CN106328116B - Indoor noise control system of robot - Google Patents
Indoor noise control system of robot Download PDFInfo
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- CN106328116B CN106328116B CN201510381669.4A CN201510381669A CN106328116B CN 106328116 B CN106328116 B CN 106328116B CN 201510381669 A CN201510381669 A CN 201510381669A CN 106328116 B CN106328116 B CN 106328116B
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17821—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the input signals only
- G10K11/17823—Reference signals, e.g. ambient acoustic environment
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1785—Methods, e.g. algorithms; Devices
- G10K11/17857—Geometric disposition, e.g. placement of microphones
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1787—General system configurations
- G10K11/17879—General system configurations using both a reference signal and an error signal
- G10K11/17881—General system configurations using both a reference signal and an error signal the reference signal being an acoustic signal, e.g. recorded with a microphone
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
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- Soundproofing, Sound Blocking, And Sound Damping (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot indoor noise control system, wherein a control unit of the robot indoor noise control system can process and acquire a control signal according to a noise signal acquired by an acquisition unit, so that a secondary sound source outputs a sound wave signal which has the same sound wave amplitude as a noise source and has an opposite sound wave phase according to the control signal, and the sound signal and the noise signal in the same decibel interval are superposed and then mutually offset, thereby achieving the effect of eliminating indoor low-frequency noise.
Description
Technical Field
The invention relates to the field of sound, in particular to a robot indoor low-frequency noise control system.
Background
Noise pollution is a very concerned environmental problem all over the world, and excessive environmental noise can affect the physiological and psychological health of people to a certain extent; high noise environments can cause serious damage to the hearing and physical health of people; while general noise will affect people's daily work and life. According to statistics, noise pollution causes different degrees of harm to more than about 70% of urban residents worldwide. As a developing country, the influence of Chinese noise pollution on people is more prominent. Indoor low-frequency noise, which is mainly generated by household appliances, has become a non-negligible noise source. Actual monitoring shows that: the household refrigerator is 35-50 decibels, the washing machine is 50-70 decibels, the electric fan is 55-70 decibels, the dust collector is 60-80 decibels, and the home theater can reach 60-80 decibels. As most of the life and working time of modern people are spent indoors, the psychological conditions of people can be affected by indoor noise pollution, the auditory sense, the nervous system and the endocrine system are affected, and the continuous indoor noise can cause great harm to the daily life of people.
The main methods of the conventional noise reduction technology include sound absorption treatment, sound insulation treatment, and the use of a muffler. Sound absorbing treatments include the use of sound absorbing materials or structures to absorb sound energy, thereby reducing the intensity of the noise. The sound absorption material mainly refers to a porous sound absorption material, the sound absorption coefficient of the sound absorption material is increased along with the increase of the sound wave frequency, the sound absorption coefficient is slightly reduced and then rises again after reaching the maximum value, and the fluctuation change is not obvious any more when the sound absorption material reaches high frequency; the sound absorption of medium and low frequencies also increases with the thickness of the porous material, but the thickness does not significantly absorb high frequency sound waves. The sound insulation treatment mainly comprises two types of sound insulation covers and sound insulation screens, the sound insulation performance of the sound insulation covers generally follows the quality control law, but the problems of ventilation, heat dissipation, corrosion resistance, heat resistance, equipment maintenance and the like need to be considered more in application. The reactive muffler in the muffling process can well reduce low-frequency noise, but the muffling frequency band is narrow, and the volume of the reactive muffler becomes huge along with the reduction of the muffling frequency. The composite muffler has a relatively reasonable sound attenuation amount and a relatively reasonable sound attenuation frequency band, but has an excessively large volume and a short service life under the conditions of high temperature, steam erosion and high-speed airflow impact.
Disclosure of Invention
Aiming at the problems existing in the existing noise reduction technology, the robot indoor noise control system which aims at reducing indoor low-frequency noise, has small volume and high noise reduction efficiency and is convenient to use is provided.
The specific technical scheme is as follows:
a robot indoor noise control system, applied in an environment with a plurality of noise sources, for canceling noise signals emitted by the noise sources, the robot indoor noise control system comprising:
a plurality of secondary sound sources, which are classified into a plurality of audio categories according to different decibel intervals of output sound signals, wherein the decibel intervals correspond to the audio categories one to one;
the acquisition unit is used for acquiring the sound signal and the noise signal;
the recognition unit is connected with the acquisition unit and is preset with a plurality of decibel intervals for respectively matching decibels of the noise signals with the decibel intervals to acquire the audio categories corresponding to the decibel intervals matched with the noise signals and output the noise signals and the sound signals;
and the control unit is respectively connected with the identification unit and the secondary sound source and used for processing the direction and the frequency of the noise signal to acquire a corresponding control signal and sending the control signal to the secondary sound source corresponding to the decibel interval, so that the secondary sound source outputs the same sound wave amplitude and opposite sound wave phases of the noise source.
Preferably, the acquisition unit adopts a multi-channel signal acquisition device.
Preferably, the multi-channel signal collector is configured to synchronously convert the collected multiple channels of sound signals and the collected multiple channels of noise signals into sound digital signals and noise digital signals, and send sound wave phases of the sound digital signals and sound wave phases of the noise digital signals to the control unit in a DMA interrupt manner.
Preferably, the multi-channel signal collector comprises a first array microphone, and the first array microphone is used for collecting the noise signal.
Preferably, the multichannel signal collector comprises a second array microphone, and the second array microphone is used for collecting the sound signal.
Preferably, the method further comprises the following steps:
and the multi-channel signal transmission unit is respectively connected with the control unit and the identification unit and is used for sending the sound signal and the noise signal identified by the identification unit to the control unit.
Preferably, the multi-path signal transmission unit adopts a USB multi-path microphone signal transmitter, and is configured to encapsulate the sound signal and the noise signal into a data packet and send the data packet to the control unit through a USB protocol.
The beneficial effects of the above technical scheme are that:
in the technical scheme, the control unit of the robot indoor noise control system can process the noise signals collected by the collection unit to obtain the control signals, so that the secondary sound source outputs the control signals with the same sound wave amplitude as the noise source, and the sound waves with opposite phases are output by the sound signals, so that the sound signals and the noise signals in the same decibel interval are superposed and then are offset with each other, and the effect of eliminating indoor low-frequency noise is achieved.
Drawings
Fig. 1 is a block diagram of an embodiment of an indoor noise control system of a robot according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1, a robot indoor noise control system, applied in an environment with a plurality of noise sources 1, for eliminating noise signals emitted by the noise sources 1, includes:
a plurality of secondary sound sources 6, wherein the plurality of secondary sound sources 6 are divided into a plurality of audio categories according to different decibel intervals of the output sound signals, and the decibel intervals correspond to the audio categories one by one;
the acquisition unit 2 is used for acquiring a sound signal and a noise signal;
the recognition unit 3 is connected with the acquisition unit 2, and a plurality of decibel intervals are preset in the recognition unit 3 and used for respectively matching decibels of the noise signals with the decibel intervals to obtain audio categories corresponding to the decibel intervals matched with the noise signals and output the noise signals and the sound signals;
and the control unit 5 is respectively connected with the identification unit 3 and the secondary sound source 6 and is used for processing according to the direction and the frequency of each noise signal to obtain a corresponding control signal and sending the control signal to the secondary sound source 6 of the audio type corresponding to the decibel interval matched with the noise signal, so that the secondary sound source 6 outputs a sound signal which has the same sound wave amplitude as the noise source 1 and has an opposite sound wave phase.
In this embodiment, the control unit 5 can process the noise signal collected by the collection unit 2 to obtain a control signal, so that the secondary sound source 6 outputs a sound signal with the same sound wave amplitude as the noise source 1 and an opposite sound wave phase according to the control signal, and the sound signal and the noise signal in the same decibel interval are superimposed and then offset with each other, thereby achieving the effect of eliminating the indoor low-frequency noise. Therefore, the low-frequency noise in the indoor environment of the user is reduced, and a quiet indoor living environment is created for the user.
In a preferred embodiment, the acquisition unit 2 employs a multi-channel signal acquisition unit.
Further, the acquisition unit 2 may be an FPGA multi-channel microphone array signal collector.
In a preferred embodiment, the multi-channel signal collector comprises a first array of microphones for collecting the noise signals.
In this embodiment, the first array microphone corresponds to a primary noise source microphone, and may be placed in a direction where the noise source 1 may be formed, and receive noise signals from the noise source 1 in each direction.
In a preferred embodiment, the multi-channel signal collector may further comprise a second array microphone for collecting sound signals.
Further, the multi-channel signal collector may include a multi-channel array microphone.
In this embodiment, the second array microphone is equivalent to an error microphone, and is disposed near the secondary sound source 6, and is configured to receive a sound wave signal emitted by the secondary sound source 6 as a noise reduction error dynamic value, and the control unit 5 performs corresponding adjustment on the output control signal according to the fed back noise reduction error dynamic value.
In a preferred embodiment, the multi-channel signal collector is configured to synchronously convert the collected multiple sound signals and multiple noise signals into sound digital signals and noise digital signals, respectively, and synchronously send the sound wave phases of the sound digital signals and the sound wave phases of the noise digital signals to the control unit 5 in a DMA interrupt manner.
In this embodiment, the multi-channel signal collector may be configured to implement phase synchronization collection of each microphone signal in the multi-channel array microphone, and implement phase synchronization of the multi-channel array microphone by using the multi-channel ADC to synchronously convert the multi-channel array microphone signal into a digital signal and implementing DMA interrupt.
In a preferred embodiment, it may further include:
and the multi-channel signal transmission unit 4 is respectively connected with the control unit 5 and the identification unit 3 and is used for transmitting the sound signal and the noise signal identified by the identification unit 3 to the control unit 5.
In this embodiment, the multiple signal transmission unit 4 synchronously transmits the multiple signals collected by the multiple channel signal collector to the control unit 5.
In a preferred embodiment, the multiplex signal transmission unit 4 employs a USB multiplex microphone signal transmitter for encapsulating the sound signal and the noise signal into a data message and transmitting the data message to the control unit 5 via a USB protocol.
In this embodiment, the USB multi-path microphone signal transmitter encapsulates the microphone signals collected by the array microphone into data packets, and transmits the data packets to the control unit 5 through the USB protocol, the control unit 5 analyzes the microphone signals from the USB interface to extract noise signals, and calculates the direction and frequency of the sound signals output by the secondary sound source 6, which actively cancels the noise, in real time according to the direction and frequency of the noise signals, and controls the secondary sound source 6 to output the sound signals, which can cancel the noise signals in real time.
The control unit 5 controls the secondary sound source 6 to output sound waves which comprise a plurality of digital power amplifier driving loudspeakers in different directions and have the same amplitude and opposite phases with the sound waves of the noise signals to the noise source 1 in real time, and the sound waves are superposed and offset to achieve the effect of active noise dynamic control.
The characteristics of the noise source 1 (primary sound source) in the actual environment and physical parameters such as the temperature, the air flow velocity, etc. in the sound field space often change with time. The robot indoor noise control system is based on the principle that two rows of sound waves with the same frequency and fixed phase difference can generate additive or destructive interference to eliminate noise after superposition, a transfer function is set to be self-adaptive time-varying, and meanwhile, a sound signal (feedback signal) output by a secondary sound source 6 is taken into consideration. By collecting the noise signal and the feedback signal, the secondary sound source 6 is controlled to emit a counteracting sound wave with the frequency opposite to that of the noise source 1 and the same amplitude according to the sound pressure of the noise signal, so that the sound signal and the noise signal are superposed and counteracted, and the effect of active noise dynamic control is realized.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (4)
1. A robot indoor noise control system, applied in an environment with a plurality of noise sources, for canceling a noise signal emitted by the noise sources, the robot indoor noise control system comprising:
a plurality of secondary sound sources, which are classified into a plurality of audio categories according to different decibel intervals of output sound signals, wherein the decibel intervals correspond to the audio categories one to one;
the acquisition unit is used for acquiring the sound signal and the noise signal;
the recognition unit is connected with the acquisition unit and is preset with a plurality of decibel intervals for respectively matching decibels of the noise signals with the decibel intervals to acquire the audio categories corresponding to the decibel intervals matched with the noise signals and output the noise signals and the sound signals;
the control unit is respectively connected with the identification unit and the secondary sound source and is used for processing according to the direction and the frequency of each noise signal to obtain a corresponding control signal and sending the control signal to the secondary sound source of the audio category corresponding to the decibel interval matched with the noise signal, so that the secondary sound source outputs the sound signal which has the same sound wave amplitude as the noise source and has the opposite sound wave phase;
the acquisition unit adopts a multi-channel signal acquisition device;
the multi-channel signal collector comprises a first array microphone, the first array microphone is used as a primary noise microphone, is placed in the direction which can form the noise source, and is used for receiving noise signals sent by the noise source in each direction;
the multi-channel signal collector comprises a second array microphone which is used as an error microphone, is arranged near the secondary sound source and is used for receiving sound wave signals sent by the secondary sound source and is used as a noise reduction error dynamic value;
and the control unit correspondingly adjusts the output control signal according to the fed back noise reduction error dynamic value.
2. The robot indoor noise control system according to claim 1, wherein the multichannel signal collector is configured to synchronously convert the collected multiple sound signals and the multiple noise signals into sound digital signals and noise digital signals, respectively, and synchronously send sound wave phases of the sound digital signals and sound wave phases of the noise digital signals to the control unit in a DMA interrupt manner.
3. The robot indoor noise control system of claim 1, further comprising:
and the multi-channel signal transmission unit is respectively connected with the control unit and the identification unit and is used for sending the sound signal and the noise signal identified by the identification unit to the control unit.
4. The robot indoor noise control system according to claim 3, wherein the multiplex signal transmission unit employs a USB multiplex microphone signal transmitter for encapsulating the sound signal and the noise signal into a data packet and transmitting the data packet to the control unit via a USB protocol.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510381669.4A CN106328116B (en) | 2015-06-30 | 2015-06-30 | Indoor noise control system of robot |
| PCT/CN2016/085762 WO2017000776A1 (en) | 2015-06-30 | 2016-06-14 | Robot indoor noise control system |
| TW105120419A TWI584268B (en) | 2015-06-30 | 2016-06-29 | A robot indoor noises control system |
| HK17105084.7A HK1231617A1 (en) | 2015-06-30 | 2017-05-19 | A robot indoor noises control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510381669.4A CN106328116B (en) | 2015-06-30 | 2015-06-30 | Indoor noise control system of robot |
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| Publication Number | Publication Date |
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| CN106328116A CN106328116A (en) | 2017-01-11 |
| CN106328116B true CN106328116B (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510381669.4A Active CN106328116B (en) | 2015-06-30 | 2015-06-30 | Indoor noise control system of robot |
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| Country | Link |
|---|---|
| CN (1) | CN106328116B (en) |
| HK (1) | HK1231617A1 (en) |
| TW (1) | TWI584268B (en) |
| WO (1) | WO2017000776A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045778A (en) * | 2017-04-26 | 2017-08-15 | 兰州交通大学 | A kind of Multifunctional noise bucking-out system |
| KR102021830B1 (en) * | 2018-01-09 | 2019-09-17 | 엘지전자 주식회사 | Cleaner |
| KR102457135B1 (en) * | 2018-01-09 | 2022-10-19 | 엘지전자 주식회사 | Cleaner |
| CN111564150B (en) * | 2020-05-07 | 2024-02-02 | 中国科学院声学研究所 | Active noise control method and device based on open active noise reduction equipment |
| CN115171640A (en) * | 2022-06-28 | 2022-10-11 | 科大讯飞股份有限公司 | Noise reduction robot, electric appliance noise reduction system and active noise reduction method |
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2016
- 2016-06-14 WO PCT/CN2016/085762 patent/WO2017000776A1/en active Application Filing
- 2016-06-29 TW TW105120419A patent/TWI584268B/en not_active IP Right Cessation
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2017
- 2017-05-19 HK HK17105084.7A patent/HK1231617A1/en unknown
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106328116A (en) | 2017-01-11 |
| TW201712668A (en) | 2017-04-01 |
| HK1231617A1 (en) | 2017-12-22 |
| WO2017000776A1 (en) | 2017-01-05 |
| TWI584268B (en) | 2017-05-21 |
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