CN110767246A - Noise processing method and device and robot - Google Patents
Noise processing method and device and robot Download PDFInfo
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- CN110767246A CN110767246A CN201810833008.4A CN201810833008A CN110767246A CN 110767246 A CN110767246 A CN 110767246A CN 201810833008 A CN201810833008 A CN 201810833008A CN 110767246 A CN110767246 A CN 110767246A
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- G—PHYSICS
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
- G10L21/0216—Noise filtering characterised by the method used for estimating noise
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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- G10L15/00—Speech recognition
- G10L15/20—Speech recognition techniques specially adapted for robustness in adverse environments, e.g. in noise, of stress induced speech
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- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
- G10L21/0216—Noise filtering characterised by the method used for estimating noise
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Abstract
The invention is applicable to the field of robots, provides a noise processing method, a noise processing device and a robot, wherein, the noise processing method comprises the steps of collecting images in a preset area through a camera, detecting the collected images, acquiring the initial position and the current position of a target face when the target face is detected, calculating the deflection angle of the target face according to the initial position and the current position of the target face, acquiring the current angle of a neck steering engine, judging whether the current angle of the neck steering engine is within a first preset angle range and whether the deflection angle of the target face is within a second preset angle range, and if the current angle of the neck steering engine is within the first preset angle range and the deflection angle of the target face is within the second preset angle range, performing noise reduction on a beam formed by a microphone array in a preset first area. The invention can reduce the interference caused by noise in the human-computer interaction process, thereby improving the execution efficiency of the robot.
Description
Technical Field
The invention relates to a robot, in particular to noise processing of human-computer interaction of the robot.
Background
With the development and popularization of voice recognition technology, many robots in the market have a voice recognition function, and a user can interact with the robots in a mode of directly carrying out voice conversation with the robots, so that the entertainment robots or the service robots bring more entertainment, teaching and service to people.
However, when human-computer interaction is performed, the current voice recognition can only recognize the voice command of the user in a quiet environment, and once noise occurs in the environment, the accuracy of the voice recognition is greatly reduced, which seriously affects the voice interaction and the action execution of the robot.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for processing noise, and a robot, which can perform human-computer interaction normally in a noise environment, and improve the effects of robot action execution and voice interaction.
The first aspect of the embodiment of the present invention provides a noise processing method, which is applied to a robot, where the robot includes a microphone array, a camera, and a neck steering engine installed at a neck of the robot, and the method includes:
acquiring an image in a preset area through the camera, detecting the acquired image, and acquiring an initial position and a current position of a target face when the target face is detected;
calculating the deflection angle of the target face according to the initial position and the current position of the target face;
acquiring the current angle of the neck steering engine;
judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not;
and if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range, carrying out noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
A second aspect of the embodiments of the present invention provides a noise processing apparatus, which is applied to a robot, where the robot includes a microphone array, a camera, and a neck steering engine installed at a neck of the robot, and the apparatus includes:
the first acquisition module is used for acquiring images in a preset area through the camera, detecting the acquired images and acquiring an initial position and a current position of a target face when the target face is detected;
the calculation module is used for calculating the deflection angle of the target face according to the initial position and the current position of the target face;
the second acquisition module is used for acquiring the current angle of the neck steering engine;
the judging module is used for judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not;
and the processing module is used for performing noise reduction processing on the wave beam formed by the microphone array in a preset first area if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range.
A third aspect of embodiments of the present invention provides a robot, including: comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program.
A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, including: the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method as mentioned in the first aspect above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: in the embodiment of the invention, firstly, an image in a preset area is collected through a camera, the collected image is detected, when a target face is detected, an initial position and a current position of the target face are obtained, then, a deflection angle of the target face is calculated according to the initial position and the current position of the target face, secondly, a current angle of a neck steering engine is obtained, whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not are judged, and finally, if the current angle of the neck steering engine is within the first preset angle range and the deflection angle of the target face is within the second preset angle range, noise reduction processing is carried out on a wave beam formed by a microphone array in the preset first area. The embodiment of the invention can reduce the interference of noise in the human-computer interaction environment on the human body target voice command recognized by the robot, thereby improving the naturalness and the high efficiency of human-computer interaction.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1-a is a flow chart illustrating a method for noise processing according to an embodiment of the present invention;
fig. 1-b is a schematic diagram of a rectangular coordinate system formed by using a robot as an origin in step S105 of a noise processing method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a noise processing method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a noise processing apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiment of the present invention.
It should be noted that, in this embodiment, descriptions of "first", "second", "third", and "fourth" are used to distinguish different regions, modules, and the like, which do not represent a sequential order, and do not limit the types of "first", "second", "third", and "fourth" to be different.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
Fig. 1-a is a schematic flow chart of a method for processing noise according to an embodiment of the present invention, where the method may include the following steps:
s101: the method comprises the steps of collecting images in a preset area through a camera, detecting the collected images, and acquiring an initial position and a current position of a target face when the target face is detected.
The noise processing method is applied to a robot, and the robot comprises a neck steering engine, a microphone array and a camera.
In this embodiment, the image is detected by an image detection technique of a human target detection and tracking algorithm to determine whether a human target exists in the preset region, and of course, other image detection techniques may be used to detect the image.
The camera is preferably located on the robot head, but may also be located elsewhere on the robot body or joints, etc. The camera can be started and called by manual operation of a user or operation of an intelligent terminal such as a mobile phone, and can also be automatically started after the robot is electrified to work.
Optionally, after the target face appears in the acquired image for the first time, the position of the target face in the first image where the target face appears is taken as the initial position of the target face, and the position of the target face in the last image where the target face appears is taken as the current position of the target face.
S102: and calculating the deflection angle of the target face according to the initial position and the current position of the target face.
S103: and acquiring the current angle of the neck steering engine.
The neck steering gear is a servo motor of the robot neck, and an output shaft of the neck steering gear can drive the neck joint part of the robot to rotate to a specified angle according to a control command sent by the robot controller.
It should be noted that, the sequence of the step S102 and the step S103 is not sequential, and the current angle of the neck steering engine may be obtained first and then the deflection angle of the target face may be obtained according to actual needs.
S104: and judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not.
Optionally, the first preset angle range is set according to the deflection angle of the neck steering engine when the camera is just opposite to the target face, for example: floating at 120 degrees or less. It should be understood that whether the neck steering engine rotates relative to the initial position can be determined by judging whether the current angle of the neck steering engine is within a first preset angle range. Specifically, when the current angle of the neck steering engine is within a first preset angle range, the neck steering engine is indicated to be not moved.
In one embodiment, the second predetermined angle range may be set to float up and down with respect to 0 degrees. It should be understood that whether the target face rotates and the angle of the rotation relative to the initial position can be determined by judging whether the deflection angle of the target face is within a second preset angle range. Specifically, when the deflection angle of the target face is within a second preset angle range, it indicates that the target face is motionless. Therefore, when the neck steering engine and the target face do not rotate, the neck steering engine does not need to be calibrated, and noise reduction processing can be directly carried out on the wave beams in the corresponding areas.
S105: and if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range, carrying out noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
The microphone array is a system which consists of a certain number of microphones and is used for sampling and processing the spatial characteristics of a sound field; the beam is a sound pickup beam formed in the direction of a target signal after the audio signals acquired by the microphone array are weighted and added.
Alternatively, a planar rectangular coordinate system as shown in fig. 1-b is established with a robot as a coordinate origin, and the whole sound pickup area of the microphone array is divided into four quadrants in the counterclockwise direction. In an embodiment, the preset first area is a first quadrant area in the coordinate system, and the preset second area is a second quadrant area in the coordinate system.
Optionally, the noise reduction processing is performed on the beam formed by the microphone array in the preset first region by any existing noise reduction algorithm, so that the robot can accurately recognize the user instruction, and thus execute a corresponding command, for example: a beamforming based noise reduction algorithm.
As can be seen from the above, in the embodiment of the present invention, an image in a preset area is acquired through a camera, the acquired image is detected, when a target face is detected, an initial position and a current position of the target face are acquired, then a deflection angle of the target face is calculated according to the initial position and the current position of the target face, a current angle of a neck steering engine is acquired, whether the current angle of the neck steering engine is within a first preset angle range and whether the deflection angle of the target face is within a second preset angle range are determined, and if the current angle of the neck steering engine is within the first preset angle range and the deflection angle of the target face is within the second preset angle range, noise reduction is performed on a beam formed by a microphone array in the preset first area. By carrying out noise reduction processing on the wave beams in the preset area, the noise signals are prevented from being used as the voice commands of the user, so that the voice commands of the user can be correctly recognized even in the environment with noise, the execution efficiency of the robot is effectively ensured, and the robot has strong usability and practicability.
Example two
Fig. 2 is a schematic flow chart of a noise processing method according to a second embodiment of the present invention, where the method may include the following steps:
s201: the method comprises the steps of collecting images in a preset area through a camera, detecting the collected images, and acquiring an initial position and a current position of a target face when the target face is detected.
S202: and calculating the deflection angle of the target face according to the initial position and the current position of the target face.
S203: and acquiring the current angle of the neck steering engine.
S204: and judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not.
The steps S201 to S204 are the same as the steps S101 to S104 in the first embodiment, and are not repeated herein.
If the determination results in steps S203 and S204 are both yes, step S205 is executed; if the determination results in steps S203 and S204 are both no, step S206 is executed.
S205: and if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range, carrying out noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
The step S205 is the same as the step S105 in the first embodiment, and is not repeated herein.
S206: if the current angle of the neck steering engine is not within a first preset angle range, the deflection direction of the target face is obtained, the neck steering engine is controlled to rotate by the deflection angle along the deflection direction of the target face according to the deflection angle and the deflection direction of the target face, and the angle of the neck steering engine after calibration is obtained.
Due to the influence of the outside, the actual rotating angle of the neck steering engine and the expected angle controlled by the system often have certain errors.
S207: and judging whether the calibrated angle of the neck steering engine is within a third preset angle range.
In one embodiment, the third predetermined angle range is 75 degrees to 120 degrees. Specifically, if the angle of the neck steering engine after calibration is not within the range of 75 degrees to 120 degrees, step S208 is executed to perform noise reduction processing on the beam formed in the first quadrant in fig. 1-b; if the angle of the neck steering engine after calibration is within the range of 75 degrees to 120 degrees, step S209 is performed to perform noise reduction processing on the beam formed in the second quadrant in fig. 1-b.
S208: and if the calibrated angle of the neck steering engine is not within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
S209: and if the calibrated angle of the neck steering engine is within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset second area.
Optionally, the noise reduction processing is performed on the beam formed by the microphone array in the preset second region by any existing noise reduction algorithm, so that the robot can accurately recognize the user instruction, and thus execute a corresponding command, for example: a beamforming based noise reduction algorithm.
Therefore, the embodiment of the application is two compared with the embodiment one, and the specific implementation mode of the neck steering engine is calibrated when the current angle of the neck steering engine is not within the first preset angle range, and the beam area needing noise reduction processing is determined on the premise that the camera mounted on the robot can track the target face in real time, so that the robot can clearly identify the control instruction of the user in a complex external environment, the execution efficiency of the robot is improved, and the robot has strong usability and practicability.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a noise processing apparatus according to a third embodiment of the present invention, and for convenience of description, only the relevant portions of the third embodiment of the present invention are shown.
The noise processing device can be a software unit, a hardware unit or a combination of software and hardware unit which is built in the robot, and can also be integrated into the robot as a separate pendant.
The noise processing device comprises:
the first obtaining module 31 is configured to collect an image in a preset area through the camera, detect the collected image, and obtain an initial position and a current position of a target face when the target face is detected;
a calculating module 32, configured to calculate a deflection angle of the target face according to the initial position and the current position of the target face;
the second obtaining module 33 is used for obtaining the current angle of the neck steering engine;
the judging module is used for judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not;
and the processing module 34 is configured to perform noise reduction processing on a beam formed by the microphone array in a preset first area if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range.
In one embodiment, the processing module 34 is further configured to:
if the current angle of the neck steering engine is not within a first preset angle range, calibrating the neck steering engine, and acquiring the calibrated angle of the neck steering engine;
judging whether the angle of the neck steering engine after calibration is within a third preset angle range;
and if the calibrated angle of the neck steering engine is not within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
In one embodiment, the processing module 33 is further configured to:
and if the calibrated angle of the neck steering engine is within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset second area.
Example four
Fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention. As shown in fig. 4, the robot 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40. The processor 40, when executing the computer program 42, implements the steps of the first embodiment of the method, such as the steps S101 to S105 shown in fig. 1. Alternatively, the steps in the second embodiment of the method described above, for example, steps S201 to S209 shown in fig. 2, are implemented. The processor 40, when executing the computer program 42, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 31 to 35 shown in fig. 3.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the robot 4. For example, the computer program 42 may be divided into a first acquiring module, a calculating module, a second acquiring module, a judging module and a processing module, and the specific functions of the modules are as follows:
the first acquisition module is used for acquiring images in a preset area through the camera, detecting the acquired images and acquiring an initial position and a current position of a target face when the target face is detected;
the second acquisition module is used for calculating the deflection angle of the target face according to the initial position and the current position of the target face;
the third acquisition module is used for acquiring the current angle of the neck steering engine;
the first judgment module is used for judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not;
and the processing module is used for performing noise reduction processing on the wave beam formed by the microphone array in a preset first area if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range.
Those skilled in the art will appreciate that fig. 4 is merely an example of a robot 4 and is not intended to be limiting of robot 4 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the robot 4, such as a hard disk or a memory of the robot 4. The memory 41 may also be an external storage device of the robot 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the robot 4. The memory 41 is used for storing the computer program and other programs and data required by the robot. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for processing noise is applied to a robot, the robot comprises a microphone array, a camera and a neck steering engine installed on the neck of the robot, and the method comprises the following steps:
acquiring an image in a preset area through the camera, detecting the acquired image, and acquiring an initial position and a current position of a target face when the target face is detected;
calculating the deflection angle of the target face according to the initial position and the current position of the target face;
acquiring the current angle of the neck steering engine;
judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not;
and if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range, carrying out noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
2. The method of claim 1, further comprising:
if the current angle of the neck steering engine is not within a first preset angle range, calibrating the neck steering engine, and acquiring the calibrated angle of the neck steering engine;
judging whether the angle of the neck steering engine after calibration is within a third preset angle range;
and if the calibrated angle of the neck steering engine is not within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
3. The method of claim 2, wherein said calibrating said neck steering engine comprises:
acquiring the deflection direction of the target face;
and controlling the neck steering engine to rotate by the deflection angle along the deflection direction of the target face according to the deflection angle and the deflection direction of the target face so as to finish the calibration of the neck steering engine.
4. The method of claim 3, further comprising:
and if the calibrated angle of the neck steering engine is within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset second area.
5. The method of claim 2, wherein the predetermined first area is a first quadrant of a rectangular plane coordinate system formed with the robot as an origin, and the predetermined second area is a second quadrant of the rectangular plane coordinate system formed with the robot as the origin.
6. The utility model provides a device of noise processing, its characterized in that is applied to the robot, the robot includes microphone array, camera and installs the neck steering wheel of robot neck, the device includes:
the first acquisition module is used for acquiring images in a preset area through the camera, detecting the acquired images and acquiring an initial position and a current position of a target face when the target face is detected;
the calculation module is used for calculating the deflection angle of the target face according to the initial position and the current position of the target face;
the second acquisition module is used for acquiring the current angle of the neck steering engine;
the judging module is used for judging whether the current angle of the neck steering engine is within a first preset angle range or not and whether the deflection angle of the target face is within a second preset angle range or not;
and the processing module is used for performing noise reduction processing on the wave beam formed by the microphone array in a preset first area if the current angle of the neck steering engine is within a first preset angle range and the deflection angle of the target face is within a second preset angle range.
7. The apparatus of claim 6, wherein the processing module is further configured to:
if the current angle of the neck steering engine is not within a first preset angle range, calibrating the neck steering engine, and acquiring the calibrated angle of the neck steering engine;
judging whether the angle of the neck steering engine after calibration is within a third preset angle range;
and if the calibrated angle of the neck steering engine is not within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset first area.
8. The apparatus of claim 7, wherein the processing module is further configured to:
and if the calibrated angle of the neck steering engine is within a third preset angle range, performing noise reduction treatment on the wave beam formed by the microphone array in a preset second area.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any of the claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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