CN105959872B - Intelligent robot and Sounnd source direction discriminating conduct for intelligent robot - Google Patents
Intelligent robot and Sounnd source direction discriminating conduct for intelligent robot Download PDFInfo
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- CN105959872B CN105959872B CN201610255511.7A CN201610255511A CN105959872B CN 105959872 B CN105959872 B CN 105959872B CN 201610255511 A CN201610255511 A CN 201610255511A CN 105959872 B CN105959872 B CN 105959872B
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- 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
- H04R1/22—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only
- H04R1/24—Structural combinations of separate transducers or of two parts of the same transducer and responsive respectively to two or more frequency ranges
- H04R1/245—Structural combinations of separate transducers or of two parts of the same transducer and responsive respectively to two or more frequency ranges of microphones
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Abstract
The invention discloses a kind of intelligent robot and for the Sounnd source direction discriminating conduct of intelligent robot.The intelligent robot includes main part (1)；Head (2), the head (2) are configured to rotate on the main part (1)；Microphone array, the microphone array is arranged on the head (2), microphone array includes that the first uni-directional microphone (31), the second uni-directional microphone (32) and full directional microphone (33), first uni-directional microphone (31) differ predetermined angle theta along the direction of rotation of the head (2) with the direction that quiets down of the second uni-directional microphone (32)y；Voice signal for being picked up according to the microphone array judges the processing module of Sounnd source direction, and first uni-directional microphone (31), the second uni-directional microphone (23) and full directional microphone (33) are electrically connected with the processing module.
Description
Technical field
The invention belongs to technical field of electronic products, and in particular, to a kind of intelligent robot and be used for intelligent robot
Sounnd source direction discriminating conduct.
Background technique
With the gradually development of smart electronics product, those skilled in the art develop the intelligence that can be interacted with user speech
Energy robot, this intelligent robot can provide for user by the voice command of identification user and put through phone, voice broadcast
The service such as information.It is used in general, this intelligent robot can be placed on the furniture such as desk, bin, on intelligent robot
It is provided with the full directional microphone for receiving user voice order.
But since full directional microphone can receive the sound of all directions, so can also receive in ambient enviroment
Noise.The voice signal that noise and voice command mix, which will cause intelligent robot, can not accurately identify the feelings of voice command
Condition.Further, those skilled in the art devise the intelligent robot that voice command is received using uni-directional microphone, thus
It avoids receiving the noise from other directions, the noise signal in voice signal that uni-directional microphone picks up is greatly decreased.
But it was found by the inventors of the present invention that since uni-directional microphone only has well the sound on fixed-direction
Receiving sensitivity, so if user makes a sound order from other directions, the voice signal that intelligent robot picks up it is strong
It spends lower, it is possible to cause unrecognized situation.Thus, it is necessary to the structure for the method or intelligent robot picked up to order
It improves.
Summary of the invention
It is an object of the present invention to provide a kind of new solutions that Sounnd source direction is distinguished for intelligent robot.
According to the first aspect of the invention, a kind of intelligent robot is provided, including:
Main part；
Head, the header arrangement are to rotate on the main part；
Microphone array, the microphone array are arranged on the head, and microphone array includes first single direction wheat
Gram wind, the second uni-directional microphone and full directional microphone, first uni-directional microphone and the second uni-directional microphone
Quiet down direction along the head direction of rotation differ predetermined angle thetay；
Voice signal for being picked up according to the microphone array judges the processing module of Sounnd source direction, and described first is single
Directional microphone, the second uni-directional microphone and full directional microphone are electrically connected with the processing module.
Optionally, the intelligent robot includes the driving device for driving the end rotation, the driving device
It is electrically connected with the processing module.
Preferably, the predetermined angle thetayIt is 90 °.
Preferably, the intelligent robot includes third uni-directional microphone, and the third uni-directional microphone quiets down
Direction is identical as the direction that quiets down of first uni-directional microphone.
The present invention also provides a kind of Sounnd source direction discriminating conducts for intelligent robot, comprising:
Microphone array is provided, the microphone array includes full directional microphone, the first uni-directional microphone and second
The direction that quiets down of uni-directional microphone, first uni-directional microphone and the second uni-directional microphone is along preset rotating direction phase
Poor predetermined angle thetay；
The microphone array receives sound, wherein full directional microphone is normal intensity D0 to the receiving intensity of sound,
First uni-directional microphone is the first intensity D1, receiving intensity of second uni-directional microphone to sound to the receiving intensity of sound
For the second intensity D2；
According to the normal intensity DO and the first intensity D1 and the first uni-directional microphone where preset rotating direction
Alternative direction θ is calculated in the strength model that quiets down in plane1And θ2；
According to the normal intensity D0, the second intensity D2 and predetermined angle thetay, judge alternative direction θ1Whether second is met
Uni-directional microphone preset rotating direction the strength model that quiets down in the planes；
If alternative direction θ1Meet the strength model that quiets down of the second uni-directional microphone, then alternative direction θ1For Sounnd source direction
θ0, otherwise alternative direction θ2For Sounnd source direction θ0。
Preferably, the strength model that quiets down of first uni-directional microphone and the second uni-directional microphone is in predetermined rotation
Turn the strength difference Polar Coordinate Model that quiets down that direction is set up in the plane.
Preferably, in preset rotating direction in the planes by the direction on the basis of side that quiets down of the first uni-directional microphone
To.
Preferably, if alternative direction θ1Calculating error in the strength model that quiets down of the second uni-directional microphone, which is less than, to be missed
Poor upper limit k then judges that the alternative direction meets the strength model that quiets down of the second uni-directional microphone.
Preferably, the driving device rotated in the predetermined surfaces of revolution for driving the microphone array to be listed in is provided, if sound source
Direction θ0Greater than 0 ° and less than 180 °, then driving device driving microphone array along the direction that angle is gradually increased rotate to
Sounnd source direction θ0If Sounnd source direction θ0Greater than 180 ° and less than 360 °, then driving device driving microphone array along angle by
Decrescence small direction is rotated to Sounnd source direction θ0。
Preferably, the predetermined angle thetayIt is 90 °.
It was found by the inventors of the present invention that existing intelligent robot is when in use, if user makes a sound the position of order
Not quieting down on direction in uni-directional microphone is set, intelligent robot possibly can not make correct identification to voice command.At this
In the case of kind, intelligent robot may not do any response or only make the response that prompt user is moved to the direction that quiets down.User
Often selection is moved on the direction that quiets down makes a sound order again.Moreover, it is contemplated that arriving the usage mode of this intelligent robot
And occasion, those skilled in the art generally believe the function without judging Sounnd source direction for intelligent robot setting.Therefore, this hair
The bright technical assignment to be realized or never expect the technical problem to be solved is that those skilled in the art or do not have
It anticipates, therefore the present invention is a kind of new technical solution.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
It is combined in the description and the attached drawing for constituting part of specification shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is the positive structure schematic for the intelligent robot that the specific embodiment of the invention provides；
Fig. 2 is the Sounnd source direction discriminating conduct steps flow chart for intelligent robot that the specific embodiment of the invention provides
Figure；
Fig. 3 be full directional microphone in polar coordinates to the schematic diagram of the receiving intensity of sound；
Fig. 4 be uni-directional microphone in polar coordinates to the schematic diagram of the receiving intensity of sound；
Fig. 5 is the strength difference Polar Coordinate Model schematic diagram that quiets down that the specific embodiment of the invention provides.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
The present invention provides a kind of intelligent robots, as shown in Figure 1, including main part 1, head 2 and microphone
Array and processing module.The constructional device of the intelligent robot can be used in the direction for the voice command for judging that user issues.Institute
It states head 2 to be arranged on the main part 1, head 2 is configured to rotate on main part 1.Optionally, it is contemplated that user
Usually with intelligent robot height it is basic quite and the uncertain position of peripheral direction makes a sound order, the head 2 can
To be configured to rotate left and right on main part 1.The microphone array is arranged on the head 2, includes in microphone array
First uni-directional microphone 31, the second uni-directional microphone 32 and full directional microphone 33.Wherein, the first uni-directional microphone
31 is different from the direction that quiets down of the second uni-directional microphone 32, the direction phase that the direction that quiets down of two microphones is rotated along head 2
Poor predetermined angle thetay.In this way, the first uni-directional microphone 31 singly refers to second when user makes a sound order from a direction
The intensity of sound received to microphone 32 is different, and the sound signal intensity generated is also different.All referring to Mike
The intensity of sound that wind 33 receives is usually then normal intensity, and the sound signal intensity of generation is also normal intensity.According to above-mentioned
Three kinds of voice signals can calculate position and direction of the user relative to intelligent robot.Those skilled in the art can basis
Situations such as practical application of product, performance requirement, selects the predetermined angular, and the present invention limits not to this
System.
Processing module in the intelligent robot is for calculating, judging the direction where user, i.e. Sounnd source direction.Intelligence
The first uni-directional microphone 31, the second uni-directional microphone 32 in robot and full directional microphone 33 are and processing module
Electrical connection, to transmit the voice signal picked up.Intelligent robot provided by the invention can be used in distinguishing the sound source of user
Direction provides condition to improve the identification accuracy of voice command.It is possible to further issue voice prompting, user is reminded to move
Move quieting down on direction to the first uni-directional microphone 31 or the second uni-directional microphone 32；Alternatively, can be made with rotatable head 2
The direction that quiets down of first uni-directional microphone 31 or the second uni-directional microphone 32 is towards Sounnd source direction, to make single direction Mike
Wind accurately picks up the voice signal to voice command.
Preferably, as shown in Figure 1, can also include driving device 4 in the intelligent robot, the driving device 4 be used
It is rotated on main part 1 in drive head 2.The driving device 4 is electrically connected with processing module, and sound source is calculated in processing module
Behind direction, rotation instruction can be sent to driving device 4, head 2 is driven to rotate, by the direction alignment that quiets down of uni-directional microphone
Sounnd source direction.
In one embodiment of the invention, wheat is directed toward in order to effectively increase the first uni-directional microphone 31 and the second list
The difference of gram wind 32 in the intensity that quiets down of different directions, it is preferable that the predetermined angle thetayIt is 90 °, as shown in Figure 1.For example, institute
Stating head 2 can rotate left and right on main part 1, and the first uni-directional microphone 31 is arranged in the front on the head 2, and described
The side on the head 2 is then arranged in two uni-directional microphones 32.In this way, making a sound order in most of positions at user
When, the first uni-directional microphone 31 and the second uni-directional microphone 32 receive intensity and can all be different to voice command, just
In calculating Sounnd source direction.Only in a few cases such as 45 °, 225 °, it is identical that two uni-directional microphones just will appear receiving intensity
The case where.
Further, in order to receive apparent, accurate voice signal, the microphone array can also include third
Uni-directional microphone 34.The direction that quiets down of the third uni-directional microphone 34 can be with first uni-directional microphone 31
Quieting down, direction is consistent, the two uni-directional microphones composition is single is directed toward array, and single direction array receives sound for practical
Order.For example, user somewhere makes a sound order, by the first uni-directional microphone 31, the second uni-directional microphone 32 with
And after the intensity of the voice signal of the full generation of directional microphone 33 judges Sounnd source direction, the head 2 refers to first, third list
To the direction that quiets down of microphone 34, i.e., single directional steering Sounnd source direction that quiets down for being directed toward array is directed toward the practical reception of array with single
Voice command, for processing module identification, judgement.Single array that is directed toward can generate more the phonetic order transmitted from its direction that quiets down
Clearly voice signal, and since the direction that quiets down of the second uni-directional microphone 32 is usually not towards Sounnd source direction, so it is given birth to
At voice signal be only used for differentiating Sounnd source direction, and be not involved in the practical judgement to phonetic order.Certainly, in of the invention its
In its embodiment, the directional steering Sounnd source direction that quiets down of the second uni-directional microphone can also be received into sound life for practical
It enables, the present invention limits not to this.
Invention further provides a kind of Sounnd source direction discriminating conducts for intelligent robot, and this discriminating conduct can
To be used in above-mentioned intelligent robot or other intelligent electronic devices.As shown in Fig. 2, this method is specific as follows:
Firstly, providing one group of microphone array, the microphone array includes the first uni-directional microphone, second single direction
Microphone and full directional microphone.Preset rotating direction is predefined, the microphone array can be along predetermined rotation side
To rotation.Wherein, the direction that quiets down of the first uni-directional microphone and the second uni-directional microphone is pre- along preset rotating direction difference
Determine angle, θy, i.e. two uni-directional microphones quiet down direction in the plane where preset rotating direction towards different directions.
The predetermined angular can be set according to the actual situation.It should be noted that the receipts of uni-directional microphone of the present invention
Sound direction refers to the front of uni-directional microphone, the i.e. direction of uni-directional microphone, in this direction, uni-directional microphone
The intensity highest that quiets down.By taking present invention embodiment shown in FIG. 1 as an example, the head being arranged on main part being capable of left-right rotary
Turn, then the direction rotated left and right is preset rotating direction.Wherein, the first, second uni-directional microphone is in sustained height, and two
Plane where the outside extension line in the direction that quiets down of a uni-directional microphone, the as plane where preset rotating direction.
Second, voice command is received with above-mentioned microphone array, and generate corresponding voice signal.Wherein, due to all referring to
It is identical to the receiving intensity of sound in all directions to microphone, as shown in figure 3, so full reception of the directional microphone to sound
Intensity is normal intensity D0.Uni-directional microphone receives intensity difference to sound in all directions, has directionality, such as Fig. 4
Shown, the first uni-directional microphone is the first intensity D1 to the receiving intensity of sound, and the second uni-directional microphone is generated to sound
Receiving intensity be the second intensity D2.
Third, according to the normal intensity D0, the first intensity D1 and the first uni-directional microphone in preset rotating direction
The strength model that quiets down in the plane at place calculates alternative direction θ1And θ2.Due to the receipts of uni-directional microphone in a plane
Sound strength model is usually in heart-shaped, as shown in Figure 1, so the voice signal of same intensity often obtain two it is corresponding alternative
Direction θ1And θ2。
4th, according to the normal intensity D0, the second intensity D2 and predetermined angle thetay, judge the alternative direction θ1It is
The no strength model that quiets down for meeting the second uni-directional microphone in the plane where preset rotating direction.
5th, if alternative direction θ1The strength model that quiets down for meeting the second uni-directional microphone, then demonstrate the last the second
Degree D2 is voice command from alternative direction θ1When transmitting, the second uni-directional microphone receives intensity to sound, so alternative side
It is Sounnd source direction θ to θ0.Under normal conditions, since there are predetermined angle thetasy, so two alternative direction θ1And θ2At least one
The strength model that quiets down of the second uni-directional microphone can be met, so if alternative direction θ1Second single direction Mike is not met
The strength model that quiets down of wind, then alternative direction θ2As Sounnd source direction θ0.In the method, if alternative direction θ1It does not meet, then
It can directly assert alternative direction θ2For Sounnd source direction θ0；It can also further judge alternative direction θ2Whether meet second singly to refer to
To the strength model that quiets down of microphone, accuracy is improved.
The above method provided by the invention can clearly judge the relative direction position between sound source and intelligent robot,
Convenient for the subsequent movement for making raising voice signal clarity and accuracy of intelligent robot.For example, intelligent robot can be sent out
Prompt tone out reminds user to be moved at the direction that quiets down of the first uni-directional microphone or directly by the first uni-directional microphone
The directional steering Sounnd source direction that quiets down.
Fig. 3 is quiet down intensity polar coordinates figure of the full directional microphone in a plane, visible full directional microphone in figure
It is almost the same in the circular all directions intensity that quiets down；And Fig. 4 is quiet down intensity pole seat of the uni-directional microphone in a plane
It marks on a map shape, it is seen that for uni-directional microphone in front, i.e., the intensity that quiets down of 0 ° position is most strong, strong with quieting down for full directional microphone
Degree is substantially suitable, and in dead astern, i.e., the intensity that quiets down of 180 ° positions is most weak.
Particularly, for ease of calculation, simplify and distinguish Sounnd source direction θ0Algorithm, the present invention provides one group in predetermined rotation
Turn direction microphone in the planes quiet down strength difference Polar Coordinate Model.Fig. 5 shows the figure of the function model, to scheme
For embodiment shown in 1, which is equivalent to the polar coordinates for overlooking foundation downwards from above-head, the predetermined angle
Spend θyIt is 90 °.Wherein, full directional microphone quiets down strength difference r0It is single direction Mike for standard deviation a, the standard deviation a
Quiet down intensity power difference of the wind at 0 ° and 180 °.First uni-directional microphone quiets down strength difference r1And second single be directed toward
Microphone quiets down strength difference r2It is indicated respectively by following equation:
Wherein θ represents the angle in polar coordinates relative to zero degree position, particularly, selects the receipts of the first uni-directional microphone
Sound direction is as the zero degree position in polar coordinates.In this embodiment, equation (a) represents quieting down for the first uni-directional microphone
Strength difference Polar Coordinate Model, equation (b) represent the strength difference Polar Coordinate Model that quiets down of the second uni-directional microphone.
This quiet down strength difference Polar Coordinate Model the advantages of be, the intensity that quiets down of three microphones has all subtracted Dan Zhixiang
Quiet down intensity of the microphone at its own 180 °, so that quiet down intensity difference of the uni-directional microphone at its own 180 ° of position
Value is 0, that is, is located at polar origin.In this way, the function for expressing the strength difference that quiets down is without considering uni-directional microphone
Value in its own 180 ° of position, reduces model complexity.And predetermined angle thetayAnswering for model can be further decreased for 90 °
Miscellaneous degree avoids doing other angle compensation processing in a model.
For the embodiment shown in Fig. 1,3-5, specific calculation method is illustrated.When full directional microphone 33
When receiving sound or voice command at the same time with the first, second single microphone 31,32, full directional microphone 33 is generated to sound
Receiving intensity be normal intensity D0, normal intensity D0 and uni-directional microphone it is basic to the receiving intensity of sound in the direction that quiets down
Quite.For uni-directional microphone, standard deviation a is known fixed, it should be noted that the first uni-directional microphone 31 and
Two uni-directional microphones 32 are usually using the consistent uni-directional microphone of performance.The receiving intensity of first uni-directional microphone 31 is
First intensity D1, the receiving intensity of the second uni-directional microphone 32 are the second intensity D2.
By the receiving intensity of each microphone in microphone array in conjunction with the above-mentioned strength difference Polar Coordinate Model that quiets down,
Available following equation:
Wherein equation (1) is equal to the strength difference r that quiets down of the first uni-directional microphone 311, it is single that equation (2) is equal to second
The strength difference r that quiets down of directional microphone 322.Two alternative direction θ can be calculated by equation (1)1And θ2:
Further, by θ1It is brought into verifying in equation (2), if θ1Meet equation (2), then alternative direction θ1For sound source side
To θ0, otherwise θ2For Sounnd source direction θ0.It can also be further by θ2It is brought into equation (2) and is verified.
The above are the implementation method of Sounnd source direction discriminating conduct provided by the invention in a specific embodiment.The party
Method is that the intensity that quiets down that uni-directional microphone is utilized has the characteristics that obvious directive property, using the letter of two uni-directional microphones
Number intensity is compared with full directional microphone, to judge Sounnd source direction.It in other embodiments of the present invention, can also be with
The different strength models that quiets down is constructed using These characteristics, above embodiment is currently preferred one kind.For example, it is also possible to
The strength model that quiets down directly is constructed using actual signal strength, the present invention limits not to this.
More preferably, in above embodiment of the present invention, as shown in figure 5, being sat for the ease of establishing the strength difference pole that quiets down
Model is marked, has preset reference direction, i.e. 0 ° of position is consistent with the direction that quiets down of the first uni-directional microphone.In such case
Under, without carrying out angle compensation to trigonometric function in the strength difference Polar Coordinate Model that quiets down.But the present invention limits not to this
System, in other embodiments, the reference direction can also with or not the direction one that quiets down of the first, second uni-directional microphone
It causes.
Particularly, in actual operation, the installation site, angle and performance of each microphone all may be used in microphone array
There can be error, for example, when selecting the predetermined angle thetayWhen being 90 °, practical first uni-directional microphone and second single direction
The angle of the direction difference that quiets down of microphone is not equal to 90 °；Alternatively, there are subtle for the performance of two identical uni-directional microphones
Difference.So, it may appear that alternative direction θ1And θ2The second uni-directional microphone can not be complied fully with to quiet down strength difference polar coordinates
The case where model.To solve the above problems, more preferably, the present invention provides judge whether alternative direction meets second and quiet down intensity
The condition of difference Polar Coordinate Model.In one embodiment, by two alternative direction θ1And θ2Second is introduced respectively to quiet down intensity
Difference Polar Coordinate Model, if calculated result of some alternative direction in equation (2) makes the gap on equation (2) equal sign both sides
Less than error upper limit k, then judge the alternative direction for Sounnd source direction θ0.Ideally, error upper limit k should be equal to 0dB.One
In kind of specific embodiment, k=2dB can choose, i.e., when alternative direction quiets down in strength difference Polar Coordinate Model second
When calculating error less than 2dB, judge the alternative direction for Sounnd source direction θ0。
Equation (3) is the deformation of equation (2), represents above-mentioned Rule of judgment, alternative direction θ1If meeting the item of equation (3)
Part then judges that it meets the strength difference Polar Coordinate Model that quiets down of the second uni-directional microphone.The calculating of this Rule of judgment
Journey is simple, simplifies judgement algorithm.In other embodiments of the present invention, other judgment methods can also be used, for example, single
Two verifying directions can be calculated by solely bringing normal intensity D0, the second intensity D2 in equation (2) into.By two alternative directions with
It is compared by equation (2) calculated two verifyings direction, wherein if the difference in a certain alternative direction and any verifying direction
Less than 10 °, then judges that the alternative direction meets second and quiets down strength difference Polar Coordinate Model, be Sounnd source direction.It is this hair above
Two kinds of bright offer judge whether alternative direction meets the second condition for quieting down strength difference Polar Coordinate Model, both judge item
Part calculates simply, and accuracy is higher.The present invention is not intended to limit must be using above-mentioned Rule of judgment, and those skilled in the art can also
To be adjusted according to the actual situation to numerical value of Rule of judgment etc..
Further, Sounnd source direction θ is being distinguished0Afterwards, it so that microphone array is turned to Sounnd source direction, make the
Received sound or sound life are improved towards Sounnd source direction in the direction that quiets down of one uni-directional microphone or the second uni-directional microphone
The receiving intensity of order.Preferably, Sounnd source direction θ can be prejudged0Size, and then select microphone array rotation side
To.For the embodiment shown in Fig. 1 and 5, the driving device 4 for driving microphone array to rotate is provided, if sound source
Direction θ0Greater than 0 ° and less than 180 °, then the direction that driving device 4 can drive microphone array to increase between angle rotates
To Sounnd source direction θ0, i.e., rotated counterclockwise in Fig. 5；If Sounnd source direction θ0Greater than 180 ° and less than 360 °, then turn
It moves contrary.
Particularly, when rotating receiving intensity of the microphone array to improve sound or voice command, the first list can be used
The direction alignment Sounnd source direction that quiets down of directional microphone or the second uni-directional microphone, those skilled in the art can optionally its
One, the present invention limits not to this.More preferably, third uni-directional microphone can also be provided in the microphone array.
The direction that quiets down of the third uni-directional microphone is consistent with the direction that quiets down of the first uni-directional microphone.Third list is directed toward Mike
Wind is not involved in the discrimination of Sounnd source direction, forms single direction array with the first uni-directional microphone.When needing to receive voice command
When, list is directed toward array and turns to Sounnd source direction by driving device, and Dan Zhixiang array is quieting down on direction with direction wheat more single than one
Gram better receiving intensity of wind.Can other uni-directional microphones be arranged according to the actual situation in those skilled in the art, with first
Or the second single receiving intensity for being directed toward array, strengthening to sound of uni-directional microphone composition, the present invention limit not to this.
Although some specific embodiments of the invention are described in detail by example, the skill of this field
Art personnel it should be understood that example above merely to being illustrated, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above embodiments.This hair
Bright range is defined by the following claims.
Claims (10)
1. a kind of Sounnd source direction discriminating conduct for intelligent robot characterized by comprising
Microphone array is provided, the microphone array includes that full directional microphone, the first uni-directional microphone and second singly refer to
To microphone, the direction that quiets down of first uni-directional microphone and the second uni-directional microphone is pre- along preset rotating direction difference
Determine angle, θy；
The microphone array receives sound, wherein full directional microphone is normal intensity D0 to the receiving intensity of sound, first
Uni-directional microphone is the first intensity D1 to the receiving intensity of sound, and the second uni-directional microphone is the to the receiving intensity of sound
Two intensity D2；
The plane where preset rotating direction according to the normal intensity DO and the first intensity D1 and the first uni-directional microphone
In the strength model that quiets down alternative direction θ is calculated1And θ2；
According to the normal intensity D0, the second intensity D2 and predetermined angle thetay, judge alternative direction θ1Whether meet second singly to refer to
To microphone preset rotating direction the strength model that quiets down in the planes；
If alternative direction θ1Meet the strength model that quiets down of the second uni-directional microphone, then alternative direction θ1For Sounnd source direction θ0, no
Then alternative direction θ2For Sounnd source direction θ0。
2. the Sounnd source direction discriminating conduct according to claim 1 for intelligent robot, which is characterized in that described first
The strength model that quiets down of uni-directional microphone and the second uni-directional microphone is set up in the plane in preset rotating direction
Quiet down strength difference Polar Coordinate Model.
3. the Sounnd source direction discriminating conduct according to claim 1 for intelligent robot, which is characterized in that in predetermined rotation
Turn direction in the planes using the direction that quiets down of the first uni-directional microphone as benchmark direction.
4. the Sounnd source direction discriminating conduct according to claim 1 for intelligent robot, which is characterized in that if alternative side
To θ1Calculating error in the strength model that quiets down of the second uni-directional microphone is less than error upper limit k, then judges the alternative side
To the strength model that quiets down for meeting the second uni-directional microphone.
5. according to claim 1-4 it is one of any described in the Sounnd source direction discriminating conduct for intelligent robot, feature exists
In the driving device rotated in the predetermined surfaces of revolution for driving the microphone array to be listed in being provided, if Sounnd source direction θ0Greater than 0 °
And less than 180 °, then the driving device driving microphone array is rotated along the direction that angle is gradually increased to Sounnd source direction θ0,
If Sounnd source direction θ0Greater than 180 ° and less than 360 °, then the driving device driving microphone array is along the side that angle is gradually reduced
To rotation to Sounnd source direction θ0。
6. the Sounnd source direction discriminating conduct according to claim 1 for intelligent robot, which is characterized in that described predetermined
Angle, θyIt is 90 °.
7. a kind of intelligent robot, which is characterized in that the intelligent robot using claim 1-6 it is one of any described in sound
Source direction identification method, comprising:
Main part (1)；
Head (2), the head (2) are configured to rotate on the main part (1)；
Microphone array, the microphone array are arranged on the head (2), and microphone array includes first single direction Mike
Wind (31), the second uni-directional microphone (32) and full directional microphone (33), first uni-directional microphone (31) and second
The direction that quiets down of uni-directional microphone (32) differs predetermined angle theta along the direction of rotation of the head (2)y；
Voice signal for being picked up according to the microphone array judges the processing module of Sounnd source direction, described first single direction
Microphone (31), the second uni-directional microphone (23) and full directional microphone (33) are electrically connected with the processing module.
8. intelligent robot according to claim 7, which is characterized in that the intelligent robot includes described for driving
The driving device (4) of end rotation, the driving device (4) are electrically connected with the processing module.
9. intelligent robot according to claim 7, which is characterized in that the predetermined angle thetayIt is 90 °.
10. intelligent robot according to claim 7, which is characterized in that the intelligent robot includes that third list is directed toward
Microphone (34), quiet down direction and the first uni-directional microphone (31) of the third uni-directional microphone (34) quiet down
Direction is identical.
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| CN107241666A (en) * | 2017-08-14 | 2017-10-10 | 陆文胜 | A kind of pair of microphone ear microphone |
| CN108091344A (en) * | 2018-02-28 | 2018-05-29 | 科大讯飞股份有限公司 | A kind of noise-reduction method, apparatus and system |
| KR20200133224A (en) * | 2018-03-19 | 2020-11-26 | 세븐 벨 게엠베하 | Apparatus, system and method for spatially positioning sound sources |
| KR20200093094A (en) * | 2019-01-10 | 2020-08-05 | 삼성전자주식회사 | Electronic device and controlling method thereof |
| CN112438660A (en) * | 2020-09-23 | 2021-03-05 | 深圳市修远文化创意有限公司 | Voice positioning method based on sweeping robot and related device |
| CN112925235A (en) * | 2021-01-21 | 2021-06-08 | 深圳市普渡科技有限公司 | Sound source localization method, apparatus and computer-readable storage medium at the time of interaction |
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