BR112016007215A2 - processo de localização de uma fonte sonora e robô humanoide utilizando tal processo - Google Patents

processo de localização de uma fonte sonora e robô humanoide utilizando tal processo

Info

Publication number
BR112016007215A2
BR112016007215A2 BR112016007215-4A BR112016007215A BR112016007215A2 BR 112016007215 A2 BR112016007215 A2 BR 112016007215A2 BR 112016007215 A BR112016007215 A BR 112016007215A BR 112016007215 A2 BR112016007215 A2 BR 112016007215A2
Authority
BR
Brazil
Prior art keywords
ensemble
source
localization
sound source
microphones
Prior art date
Application number
BR112016007215-4A
Other languages
English (en)
Inventor
Rump Grégory
Original Assignee
Aldebaran Robotics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aldebaran Robotics filed Critical Aldebaran Robotics
Publication of BR112016007215A2 publication Critical patent/BR112016007215A2/pt

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/8083—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems determining direction of source

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Circuit For Audible Band Transducer (AREA)
  • Manipulator (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

processo de locali zação de uma fonte sonora e robô humanoi de uti li zando tal processo procédé de localisation d’une source sonore par maximisation d’une puissance de réponse dirigée calculée pour une pluralité de vecteurs des différences de temps interauriculaires formant un ensemble (e) qui comprend : un premier sousensemble (e1) de vecteurs compatibles avec des signaux sonores provenant d’une source sonore unique à distance infinie desdits microphones ; et un deuxième sous-ensemble (e2) de vecteurs qui ne sont pas compatibles avec des signaux sonores provenant d’une source unique à distance infinie desdits microphones, chaque vecteur dudit premier sousensemble étant associé à une direction de localisation de la source sonore unique correspondante, et chaque vecteur dudit deuxième sous-ensemble étant associé à la direction de localisation associée à un vecteur dudit premier sous-ensemble qui lui est plus proche selon une métrique prédéfinie. robot humanoïde comprenant : un ensemble d’au moins trois microphones (m1, m2, m3, m4), agencés de préférence sur une surface supérieure de sa tête ; et un processeur (pr) pour mettre en oeuvre un tel procédé.
BR112016007215-4A 2013-10-01 2014-09-29 processo de localização de uma fonte sonora e robô humanoide utilizando tal processo BR112016007215A2 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1359515 2013-10-01
FR1359515A FR3011377B1 (fr) 2013-10-01 2013-10-01 Procede de localisation d'une source sonore et robot humanoide utilisant un tel procede
PCT/EP2014/070783 WO2015049199A1 (fr) 2013-10-01 2014-09-29 Procede de localisation d'une source sonore et robot humanoide utilisant un tel procede

Publications (1)

Publication Number Publication Date
BR112016007215A2 true BR112016007215A2 (pt) 2018-01-23

Family

ID=50023689

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112016007215-4A BR112016007215A2 (pt) 2013-10-01 2014-09-29 processo de localização de uma fonte sonora e robô humanoide utilizando tal processo

Country Status (11)

Country Link
US (1) US10222447B2 (pt)
EP (1) EP3052958B1 (pt)
JP (1) JP6521954B2 (pt)
CN (1) CN106030331B (pt)
AU (1) AU2014331210B2 (pt)
BR (1) BR112016007215A2 (pt)
CA (1) CA2925934C (pt)
FR (1) FR3011377B1 (pt)
MX (1) MX2016004207A (pt)
RU (1) RU2642157C2 (pt)
WO (1) WO2015049199A1 (pt)

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KR102392113B1 (ko) * 2016-01-20 2022-04-29 삼성전자주식회사 전자 장치 및 전자 장치의 음성 명령 처리 방법
CN107340498A (zh) * 2016-05-03 2017-11-10 深圳光启合众科技有限公司 机器人及声源位置的确定方法和装置
CN107071652B (zh) * 2016-12-27 2023-08-04 深圳市优必选科技有限公司 一种服务机器人
CN106842111B (zh) * 2016-12-28 2019-03-29 西北工业大学 基于传声器镜像的室内声源定位方法
JP6976131B2 (ja) 2017-10-16 2021-12-08 三菱重工サーマルシステムズ株式会社 空調システム及び空調制御方法
US11565365B2 (en) * 2017-11-13 2023-01-31 Taiwan Semiconductor Manufacturing Co., Ltd. System and method for monitoring chemical mechanical polishing
CN108962263B (zh) * 2018-06-04 2019-09-20 百度在线网络技术（北京）有限公司 一种智能设备控制方法及系统
CN110716177B (zh) * 2019-10-22 2022-09-09 哈尔滨工程大学 分布式声学定位网络中多目标分类方法
CN112438660A (zh) * 2020-09-23 2021-03-05 深圳市修远文化创意有限公司 一种基于扫地机器人的语音定位方法及相关装置
CN112526452A (zh) * 2020-11-24 2021-03-19 杭州萤石软件有限公司 声源检测方法、云台摄像机、智能机器人及存储介质
CN112379330B (zh) * 2020-11-27 2023-03-10 浙江同善人工智能技术有限公司 一种多机器人协同的3d声源识别定位方法

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Also Published As

Publication number Publication date
RU2016116896A (ru) 2017-11-10
FR3011377B1 (fr) 2015-11-06
CN106030331B (zh) 2019-12-24
FR3011377A1 (fr) 2015-04-03
CA2925934A1 (fr) 2015-04-09
AU2014331210B2 (en) 2017-08-10
EP3052958B1 (fr) 2019-11-20
JP2016537622A (ja) 2016-12-01
CN106030331A (zh) 2016-10-12
WO2015049199A1 (fr) 2015-04-09
JP6521954B2 (ja) 2019-05-29
MX2016004207A (es) 2017-08-16
CA2925934C (fr) 2020-07-28
AU2014331210A1 (en) 2016-05-19
US10222447B2 (en) 2019-03-05
EP3052958A1 (fr) 2016-08-10
US20160274212A1 (en) 2016-09-22
RU2642157C2 (ru) 2018-01-24

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Legal Events

Date Code Title Description
B06F Objections, documents and/or translations needed after an examination request according art. 34 industrial property law
B06U Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure
B11B Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements