声源搜索智能机器人设计学士学位论文.doc

声源搜索智能机器人设计
摘要
声源搜索智能机器人将移动机器人技术和声源搜索技术有机地融合起来,实现对声源的自动搜索,近年来已成为国内外的研究热点之一。作为智能移动机器人的一个特殊应用,从技术层面上讲,声源搜索智能机器人比较具体地体现了移动机器人的多项关键技术,具有较强的代表性。从市场前景角度讲,声源搜索系统被广泛应用于电话会议、视频会议等系统中等等。因此开发声源搜索系统既具有科研上的挑战性,又具有广阔的市场前景。
本文在研究了基于麦克风阵列声源搜索技术的基础上,提出了基于麦克风阵列声源搜索模型,最后设计了声源搜索模块的硬件电路,该硬件电路实现了对多个麦克风通道进行同步采样,并给出了详细的电路设计方案。此外,以STC12C5A60S2单片机作为智能搜索机器人的检测和控制核心,小车上方以120度夹角安装的三个声音传感器将采集到的声音信号送到单片机进行处理。电机驱动模块L298N通过使电机正转﹑反转和停止实现小车的移动。通过一定的声源搜索算法,使声源搜索智能小车逐步靠近声源,直到成功找到声源并由发光二极管与蜂鸣器实现声光报警提示。
实验表明,根据遗传算法设计的壁障算法可以控制机器人实现避开声源搜索路径上的障碍物障碍物,达到向着声源的方向逐步行进的目的。
关键词声源搜索;移动机器人;声音传感器
The design of intelligent robot for source search
Abstract
Intelligent robot for sound source search unite the sound source search technology and anic fusion together to achieve the automatic search of the sound source has been received domestic and foreign research attention in recent years.
From a technical perspective, as a special application of intelligent mobile robot, the Intelligent robot for sound source search more specifically reflect the number of key technologies of mobile robots and has a strong representation. From the perspective of market prospects, the sound source search system is widely used in teleconferencing, video conferencing systems. Therefore, the development of independent research on sound source search system not only has research challenges, but also has a broad market prospect.
First this paper gives the hardware design of sound source search module based on microphone array. The hardware circuit is designed to realize the synchronous sampling of multiple microphone channel and gave the circuit design program in detail. In addition, STC12C5A60S2 microcontroller as the core of detection and control of intelligent search robot, three sound sensors installed above the car at 120 degree angle to collect the sound signal for SCM processing. The motor drive module L298N makes the motor forward, reverse and stop. Through the sound source of search algorithm, the sound source search intell