CN111035323A - Method, equipment and system for actively reducing noise of sweeping robot - Google Patents
Method, equipment and system for actively reducing noise of sweeping robot Download PDFInfo
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- CN111035323A CN111035323A CN201911304619.0A CN201911304619A CN111035323A CN 111035323 A CN111035323 A CN 111035323A CN 201911304619 A CN201911304619 A CN 201911304619A CN 111035323 A CN111035323 A CN 111035323A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4097—Means for exhaust-air diffusion; Exhaust-air treatment, e.g. air purification; Means for sound or vibration damping
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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
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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
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/10—Applications
Abstract
The method, the equipment and the system for actively reducing the noise of the sweeping robot are provided, and the original noise signal sent by the sweeping robot is collected when the sweeping robot does not play a prompt tone; filtering the original noise signal and processing the original noise signal into an inverse sound wave signal; and superposing the original noise signal and the reversed-phase sound wave signal to finish noise reduction treatment. Therefore, the active noise reduction function of the sweeping robot is realized. The noise collection microphone of the system is connected with the audio processing module and used for transmitting the collected original noise signal into the audio processing module for processing; the loudspeaker is connected with the audio processing module and is used for playing the reversed phase sound wave signal processed in the audio processing module; the audio processing module is arranged in a cavity of the sweeping robot main body. Therefore, the active noise reduction function of the sweeping robot is realized under the condition of small overall influence on the sweeping robot.
Description
Technical Field
The application relates to the field of robots, in particular to a method, equipment and a system for actively reducing noise of a sweeping robot.
Background
The current household sweeping robot gradually adopts a dust collection fan with larger power, but brings larger dust collection noise along with the dust collection fan, and the generated noise is generally medium-high frequency noise with frequency larger than 1 KHz. Most household floor sweeping robots have noise close to or even exceeding 60db even under the dust collection mode with standard power; if the maximum power suction mode is activated, the noise can even exceed 70 db. This causes a great noise pollution to the home user, which affects the user experience. At present, most of noise of the dust collection fan is only at the outlet of the dust collection fan, soundproof cotton is added, the noise of about 3db can be reduced, and the effect is not ideal. Moreover, after long service time, once the soundproof cotton is blocked by dust, the dust collection efficiency is affected, and the sweeping robot cannot collect dust normally and even damages a dust collection fan.
Disclosure of Invention
An object of the present application is to provide a method, a device and a system for actively reducing noise of a floor sweeping robot, which solve the problem of noise pollution caused by dust collection of the robot in the prior art.
According to one aspect of the present application, there is provided a method for active noise reduction of a sweeping robot, the method comprising:
when the sweeping robot does not play a prompt tone, collecting an original noise signal sent by the sweeping robot;
filtering the original noise signal and processing the original noise signal into an inverse sound wave signal;
and superposing the original noise signal and the reversed-phase sound wave signal to finish noise reduction treatment.
Further, the processing of the original noise signal after filtering into an inverse sound wave signal includes:
filtering the original noise signal, performing LMS calculation, and repeating the adjustment coefficient of the signal after iterative filtering until the LMS converges;
and determining a reverse acoustic wave signal when the LMS reaches convergence, wherein the reverse acoustic wave signal is opposite in phase to the original noise signal.
Further, iteratively repeating the adjustment coefficients of the filtered signal comprises:
and repeating the adjustment coefficient of the signal after iterative filtering according to the iterative update function of the LMS.
Further, the iterative update function of the LMS satisfies the following condition:
w(n+1)＝w(n)+μe(n)x′(n)
wherein, x' (n) is obtained after the original noise signal is transformed by a correlation matrix, w (n) is a weight coefficient vector, mu is an adjusting coefficient, and e (n) is a transient error.
According to another aspect of the present application, there is also provided a system for active noise reduction of a sweeping robot, the system comprising:
a sweeping robot main body, a loudspeaker, an audio processing module and a noise collecting microphone,
the noise acquisition microphone is connected with the audio processing module and is used for transmitting acquired original noise signals into the audio processing module for processing;
the loudspeaker is connected with the audio processing module and is used for playing the reversed-phase sound wave signal processed in the audio processing module;
the audio processing module is arranged in the cavity of the sweeping robot main body.
Further, the system comprises: the noise collection microphone is installed on the adjacent side of the dust collection fan, and the loudspeaker is installed on the opposite side of the air outlet of the dust collection fan.
Furthermore, the system comprises a main control board, and the audio processing module is connected with or integrated on the main control board through a serial port.
Further, the audio processing module is configured to perform LMS calculation after filtering the original noise signal, repeat an adjustment coefficient of the filtered signal until the LMS converges, and determine a phase-reversed sound wave signal when the LMS converges; the loudspeaker is used for broadcasting the reversed phase sound wave signal.
Further, the noise collecting microphone is a microphone array and is used for collecting original noise marks at the same time.
According to yet another aspect of the present application, there is also provided an apparatus for active noise reduction of a sweeping robot, the apparatus comprising:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the method as previously described.
Compared with the prior art, the method and the device have the advantages that when the sweeping robot does not play the prompt tone, the original noise signal sent by the sweeping robot is collected; filtering the original noise signal and processing the original noise signal into an inverse sound wave signal; and superposing the original noise signal and the reversed-phase sound wave signal to finish noise reduction treatment. Therefore, the active noise reduction function of the sweeping robot is realized. Further, the present application provides a system for noise reduction of a sweeping robot, the system comprising: the sweeping robot comprises a sweeping robot main body, a loudspeaker, an audio processing module and a noise collecting microphone, wherein the noise collecting microphone is connected with the audio processing module and used for transmitting collected original noise signals into the audio processing module for processing; the loudspeaker is connected with the audio processing module and is used for playing the reversed-phase sound wave signal processed in the audio processing module; the audio processing module is arranged in the cavity of the sweeping robot main body. Therefore, the active noise reduction function of the sweeping robot is realized under the condition of small overall influence on the sweeping robot.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 shows a schematic structural diagram of a system for active noise reduction of a sweeping robot according to an aspect of the present application;
fig. 2 shows a schematic flow diagram of a method for active noise reduction of a sweeping robot according to an aspect of the present application;
fig. 3 is a schematic diagram illustrating active noise reduction of the sweeping robot according to an embodiment of the present disclosure;
fig. 4 is a comparison graph of the active noise reduction effect of the sweeping robot in an embodiment of the present application;
fig. 5 shows a schematic diagram of an LMS active noise reduction of a sweeping robot in an embodiment of the present application;
fig. 6 shows a schematic flow chart of active noise reduction of the sweeping robot according to an embodiment of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (e.g., Central Processing Units (CPUs)), input/output interfaces, network interfaces, and memory.
The Memory may include volatile Memory in a computer readable medium, Random Access Memory (RAM), and/or nonvolatile Memory such as Read Only Memory (ROM) or flash Memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, Phase-Change RAM (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically erasable programmable Read-Only Memory (EEPROM), flash Memory or other Memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, magnetic cassette tape, tape-Disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
Fig. 1 shows a schematic structural diagram of a system for active noise reduction of a sweeping robot according to an aspect of the present application, the system comprising: the sweeping robot comprises a sweeping robot main body 11, a loudspeaker 12, an audio processing module 13 and a noise collecting microphone 14, wherein the noise collecting microphone 14 is connected with the audio processing module 13 and is used for transmitting collected original noise signals into the audio processing module 13 for processing; the speaker 12 is connected to the audio processing module 13, and is configured to play an inverse sound wave signal processed in the audio processing module 13; the audio processing module 13 is arranged in the cavity of the sweeping robot main body 11. The system realizes the active noise reduction function of the household sweeping robot by the combined mode of the sweeping robot main body, the noise acquisition microphone, the audio processing module and the loudspeaker.
With continued reference to fig. 1, the system includes: the noise collection device comprises a dust collection fan 15, a noise collection microphone 14 is arranged on the adjacent side of the dust collection fan 15, and a loudspeaker 12 is arranged on the opposite side of an air outlet of the dust collection fan 15. The system comprises a main control board 16, wherein the audio processing module 13 is connected with the main control board 16 through a serial port or integrated on the main control board. Here, the dust suction fan 15 is installed at the rear portion of the sweeping robot, the noise collection microphone 14 is installed near the air outlet of the dust suction fan 15, and the speaker 12 is installed at the opposite side of the air outlet of the dust suction fan 15. The audio processing module 13 is installed in the inner cavity of the sweeping robot and is connected with the main control board 16 through a serial port or integrated on the main control board 16.
In an embodiment of the present application, the audio processing module 13 is configured to perform an LMS calculation after filtering the original noise signal, repeat an adjustment coefficient of the filtered signal until the LMS reaches convergence, and determine an opposite-phase sound wave signal when the LMS reaches convergence; the loudspeaker 12 is used for broadcasting the inverse sound wave signal. Here, when the sweeping robot starts a sweeping task, the audio processing module 13 collects noise of the dust suction fan 15 through the noise collection microphone 14, calculates an inverse sound wave of the noise through adaptive filtering and lms (least Mean square), and sends out a sound wave signal with the same frequency and the opposite phase as the noise through the built-in speaker 12 to offset the propagation of the noise. Wherein the noise collecting microphone 14 may be a microphone array for simultaneously collecting original noise signals. By using the microphone array, a better noise acquisition effect can be obtained in a mode that a plurality of microphones acquire noise simultaneously. The whole system can realize the active noise reduction function only by adding the microphone and the audio processing module and having small influence on the whole system.
Fig. 2 shows a schematic flow diagram of a method for active noise reduction of a sweeping robot according to an aspect of the present application, the method comprising: step S11 to step S13,
in step S11, when the sweeping robot does not play a warning tone, collecting an original noise signal sent by the sweeping robot; here, when the robot of sweeping the floor cleans the task, when the robot of sweeping the floor did not play the prompt tone, the original noise signal that the robot sent of sweeping the floor was gathered, and this original noise signal is the noise signal that the dust absorption fan of robot of sweeping the floor brought at the during operation.
In step S12, the original noise signal is filtered and processed into an inverted sound wave signal; here, the collected original noise signal is filtered, and the filtered signal is processed into an inverse sound wave signal having the same frequency as the original noise signal and having an opposite phase to the original noise signal. Thereby. In step S13, the original noise signal and the inverted acoustic wave signal are superimposed to complete the noise reduction process. Superposing the reverse sound wave signal and the original noise signal to counteract the transmission of noise; a schematic diagram of the active noise reduction shown in fig. 3, and a comparison diagram of the effect of the active noise reduction shown in fig. 4.
In an embodiment of the present application, in step S12, the original noise signal is filtered and then LMS calculation is performed, and the adjustment coefficient of the filtered signal is repeated until LMS converges; and determining a reverse acoustic wave signal when the LMS reaches convergence, wherein the reverse acoustic wave signal is opposite in phase to the original noise signal. When the original noise signal is filtered and the inverse sound wave of the noise is calculated, the adjustment coefficient of the filtered signal is repeated through the computation of an LMS (least Mean square), until the LMS can converge, and thus the inverse sound wave signal when the LMS converges is determined.
Specifically, the method comprises the following steps: the adjustment coefficient of the iteratively filtered signal may be the adjustment coefficient of the iteratively filtered signal repeatedly according to an iterative update function of the LMS. Wherein the iterative update function of the LMS satisfies the following condition:
w(n+1)＝w(n)+μe(n)x′(n)
wherein, x' (n) is obtained after the original noise signal is transformed by a correlation matrix, w (n) is a weight coefficient vector, mu is an adjusting coefficient, and e (n) is a transient error. Here, as shown in fig. 5, the adjustment coefficient μ is iteratively updated to generate a sound wave signal having a phase opposite to that of the noise signal in the principle diagram of LMS active noise reduction of the noise signal. The objective function of LMS is the square of the instantaneous error e (n) and is: e (n) ═ d (n)]-y(n)]2Where d (n) is a noise signal, y (n) is an inverse acoustic signal, and the iterative update function of LMS is:
w (n +1) ═ w (n) + μ e (n) x '(n), where x' (n) is the original noise signal x (n) transformed by the correlation matrixAnd the output w (n) is a weight coefficient vector, w (n +1) is the current weight coefficient vector w (n) plus a correction quantity which is equal to the weighted value of the error signal e (n). In this case, the amount of the solvent to be used,
wherein the content of the first and second substances,
an autocorrelation matrix is represented. When the LMS iteration converges, its instantaneous error e (z) should satisfy:
and e (z) ═ x (z) p (z) — x (z) w (z) s (z) ≈ 0, in this case, w (z) ≈ p (z)/s (z), where p (z) denotes a cross-correlation matrix, and w (z) is a weight coefficient for adaptive filtering, and may be determined when the sweeping robot leaves the factory. Therefore, the effect of canceling the noise can be achieved by continuously iteratively adjusting the coefficient μ so that e (n) gradually approaches to 0. At this time, y (n) is a reverse sound wave played through the speaker; the loudspeaker plays the reverse sound wave signal y (n), offsets the noise that the dust absorption fan produced, reaches the purpose of noise reduction.
In an embodiment of the application, as shown in fig. 6, the sweeping robot starts a sweeping task, collects dust collection noise when a warning sound is not played, filters the dust collection noise and calculates the LMS variance, thereby calculating the LMS iteration coefficient u, finally determines the opposite-phase sound wave, outputs the opposite-phase sound wave to the speaker, and plays the opposite-phase sound wave through the speaker to offset the noise emitted by the dust collection fan.
In an embodiment of the present application, there is also provided an apparatus for active noise reduction of a sweeping robot, the apparatus including:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform operations of a method for sweeping robot noise reduction as described above.
For example, the computer readable instructions, when executed, cause the one or more processors to:
when the sweeping robot does not play a prompt tone, collecting an original noise signal sent by the sweeping robot;
filtering the original noise signal and processing the original noise signal into an inverse sound wave signal;
and superposing the original noise signal and the reversed-phase sound wave signal to finish noise reduction treatment.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (10)
1. A method for active noise reduction for a sweeping robot, the method comprising:
when the sweeping robot does not play a prompt tone, collecting an original noise signal sent by the sweeping robot;
filtering the original noise signal and processing the original noise signal into an inverse sound wave signal;
and superposing the original noise signal and the reversed-phase sound wave signal to finish noise reduction treatment.
2. The method of claim 1, wherein filtering the raw noise signal into an inverted acoustic signal comprises:
filtering the original noise signal, performing LMS calculation, and repeating the adjustment coefficient of the signal after iterative filtering until the LMS converges;
and determining a reverse acoustic wave signal when the LMS reaches convergence, wherein the reverse acoustic wave signal is opposite in phase to the original noise signal.
3. The method of claim 2, wherein iteratively repeating the adjustment coefficients for the filtered signal comprises:
and repeating the adjustment coefficient of the signal after iterative filtering according to the iterative update function of the LMS.
4. A method according to claim 3, characterized in that the iterative update function of the LMS satisfies the following condition:
w(n+1)＝w(n)+μe(n)x′(n)
wherein, x' (n) is obtained after the original noise signal is transformed by a correlation matrix, w (n) is a weight coefficient vector, mu is an adjusting coefficient, and e (n) is a transient error.
5. A system for active noise reduction for a sweeping robot, the system comprising:
a sweeping robot main body, a loudspeaker, an audio processing module and a noise collecting microphone,
the noise acquisition microphone is connected with the audio processing module and is used for transmitting acquired original noise signals into the audio processing module for processing;
the loudspeaker is connected with the audio processing module and is used for playing the reversed-phase sound wave signal processed in the audio processing module;
the audio processing module is arranged in the cavity of the sweeping robot main body.
6. The system of claim 5, wherein the system comprises: the noise collection microphone is installed on the adjacent side of the dust collection fan, and the loudspeaker is installed on the opposite side of the air outlet of the dust collection fan.
7. The system of claim 5, comprising a main control board, wherein the audio processing module is connected to or integrated on the main control board through a serial port.
8. The system of claim 5, wherein the audio processing module is configured to perform an LMS calculation after filtering the original noise signal, repeat an adjustment coefficient of the iteratively filtered signal until the LMS converges, and determine a reverse phase sound wave signal when the LMS converges; the loudspeaker is used for broadcasting the reversed phase sound wave signal.
9. The system of claim 5, wherein the noise collection microphone is an array of microphones configured to simultaneously collect raw noise signals.
10. An apparatus for active noise reduction for a sweeping robot, the apparatus comprising:
one or more processors; and
memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the method of any of claims 1 to 4.
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| CN201911304619.0A CN111035323A (en) | 2019-12-17 | 2019-12-17 | Method, equipment and system for actively reducing noise of sweeping robot |
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| CN201911304619.0A CN111035323A (en) | 2019-12-17 | 2019-12-17 | Method, equipment and system for actively reducing noise of sweeping robot |
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