the computing power of the robot computer are lower, and it is easier to apply to the field of mobile robots. With the development of science and technology, the application of audio technology in the field of robots, in addition to the well-known human-computer interaction based on speech recognition systems, sound source localization technology has also become a popular research direction, especially for automatic robots. Its core ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/30
Inventor 刘宏沈苗李晓飞
Owner PEKING UNIV
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