基于声源定位的智能小车控制系统设计与实现

Design and implementation of intelligent car control system based on sound source localization

文章以智能小车为载体,讨论声源定位技术在实际应用中的设计方案和实现。系统采用TC264微控制器作为主控芯片,采用麦克风、FM接收模块、红外测距模块等多种传感器,实现不同环境场内Chirp信号音源的寻找,并采用二倍插值互相关等方法,计算不同麦克风的到达时间差以及小车和声源的距离,完成定位。在音频数据量较大的情况下,文章以200 ms周期进行声源定位,辅助卡尔曼滤波,以5 ms控制周期完成控制,保证控制的实时性;在路径规划与速度分配方面,文章对小车运行路径做出合理规划,使其能够以较优的路径完成定位并躲避障碍物。

In this design, the intelligent car is used as the carrier to discuss the design scheme and implementation of sound source localization technology in practical applications. The system uses TC264 microcontroller as the main control chip, and uses a variety of sensors such as microphone, FM receiver module, infrared ranging module, etc. to realize the search for Chirp signal sound sources in different environments. The arrival time difference of the microphone and the distance between the car and the sound source complete the positioning. In the case of a large amount of audio data, the sound source localization is performed with a cycle of 200 ms, the Kalman filter is assisted,and the control is completed with a control cycle of 5 ms to ensure the real-time control. Reasonable planning enables it to locate and avoid obstacles in an optimal path.