Research And Implementation Of Robot Sound Source Localization System Based On TDOA

With the further improvement of robot intelligence,more and more robots have entered schools and homes,and the rapid development of artificial intelligence voice interaction technology has gradually attracted people's attention.The robot uses the auditory system to communicate intelligently,concisely,efficiently and naturally with the user,but in the process of acquiring the voice signal,it will be more or less interfered by factors such as indoor environmental noise or reverberation.In order to solve the problem of low positioning accuracy and poor real-time performance of sound source localization system in complex noise and reverberation environment,this paper has conducted in-depth research on the problem of robot sound source localization based on the time difference of sound arrival.In this paper,a quaternary cross-array sound source localization system based on the extended array of Re Speaker4-Mic as the core array is designed,and the artificial head of the robot is designed.By transplanting the sound source localization array to the simulated robot's head,the educational robot hearing is realized The sound source localization in the system and the function of the robot head turning to the sound source direction have been tested to achieve the desired positioning effect.The main work of this article is as follows:(1)The research background and significance of the paper are discussed,and the research situation of sound source localization technology in China and other countries is combed.According to the characteristics of indoor environmental noise,some preprocessing methods are introduced,and the sound signal preprocessing is improved,the effect of voice signal preprocessing is improved,and the working efficiency of the system is improved.(2)Several traditional positioning methods based on delay estimation are introduced,including generalized cross-correlation delay estimation algorithm and quadratic correlation delay estimation algorithm.Based on the existing generalized quadratic correlation algorithm,the generalized two The sub-correlation algorithm was improved,and the positioning performance of the improved algorithm was verified through MATLAB simulation experiments.(3)Established a sound source localization system based on the time difference of sound arrival(TDOA),introduced the platform composition of the system,and introduced the main software and hardware structure of the system in detail.The effects of sampling frequency and sound source distance on positioning accuracy are analyzed in detail through experiments.Finally,experiments are used to verify the localization performance of the improved sound source localization algorithm.(4)The work of this article is summarize,analyzed and prospected.Summarize the research work of this article,analyze the problems encountered in the process of practice,point out the shortcomings of the system,propose corresponding solutions,and introduce the follow-up research directions and work arrangements.