WO2005076660A1 - 超指向性スピーカ搭載型移動体 - Google Patents
超指向性スピーカ搭載型移動体 Download PDFInfo
- Publication number
- WO2005076660A1 WO2005076660A1 PCT/JP2005/002043 JP2005002043W WO2005076660A1 WO 2005076660 A1 WO2005076660 A1 WO 2005076660A1 JP 2005002043 W JP2005002043 W JP 2005002043W WO 2005076660 A1 WO2005076660 A1 WO 2005076660A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sound
- super
- signal
- directional speaker
- ultrasonic
- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 8
- 230000005236 sound signal Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 32
- 238000005259 measurement Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 13
- 238000012545 processing Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 239000000284 extract Substances 0.000 description 5
- 238000000605 extraction Methods 0.000 description 5
- 238000011156 evaluation Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 101100008044 Caenorhabditis elegans cut-1 gene Proteins 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R3/00—Circuits for transducers, loudspeakers or microphones
- H04R3/12—Circuits for transducers, loudspeakers or microphones for distributing signals to two or more loudspeakers
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/20—Speech recognition techniques specially adapted for robustness in adverse environments, e.g. in noise, of stress induced speech
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/403—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers loud-speakers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2217/00—Details of magnetostrictive, piezoelectric, or electrostrictive transducers covered by H04R15/00 or H04R17/00 but not provided for in any of their subgroups
- H04R2217/03—Parametric transducers where sound is generated or captured by the acoustic demodulation of amplitude modulated ultrasonic waves
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2430/00—Signal processing covered by H04R, not provided for in its groups
- H04R2430/01—Aspects of volume control, not necessarily automatic, in sound systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R5/00—Stereophonic arrangements
- H04R5/027—Spatial or constructional arrangements of microphones, e.g. in dummy heads
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04S—STEREOPHONIC SYSTEMS
- H04S7/00—Indicating arrangements; Control arrangements, e.g. balance control
- H04S7/30—Control circuits for electronic adaptation of the sound field
- H04S7/302—Electronic adaptation of stereophonic sound system to listener position or orientation
- H04S7/303—Tracking of listener position or orientation
Definitions
- a robot equipped with an audiovisual system includes, for example, one disclosed in Patent Document 2.
- This mobile auditory vision system enables real-time processing for performing visual and auditory tracking of an object.
- this system also discloses a technology that integrates sensor information such as vision, hearing, and motor to continue tracking by complementing each other even if some information is missing.
- a loudspeaker with low directivity outputs so that a voice reaches a partner with whom the user interacts, so that the output power is higher than the power of motor noise. Since the voice output from the robot side becomes noise when recognizing the voice of the other party, the signal-to-noise (SZN) ratio becomes small as a result, and voice recognition becomes difficult. For this reason, in the past, the voice of the other party was recognized by turning off the hearing function during utterance or by placing a microphone at the mouth of the speaker using a headset that does not use the microphone of the robot.
- SZN signal-to-noise
- a moving body with a super-directional speaker includes a sound level adjusting means for adjusting a sound level transmitted from a radiator, and a reflected wave of an ultrasonic wave output from an ultrasonic vibration element on an object. And a distance detecting means for measuring a distance to the object based on the received signal. The sound level adjusting means adjusts the sound level according to the output of the distance detecting means. With this configuration, audio information can be transmitted at an optimal volume in consideration of the distance to the object.
- a modulator that emits an ultrasonic wave according to the size of an audio signal is required. Since this modulator can extract the signal of the modulation process faithfully and can easily perform fine adjustment, an envelope modulator for digital processing can be used. It is suitable.
- Figure 7 shows the results of actually measuring the directivity of the super-directional speaker and the omni-directional speaker.
- the upper part of FIG. 7 is a contour diagram of the sound pressure level of the sound propagating in the air, and the lower part is a diagram showing the measured values of the sound pressure level.
- the omnidirectional speaker spreads out as shown in Fig. 7 (a) and can be heard in the surrounding space.
- the sound of the super-directional speaker propagates intensively in front.
- the super-directional speaker uses the ultrasonic wave as the carrier, the directivity is very high. As a result, a whisper function of transmitting voice only to a specific partner can be realized.
- the super-directional speaker and the omni-directional speaker with optimal gain control both have the same sound output level at the position of the sound source speaker 52 (both 62 dBA). It is. However, as shown in FIG. 12, there is a large difference in the isolated word recognition rate, which is at most 40% or more (when the sound output of the sound source speaker 52 is 80 dBA). At the position of the sound source speaker 52, the output of the super-directional speaker (70dBA) without gain control is larger than the output of the non-directional speaker (62dBA). Has a higher isolated word recognition rate. Thus, when constructing a speech device that realizes the simultaneous conversation function, it can be seen that the super-directional speaker has better performance than the non-directional speaker.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/588,816 US7424118B2 (en) | 2004-02-10 | 2005-02-10 | Moving object equipped with ultra-directional speaker |
EP05710095A EP1720374B1 (en) | 2004-02-10 | 2005-02-10 | Mobile body with superdirectivity speaker |
JP2005517824A JPWO2005076660A1 (ja) | 2004-02-10 | 2005-02-10 | 超指向性スピーカ搭載型移動体 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004033966 | 2004-02-10 | ||
JP2004-033966 | 2004-02-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005076660A1 true WO2005076660A1 (ja) | 2005-08-18 |
Family
ID=34836157
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/002043 WO2005076660A1 (ja) | 2004-02-10 | 2005-02-10 | 超指向性スピーカ搭載型移動体 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7424118B2 (ja) |
EP (1) | EP1720374B1 (ja) |
JP (1) | JPWO2005076660A1 (ja) |
WO (1) | WO2005076660A1 (ja) |
Cited By (14)
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JP2007160440A (ja) * | 2005-12-12 | 2007-06-28 | Honda Motor Co Ltd | 脚式移動ロボットの制御装置 |
EP1747824A4 (en) * | 2004-05-18 | 2008-11-26 | Kuniomi Araki | SMOKING / BUBULAR VOLUME REDUCTION PROCESSING METHOD AND APPARATUS THEREFOR |
WO2008146565A1 (ja) * | 2007-05-30 | 2008-12-04 | Nec Corporation | 音源方向検出方法、装置及びプログラム |
JP2009192942A (ja) * | 2008-02-15 | 2009-08-27 | Toshiba Corp | 音声対話装置及び支援方法 |
JP2010156741A (ja) * | 2008-12-26 | 2010-07-15 | Yamaha Corp | サービス提供装置 |
JP2011189439A (ja) * | 2010-03-12 | 2011-09-29 | Honda Motor Co Ltd | ロボット、ロボット制御方法およびプログラム |
WO2012001954A1 (ja) * | 2010-06-30 | 2012-01-05 | Necカシオモバイルコミュニケーションズ株式会社 | 発振装置および電子機器 |
JP2012029094A (ja) * | 2010-07-23 | 2012-02-09 | Nec Casio Mobile Communications Ltd | 携帯端末装置 |
JP2012029093A (ja) * | 2010-07-23 | 2012-02-09 | Nec Casio Mobile Communications Ltd | 携帯端末装置 |
JP2012038136A (ja) * | 2010-08-09 | 2012-02-23 | Tabuchi Electric Co Ltd | 電動車両および該電動車両の走行制御システム |
WO2012060043A1 (ja) * | 2010-11-01 | 2012-05-10 | Necカシオモバイルコミュニケーションズ株式会社 | 電子装置 |
JP2014083658A (ja) * | 2012-10-25 | 2014-05-12 | Panasonic Corp | 音声エージェント装置、及びその制御方法 |
JP2017164871A (ja) * | 2016-03-18 | 2017-09-21 | 株式会社国際電気通信基礎技術研究所 | 人型ロボットシステム |
JP2018149625A (ja) * | 2017-03-13 | 2018-09-27 | 大日本印刷株式会社 | コミュニケーションロボット、プログラム及びシステム |
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- 2005-02-10 JP JP2005517824A patent/JPWO2005076660A1/ja active Pending
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Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1747824A4 (en) * | 2004-05-18 | 2008-11-26 | Kuniomi Araki | SMOKING / BUBULAR VOLUME REDUCTION PROCESSING METHOD AND APPARATUS THEREFOR |
JP2007160440A (ja) * | 2005-12-12 | 2007-06-28 | Honda Motor Co Ltd | 脚式移動ロボットの制御装置 |
WO2008146565A1 (ja) * | 2007-05-30 | 2008-12-04 | Nec Corporation | 音源方向検出方法、装置及びプログラム |
JP2009192942A (ja) * | 2008-02-15 | 2009-08-27 | Toshiba Corp | 音声対話装置及び支援方法 |
JP2010156741A (ja) * | 2008-12-26 | 2010-07-15 | Yamaha Corp | サービス提供装置 |
US8639511B2 (en) | 2010-03-12 | 2014-01-28 | Honda Motor Co., Ltd. | Robot, method and program of correcting a robot voice in accordance with head movement |
JP2011189439A (ja) * | 2010-03-12 | 2011-09-29 | Honda Motor Co Ltd | ロボット、ロボット制御方法およびプログラム |
WO2012001954A1 (ja) * | 2010-06-30 | 2012-01-05 | Necカシオモバイルコミュニケーションズ株式会社 | 発振装置および電子機器 |
US9185495B2 (en) | 2010-06-30 | 2015-11-10 | Nec Corporation | Oscillation device and electronic apparatus |
JP5682973B2 (ja) * | 2010-06-30 | 2015-03-11 | Necカシオモバイルコミュニケーションズ株式会社 | 発振装置および電子機器 |
JP2012029093A (ja) * | 2010-07-23 | 2012-02-09 | Nec Casio Mobile Communications Ltd | 携帯端末装置 |
JP2012029094A (ja) * | 2010-07-23 | 2012-02-09 | Nec Casio Mobile Communications Ltd | 携帯端末装置 |
JP2012038136A (ja) * | 2010-08-09 | 2012-02-23 | Tabuchi Electric Co Ltd | 電動車両および該電動車両の走行制御システム |
WO2012060043A1 (ja) * | 2010-11-01 | 2012-05-10 | Necカシオモバイルコミュニケーションズ株式会社 | 電子装置 |
JP2014083658A (ja) * | 2012-10-25 | 2014-05-12 | Panasonic Corp | 音声エージェント装置、及びその制御方法 |
JP2017164871A (ja) * | 2016-03-18 | 2017-09-21 | 株式会社国際電気通信基礎技術研究所 | 人型ロボットシステム |
JP2018149625A (ja) * | 2017-03-13 | 2018-09-27 | 大日本印刷株式会社 | コミュニケーションロボット、プログラム及びシステム |
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EP1720374A1 (en) | 2006-11-08 |
EP1720374B1 (en) | 2011-10-12 |
JPWO2005076660A1 (ja) | 2008-01-10 |
EP1720374A4 (en) | 2008-10-15 |
US7424118B2 (en) | 2008-09-09 |
US20070172076A1 (en) | 2007-07-26 |
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