文档介绍：毕业设计说明书(论文)
题目: 基于等边三角形麦克风列阵的
平面声源定位建模与仿真
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基于等边三角形麦克风列阵的平面声源定位建模与仿真
摘要
随着科学技术的不断发展,以及相关学科的相互渗透,机器人系统正在向着智能化的方向不断发展。机器人听觉系统同视觉系统一起都是智能机器人的重要标志,通过听觉系统可以实现人机交互、机器人与环境交互。在实际环境下,声音具有可以绕过障碍物的性质,因此可以使听觉与机器人视觉、嗅觉等感官相配合,弥补其它传感器视场有限且不能穿过非透光障碍物的局限。因此,利用声信号处理机制对声源定位技术进行基础性研究,并将其应用于机器人声源目标定位中,是目前智能机器人应用的现实需求,并且声源定位技术在服务机器人领域必然具有广阔的应用前景。
本课题通过对麦克风阵列的设计,建立了一种基于仿生学方法的移动机器人听觉系统模型;然后采用基于声音到达时间差的方法实现对特定声源方向的测定。
主要内容包括以下几个部分:
关键词:机器人听觉,声源定位,声达时间差
MODELING AND SIMULATION OD BEAMFORMER BASED ON THE PLANE EQUILATERAL TRIANGLE MICROPHONE ARRAY
ABSTRACT
With the development of science and technology and mutual infiltration of related disciplines, robot system is moving towards to the direction of development and Intelligence. Robot vision system together with auditory system is an important symbol of intelligent robot, so robot can realize human-machine interactions and robot-environment interactions through the auditory system. In the actual circumstances, as the sound can bypass the obstruction, hearing can be made with the robot vision, sense of smell and so on to make up for the limited field of view and the limitation cannot pass through the barrier of non-transparency for other sensors. Therefore, through the basic research of beamformer technology by using the acoustic signal processing mechanism, we can apply it to the robot goal orientation, because it is the realistic demand of currently intelligent robot applications, at the same time, beamformer technology in service robot field must have broad application prospects.
This text contains the subjects as following:
1. The basic principle of planar beamformer
2. The introduction of MATLAB software and the application of work
3. Simulation and analysis of the results
Keywords:robot audition, sound location, TDOA
目次
1绪论 1
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2平面声源定位的基本原理 4
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