搜索
哈尔滨理工大学学士学位论文I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；声音传感器哈尔滨理工大学学士学位论文IIThedesignofintelligentrobotforsourcesearchAbstractIntelligentrobotforsoundsourcesearchunitethesoundsourcesearchtechnologyandroboticsorganicfusiontogethertoachievetheautomaticsearchofthesoundsourcehasbeenreceiveddomesticandforeignresearchattentioninrecentyears.Fromatechnicalperspective,asaspecialapplicationofintelligentmobilerobot,theIntelligentrobotforsoundsourcesearchmorespecificallyreflectthenumberofkeytechnologiesofmobilerobotsandhasastrongrepresentation.Fromtheperspectiveofmarketprospects,thesoundsourcesearchsystemiswidelyusedinteleconferencing,videoconferencingsystems.Therefore,thedevelopmentofindependentresearchonsoundsourcesearchsystemnotonlyhasresearchchallenges,butalsohasabroadmarketprospect.Firstthispapergivesthehardwaredesignofsoundsourcesearchmodulebasedonmicrophonearray.Thehardwarecircuitisdesignedtorealizethesynchronoussamplingofmultiplemicrophonechannelandgavethecircuitdesignprogramindetail.Inaddition,STC12C5A60S2microcontrollerasthecoreofdetectionandcontrolofintelligentsearchrobot,threesoundsensorsinstalledabovethecarat120degreeangletocollectthesoundsignalforSCMprocessing.ThemotordrivemoduleL298Nmakesthemotorforward,reverseandstop.Throughthesoundsourceofsearchalgorithm,thesoundsourcesearchintelligentcargraduallyclosetothesoundsourceuntilsuccessfoundthesoundsourceandalightemittingdiodeandabuzzertoachievesoundandlightalarm.Experimentsshowthatthebarrieralgorithmbasedongeneticalgorithmcancontroltheintelligentrobottoavoidobstaclesinthepathofsearchingsound哈尔滨理工大学学士学位论文IIIsourceandreachthepurposesthatthecarmovinggraduallytowardthedirectionofthesoundsource.Keywordssoundsourcesearch;mobilerobot;soundsensor哈尔滨理工大学学士学位论文IV目录摘要.....................................................................................................................IAbstract................................................................................................................II第1章绪论......................................................................................................11.1课题研究的目的和意义........................................................................11.2声源搜索机器人国内外发展现状........................................................21.2.1国外发展现状..............................................................................21.2.2国内发展现状..............................................................................31.2.3未来声源搜索机器人的研究方向..............................................31.3论文研究的内容....................................................................................4第2章系统总体结构及声源搜索模块设计....................................................52.1系统总体结构........................................................................................52.1.1系统功能框图...............................................................................52.1.2系统各模块功能实现原理及方法..............................................52.2声源搜索技术与方案论证....................................................................62.2.1声源搜索技术..............................................................................62.2.2声源搜索方案论证......................................................................62.2.3方案选择......................................................................................82.3声源搜索模块电路设计........................................................................82.3.1设计思想......................................................................................82.3.2声源搜索模块基本组成和逻辑结构..........................................92.3.3声源搜索模块硬件设计..............................................................92.4本章小结..............................................................................................17第3章移动单元硬件设计..............................................................................183.1控制模块的设计..................................................................................183.1.1STC12C5A60S2的特性.............................................................183.1.2单片机最小系统设计................................................................183.2避障模块设计......................................................................................193.2.1避障模块电路原理图................................................................203.2.2超声波测距模块特点................................................................213.3电机驱动模块设计..............................................................................213.3.1驱动模块的功能........................................................................213.3.2电机驱动方案...................