Design and Implementation of Sound Searching Robots in Wireless Sensor Networks

摘要

A sound target-searching robot system which includes a 4-channel microphone array for sound collection, magneto-resistive sensor for declination measurement, and a wireless sensor networks (WSN) for exchanging information is described. It has an embedded sound signal enhancement, recognition and location method, and a sound searching strategy based on a digital signal processor (DSP). As the wireless network nodes, three robots comprise the WSN a personal computer (PC) in order to search the three different sound targets in task-oriented collaboration. The improved spectral subtraction method is used for noise reduction. As the feature of audio signal, Mel-frequency cepstral coefficient (MFCC) is extracted. Based on the K-nearest neighbor classification method, we match the trained feature template to recognize sound signal type. This paper utilizes the improved generalized cross correlation method to estimate time delay of arrival (TDOA), and then employs spherical-interpolation for sound location according to the TDOA and the geometrical position of the microphone array. A new mapping has been proposed to direct the motor to search sound targets flexibly. As the sink node, the PC receives and displays the result processed in the WSN, and it also has the ultimate power to make decision on the received results in order to improve their accuracy. The experiment results show that the designed three-robot system implements sound target searching function without collisions and performs well.