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机器人拥有听声辩位能力是机器人智能化的重要表现。研究机器人声源定位具有广泛的应用前景。对于基于双耳听觉的声源定位,文中根据听觉系统中的“双耳效应”及“耳廓效应”等线索进行定位,首先建立了拟人机器人头部模型,通过头部转动实现前后方位的判定。其次,运用时间差(ITD)算法模型和声级差(ILD)算法模型分别实现了信号的水平方位的定位。并且应用互相关算法进行信号时延的估算。最后根据耳廓效应,根据频谱的变化实现了垂直方位的定位。本文通过定位算法编写程序,并且通过输入的声源信号实现声源方位的确定及误差分析。
Robots have the ability to listen to the sound of the robot intelligence is an important manifestation. Research robot sound source positioning has a wide range of applications. For binaural sound source localization, the paper locates according to clues such as “binaural effect ” and “pinna effect ” in the auditory system. Firstly, a head model of the humanoid robot is established and the head is rotated Before and after the position of the judge. Secondly, using the time difference (ITD) algorithm model and the sound level difference (ILD) algorithm model to achieve the horizontal orientation of the signal. And the application of cross-correlation algorithm for signal delay estimation. Finally according to the auricle effect, according to the change of the spectrum to achieve the positioning of the vertical orientation. This article through the positioning algorithm to write programs, and through the input signal to achieve the source sound source to determine the position and error analysis.