CN104977564A - Microphone array for household intelligent robot based artificial intelligence - Google Patents
Microphone array for household intelligent robot based artificial intelligence Download PDFInfo
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- CN104977564A CN104977564A CN201510401002.6A CN201510401002A CN104977564A CN 104977564 A CN104977564 A CN 104977564A CN 201510401002 A CN201510401002 A CN 201510401002A CN 104977564 A CN104977564 A CN 104977564A
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a microphone array for a household intelligent robot based artificial intelligence. The microphone array is arranged in the household intelligent robot and comprises at least two layers of microphones. Each layer of microphones are parallel to the chassis of the household intelligent robot, and the distance between adjacent two microphone is less than or equal to a preset value. The microphone array is suitable for a household intelligent robot.
Description
Technical field
The present invention relates to field of artificial intelligence, particularly relate to a kind of home-use intelligent robot based on artificial intelligence microphone array and based on the sound localization method of the home-use intelligent robot of artificial intelligence and device.
Background technology
The technological sciences that artificial intelligence (Artificial Intelligence, AI) is research, develop the theory of intelligence for simulating, extending and expand people, method, application system one new.Artificial intelligence is a branch of computer science, the essence of intelligence is understood in its attempt, and produce a kind of intelligent machine can made a response in the mode that human intelligence is similar newly, the research in this field comprises intelligent robot, speech recognition, image recognition, natural language processing and expert system etc.
Microphone array arrangement research is now mainly as the support study dies of auditory localization algorithm.Main research direction is the effect that microphone array is listed in that large-scale intelligent robot carries out auditory localization.Arrangement mode causes more rough due to the size of intelligent robot, mostly is and empirically distributes.But heavy-duty machines people is also not suitable for family's use, research is needed to be applicable to the microphone arrangement solution of home-use intelligent robot.
Summary of the invention
The present invention is intended to solve one of technical matters in correlation technique at least to a certain extent.
For this reason, one object of the present invention is the microphone array proposing a kind of home-use intelligent robot based on artificial intelligence, and this microphone array goes for home-use intelligent robot.
Another object of the present invention is the sound localization method proposing a kind of home-use intelligent robot based on artificial intelligence, and the method goes for the auditory localization based on microphone array of home-use intelligent robot.
Another object of the present invention is the sound source locating device proposing a kind of home-use intelligent robot based on artificial intelligence.
For achieving the above object, the microphone array of the home-use intelligent robot based on artificial intelligence that first aspect present invention embodiment proposes, described microphone array is arranged on the inside of home-use intelligent robot, described microphone array comprises: at least two-layer microphone, and the plane at the microphone place of every layer is all parallel with the chassis of home-use intelligent robot; And the distance between two adjacent microphones is less than or equal to preset value.
The microphone array of the home-use intelligent robot based on artificial intelligence that first aspect present invention embodiment proposes, by arranging at least two-layer microphone, and the distance between adjacent two microphones is no more than preset value, goes for home-use intelligent robot.
For achieving the above object, the sound localization method of the home-use intelligent robot based on artificial intelligence that second aspect present invention embodiment proposes, comprising: obtain the voice signal that microphone array is collected; Amplification process is carried out to described voice signal; According to the voice signal amplified after process, carry out auditory localization; Wherein, described in described any one of microphone array first aspect embodiment.
The sound localization method of the home-use intelligent robot based on artificial intelligence that second aspect present invention embodiment proposes, carries out amplification process by the acoustic information collected microphone array, can meet the precise requirements of home-use intelligent robot.
For achieving the above object, the sound source locating device of the home-use intelligent robot based on artificial intelligence that third aspect present invention embodiment proposes, comprising: acquisition module, for obtaining the voice signal that microphone array is collected; Amplification module, for carrying out amplification process to described voice signal; Locating module, for according to the voice signal amplified after process, carries out auditory localization; Wherein, described microphone array is as described in any one of first aspect embodiment.
The sound source locating device of the home-use intelligent robot based on artificial intelligence that third aspect present invention embodiment proposes, carries out amplification process by the acoustic information collected microphone array, can meet the precise requirements of home-use intelligent robot.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:
Fig. 1 is the structural representation of the microphone array of the home-use intelligent robot based on artificial intelligence that one embodiment of the invention proposes;
Fig. 2 a is that microphone array in the embodiment of the present invention arranges schematic diagram on the frontal of home-use intelligent robot;
Fig. 2 b is that the microphone array in the embodiment of the present invention arranges schematic diagram on the reverse side direction of home-use intelligent robot;
Fig. 3 is the schematic flow sheet of the sound localization method of the home-use intelligent robot based on artificial intelligence that another embodiment of the present invention proposes;
Fig. 4 is the structural representation of the sound source locating device of the home-use intelligent robot based on artificial intelligence that another embodiment of the present invention proposes.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar module or has module that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.On the contrary, embodiments of the invention comprise fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.
Fig. 1 is the structural representation of the microphone array of the home-use intelligent robot based on artificial intelligence that one embodiment of the invention proposes.Home-use intelligent robot typically refers to the intelligent robot being highly less than 30 centimetres.
If arranged according to the microphone array of existing large-scale intelligent robot, by outside for body surface microphone array being arranged in home-use intelligent robot.
And in the present embodiment, microphone array is arranged on the inside of home-use intelligent robot.
This microphone array comprises:
At least two-layer microphone, and the plane at the microphone place of every layer is all parallel with the chassis of home-use intelligent robot; And,
Distance between two adjacent microphones is less than or equal to preset value.
See Fig. 1, comprise two-layer microphone for microphone array 10, ground floor microphone is positioned in the first plane 11, and second layer microphone is positioned in the second plane 12.Wherein, the microphone in figure represents with circle.
Wherein, the microphone on every layer can adopt the modes such as hardware support to be arranged on the inside of home-use intelligent robot.
In addition, on the body surface of home-use intelligent robot, the position corresponding to microphone can arrange air vent, to catch voice signal.
Will for two-layer microphone in subsequent embodiment, wherein the plane at ground floor microphone place is called the first plane, and second layer microphone place plane is called the second plane.
In some embodiments, the number of described ground floor microphone and the number of described second layer microphone are 4.Thus composition has the microphone array of 8 microphones.
Such as, see Fig. 2 a and Fig. 2 b, four can be seen respectively at the pro and con of home-use intelligent robot.
In some embodiments, the described ground floor microphone composition length of side is the square of first length of side, and the described second layer microphone composition length of side is the square of second length of side; Wherein, the microphone of every layer is positioned at the foursquare summit of equivalent layer.
Such as, 4 microphones of every layer lay respectively at foursquare four summits place of 4 microphone compositions of this layer.
In some embodiments, described first length of side and described second length of side are all 10 centimetres.
Such as, see Fig. 2 a, the first microphone 211 in ground floor microphone and the distance between second microphone 212 are 10 centimetres, and the 3rd microphone 221 in second layer microphone and the distance between the 4th microphone 222 are also 10 centimetres.
In some embodiments, foursquare four summits of described first length of side, vertically align with foursquare four summits of described second length of side and arrange.
Such as, see Fig. 2 a, the line between the first microphone 211 of ground floor and the 3rd microphone 221 of the second layer is perpendicular to the first plane and the second plane.
In some embodiments, the distance between described first plane and described second plane is 6 centimetres.
Such as, see Fig. 2 a, the distance between the first microphone 211 of ground floor and the 3rd microphone 221 of the second layer is 6 centimetres.
In some embodiments, described preset value is 10 centimetres.
Such as, under the scene shown in Fig. 2 a and Fig. 2 b, the distance between two adjacent microphones is 10 centimetres and 6 centimetres respectively, is all no more than default 10 centimetres.
In the present embodiment, by arranging at least two-layer microphone, and the distance between adjacent two microphones is no more than preset value, goes for home-use intelligent robot.Further, by selecting two-layer microphone, the motion requirement of home-use intelligent machine head part two degree of freedom can be met.By arranging 8 microphones, three dimensional sound source electricity can be completed, and follow the trail of multi-acoustical simultaneously; By arranging above-mentioned microphone composition form and distance, home-use intelligent machine Man's Demands can be better met.
Fig. 3 is the schematic flow sheet of the sound localization method of the home-use intelligent robot based on artificial intelligence that another embodiment of the present invention proposes, and the method comprises:
S31: obtain the voice signal that microphone array is collected.
Wherein, the composition form of microphone array see above-described embodiment, can not repeat them here.
S32: amplification process is carried out to described voice signal.
Due to the arrangement mode according to above-mentioned microphone array, close together between microphone, thus voice signal arrives two microphones of a pair microphone centering respectively mistiming from same sound source is less, and when common auditory localization, position according to this mistiming.And the cross correlation function of the voice signal that mistiming normally right according to the microphone that partners two microphones are collected calculates, when calculating cross correlation function, by being that the time domain voice signal that two microphones are collected is transformed to frequency domain, energy value is calculated again with frequency domain data, if the voice signal directly adopting microphone to collect processes, then energy value difference is less, thus affects positioning precision.
In order to improve positioning precision, in the present embodiment, can to microphones to acoustic information carry out amplification process, and then improve positioning precision.
The multiple amplifying process is configuration, such as, is 2 times.
Such as, after the voice signal getting microphone array collection, the value of amplifier to this voice signal is adopted to amplify 2 times.
S33: according to the voice signal amplified after process, carry out auditory localization.
After voice signal after getting amplification, existing auditory localization algorithm can be adopted to carry out auditory localization.
Such as, a center of circle is recursively generated at microphone array place-centric by tetrahedron, radius is the spherical border of the class of 1m, summit on Spherical Boundary is the possible source direction of sound, initial 20 each cuttings of tetrahedron are 4 less triangles, after cutting four times, sphere come to 5120 triangles and 2562 summits.8 above-mentioned microphones can form 28 microphones pair.Sound from each summit to the time delay of two of every a pair of 28 microphone centerings microphones be different, for sampling rate is multiplied by summit to the right air line distance of microphone again divided by the velocity of sound.So 2562 × 28 time delay numerical value can calculate in advance and store.For the borderline some a of sphere, and a microphone is to b, the sound being obtained an a by precomputation arrives microphone to the time delay of arrival t of b, the fast fourier transform that the signal that microphone is collected carries out 1024 samplings obtains the numerical value of signal on frequency domain, discrete Fourier transformation, the estimation of minimum control recurrence average noise (MCRA) and reverberation factor are carried out to the numerical value of each frequency field, bring time delay t again into, obtain an a to the weighted sum of microphone to b, travel through all 28 microphones to the total weighted sum obtaining position a.Finally total weighted sum of more all 2562 points, also distributing this sound source successively by sequence is from big to small the probability occurred in corresponding point.Sound position is determined afterwards according to probability.
In the present embodiment, carry out amplification process by the acoustic information collected microphone array, the precise requirements of home-use intelligent robot can be met.
Fig. 4 is the structural representation of the sound source locating device of the home-use intelligent robot based on artificial intelligence that another embodiment of the present invention proposes, and this device 40 comprises:
Acquisition module 41, for obtaining the voice signal that microphone array is collected;
Wherein, the composition form of microphone array see above-described embodiment, can not repeat them here.
Amplification module 42, for carrying out amplification process to described voice signal;
Due to the arrangement mode according to above-mentioned microphone array, close together between microphone, thus voice signal arrives two microphones of a pair microphone centering respectively mistiming from same sound source is less, and when common auditory localization, position according to this mistiming.And the cross correlation function of the voice signal that mistiming normally right according to the microphone that partners two microphones are collected calculates, when calculating cross correlation function, by being that the time domain voice signal that two microphones are collected is transformed to frequency domain, energy value is calculated again with frequency domain data, if the voice signal directly adopting microphone to collect processes, then energy value difference is less, thus affects positioning precision.
In order to improve positioning precision, in the present embodiment, can to microphones to acoustic information carry out amplification process, and then improve positioning precision.
The multiple amplifying process is configuration, such as, is 2 times.
Such as, after the voice signal getting microphone array collection, the value of amplifier to this voice signal is adopted to amplify 2 times.
Locating module 43, for according to the voice signal amplified after process, carries out auditory localization;
After voice signal after getting amplification, existing auditory localization algorithm can be adopted to carry out auditory localization.
Such as, a center of circle is recursively generated at microphone array place-centric by tetrahedron, radius is the spherical border of the class of 1m, summit on Spherical Boundary is the possible source direction of sound, initial 20 each cuttings of tetrahedron are 4 less triangles, after cutting four times, sphere come to 5120 triangles and 2562 summits.8 above-mentioned microphones can form 28 microphones pair.Sound from each summit to the time delay of two of every a pair of 28 microphone centerings microphones be different, for sampling rate is multiplied by summit to the right air line distance of microphone again divided by the velocity of sound.So 2562 × 28 time delay numerical value can calculate in advance and store.For the borderline some a of sphere, and a microphone is to b, the sound being obtained an a by precomputation arrives microphone to the time delay of arrival t of b, the fast fourier transform that the signal that microphone is collected carries out 1024 samplings obtains the numerical value of signal on frequency domain, discrete Fourier transformation, the estimation of minimum control recurrence average noise (MCRA) and reverberation factor are carried out to the numerical value of each frequency field, bring time delay t again into, obtain an a to the weighted sum of microphone to b, travel through all 28 microphones to the total weighted sum obtaining position a.Finally total weighted sum of more all 2562 points, also distributing this sound source successively by sequence is from big to small the probability occurred in corresponding point.Sound position is determined afterwards according to probability.
In the present embodiment, carry out amplification process by the acoustic information collected microphone array, the precise requirements of home-use intelligent robot can be met.
It should be noted that, in describing the invention, term " first ", " second " etc. only for describing object, and can not be interpreted as instruction or hint relative importance.In addition, in describing the invention, except as otherwise noted, the implication of " multiple " refers at least two.
Describe and can be understood in process flow diagram or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (10)
1. based on a microphone array for the home-use intelligent robot of artificial intelligence, it is characterized in that, described microphone array is arranged on the inside of home-use intelligent robot, and described microphone array comprises:
At least two-layer microphone, and the plane at the microphone place of every layer is all parallel with the chassis of home-use intelligent robot; And,
Distance between two adjacent microphones is less than or equal to preset value.
2. microphone array according to claim 1, is characterized in that, described microphone is two-layer,
The number of described ground floor microphone and the number of described second layer microphone are 4.
3. microphone array according to claim 2, is characterized in that,
The described ground floor microphone composition length of side is the square of first length of side, and the described second layer microphone composition length of side is the square of second length of side;
Wherein, the microphone of every layer is positioned at the foursquare summit of equivalent layer.
4. microphone array according to claim 3, is characterized in that,
Described first length of side and described second length of side are all 10 centimetres.
5. microphone array according to claim 3, is characterized in that,
Foursquare four summits of described first length of side, vertically align with foursquare four summits of described second length of side and arrange.
6. the microphone array according to any one of claim 1-5, is characterized in that, when described microphone is two-layer, the distance between two planes at two-layer microphone place is 6 centimetres.
7. the microphone array according to any one of claim 1-5, is characterized in that, described preset value is 10 centimetres.
8., based on a sound localization method for the home-use intelligent robot of artificial intelligence, it is characterized in that, comprising:
Obtain the voice signal that microphone array is collected;
Amplification process is carried out to described voice signal;
According to the voice signal amplified after process, carry out auditory localization;
Wherein, described microphone array is as described in any one of claim 1-7.
9. method according to claim 8, is characterized in that, the described multiple amplifying process is 2 times.
10., based on a sound source locating device for the home-use intelligent robot of artificial intelligence, it is characterized in that, comprising:
Acquisition module, for obtaining the voice signal that microphone array is collected;
Amplification module, for carrying out amplification process to described voice signal;
Locating module, for according to the voice signal amplified after process, carries out auditory localization;
Wherein, described microphone array is as described in any one of claim 1-7.
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| CN112964256A (en) * | 2019-12-13 | 2021-06-15 | 佛山市云米电器科技有限公司 | Indoor positioning method, intelligent household appliance and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106872944A (en) * | 2017-02-27 | 2017-06-20 | 海尔优家智能科技（北京）有限公司 | A kind of sound localization method and device based on microphone array |
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