CN113826160B - 在机器人与人的通信中的降噪 - Google Patents

在机器人与人的通信中的降噪

Info

Publication number
CN113826160B
CN113826160B CN202080034072.1A CN202080034072A CN113826160B CN 113826160 B CN113826160 B CN 113826160B CN 202080034072 A CN202080034072 A CN 202080034072A CN 113826160 B CN113826160 B CN 113826160B
Authority
CN
China
Prior art keywords
robot
noise
pose
input audio
profile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202080034072.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN113826160A (zh
Inventor
池内克史
福本雅朗
J·H·李
J·L·克拉维茨
D·W·鲍默特
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Microsoft Technology Licensing LLC
Original Assignee
Microsoft Technology Licensing LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Microsoft Technology Licensing LLC filed Critical Microsoft Technology Licensing LLC
Publication of CN113826160A publication Critical patent/CN113826160A/zh
Application granted granted Critical
Publication of CN113826160B publication Critical patent/CN113826160B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • 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
    • 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
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • 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
    • B25J11/003—Manipulators for entertainment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/026—Acoustical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Quality & Reliability (AREA)
  • Computational Linguistics (AREA)
  • Automation & Control Theory (AREA)
  • General Health & Medical Sciences (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
CN202080034072.1A 2019-05-08 2020-03-17 在机器人与人的通信中的降噪 Active CN113826160B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/406,788 2019-05-08
US16/406,788 US11270717B2 (en) 2019-05-08 2019-05-08 Noise reduction in robot human communication
PCT/US2020/023042 WO2020226748A1 (en) 2019-05-08 2020-03-17 Noise reduction in robot human communication

Publications (2)

Publication Number Publication Date
CN113826160A CN113826160A (zh) 2021-12-21
CN113826160B true CN113826160B (zh) 2025-09-26

Family

ID=70289450

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080034072.1A Active CN113826160B (zh) 2019-05-08 2020-03-17 在机器人与人的通信中的降噪

Country Status (6)

Country Link
US (2) US11270717B2 (https=)
EP (1) EP3966817B1 (https=)
JP (1) JP2022531654A (https=)
KR (1) KR102874755B1 (https=)
CN (1) CN113826160B (https=)
WO (1) WO2020226748A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3035607A1 (en) * 2016-09-08 2018-03-15 Fives Line Machines Inc. Machining station, workpiece holding system, and method of machining a workpiece
EP3551393A4 (en) * 2016-12-12 2020-08-12 Microsoft Technology Licensing, LLC GENERATION OF ROBOT GESTURES
US11270717B2 (en) * 2019-05-08 2022-03-08 Microsoft Technology Licensing, Llc Noise reduction in robot human communication
JP7420144B2 (ja) * 2019-10-15 2024-01-23 日本電気株式会社 モデル生成方法、モデル生成装置、プログラム

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106308812A (zh) * 2015-07-08 2017-01-11 宣威科技股份有限公司 可携式听力检测装置

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH035255A (ja) * 1989-06-02 1991-01-11 Nissan Motor Co Ltd 車両のこもり音低減装置
JP3550153B2 (ja) * 1991-07-05 2004-08-04 本田技研工業株式会社 内燃エンジンに係る能動振動制御装置の参照信号生成装置
JP2743639B2 (ja) * 1991-08-16 1998-04-22 日産自動車株式会社 能動型騒音制御装置
US6099217A (en) * 1995-12-20 2000-08-08 Wiegand; Alexander Konrad Device for spatially moving a body with three to six degrees of freedom in a controlled manner
KR100337560B1 (ko) * 1996-12-20 2003-02-25 기아자동차주식회사 차량의 소음 제거 장치
JP2001215990A (ja) * 2000-01-31 2001-08-10 Japan Science & Technology Corp ロボット聴覚装置
AUPR604201A0 (en) * 2001-06-29 2001-07-26 Hearworks Pty Ltd Telephony interface apparatus
JP5041934B2 (ja) * 2006-09-13 2012-10-03 本田技研工業株式会社 ロボット
US20080071540A1 (en) 2006-09-13 2008-03-20 Honda Motor Co., Ltd. Speech recognition method for robot under motor noise thereof
US8046219B2 (en) * 2007-10-18 2011-10-25 Motorola Mobility, Inc. Robust two microphone noise suppression system
US20100039434A1 (en) * 2008-08-14 2010-02-18 Babak Makkinejad Data Visualization Using Computer-Animated Figure Movement
JP5535746B2 (ja) * 2009-05-22 2014-07-02 本田技研工業株式会社 音データ処理装置及び音データ処理方法
US8548802B2 (en) 2009-05-22 2013-10-01 Honda Motor Co., Ltd. Acoustic data processor and acoustic data processing method for reduction of noise based on motion status
JP5391008B2 (ja) * 2009-09-16 2014-01-15 キヤノン株式会社 撮像装置及びその制御方法
JP6004792B2 (ja) 2011-07-06 2016-10-12 本田技研工業株式会社 音響処理装置、音響処理方法、及び音響処理プログラム
US9233470B1 (en) * 2013-03-15 2016-01-12 Industrial Perception, Inc. Determining a virtual representation of an environment by projecting texture patterns
JP5754454B2 (ja) * 2013-03-18 2015-07-29 株式会社安川電機 ロボットピッキングシステム及び被加工物の製造方法
US9177541B2 (en) * 2013-08-22 2015-11-03 Bose Corporation Instability detection and correction in sinusoidal active noise reduction system
US9769564B2 (en) * 2015-02-11 2017-09-19 Google Inc. Methods, systems, and media for ambient background noise modification based on mood and/or behavior information
KR102372188B1 (ko) * 2015-05-28 2022-03-08 삼성전자주식회사 오디오 신호의 잡음을 제거하기 위한 방법 및 그 전자 장치
US9990685B2 (en) * 2016-03-21 2018-06-05 Recognition Robotics, Inc. Automated guidance system and method for a coordinated movement machine
DE102016213663A1 (de) * 2016-07-26 2018-02-01 Siemens Aktiengesellschaft Verfahren zum Steuern eines Endelementes einer Werkzeugmaschine und eine Werkzeugmaschine
JP2018036332A (ja) * 2016-08-29 2018-03-08 国立大学法人 筑波大学 音響処理装置、音響処理システム及び音響処理方法
CA3035607A1 (en) * 2016-09-08 2018-03-15 Fives Line Machines Inc. Machining station, workpiece holding system, and method of machining a workpiece
EP3551393A4 (en) * 2016-12-12 2020-08-12 Microsoft Technology Licensing, LLC GENERATION OF ROBOT GESTURES
US20180190257A1 (en) * 2016-12-29 2018-07-05 Shadecraft, Inc. Intelligent Umbrellas and/or Robotic Shading Systems Including Noise Cancellation or Reduction
CN107610698A (zh) * 2017-08-28 2018-01-19 深圳市金立通信设备有限公司 一种实现语音控制的方法、机器人及计算机可读存储介质
US11069365B2 (en) * 2018-03-30 2021-07-20 Intel Corporation Detection and reduction of wind noise in computing environments
CN108648756A (zh) * 2018-05-21 2018-10-12 百度在线网络技术（北京）有限公司 语音交互方法、装置和系统
US11270717B2 (en) * 2019-05-08 2022-03-08 Microsoft Technology Licensing, Llc Noise reduction in robot human communication

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106308812A (zh) * 2015-07-08 2017-01-11 宣威科技股份有限公司 可携式听力检测装置

Also Published As

Publication number Publication date
CN113826160A (zh) 2021-12-21
US20220230650A1 (en) 2022-07-21
KR102874755B1 (ko) 2025-10-21
EP3966817B1 (en) 2023-12-13
KR20220007051A (ko) 2022-01-18
US20200357423A1 (en) 2020-11-12
US11270717B2 (en) 2022-03-08
EP3966817A1 (en) 2022-03-16
JP2022531654A (ja) 2022-07-08
WO2020226748A1 (en) 2020-11-12
US11842744B2 (en) 2023-12-12

Similar Documents

Publication Publication Date Title
CN113826160B (zh) 在机器人与人的通信中的降噪
US9431027B2 (en) Synchronized gesture and speech production for humanoid robots using random numbers
CN119610090B (zh) 一种人形机器人自然语言操控方法
CN112330779A (zh) 一种生成角色模型舞蹈动画的方法和系统
JP2021503625A (ja) 対話セッション管理用のシステム及び方法
KR20110124837A (ko) 지능형 로봇 장치의 서비스 시나리오 편집 방법, 그 방법을 실행하기 위한 프로그램을 기록한 컴퓨터 판독가능한 기록매체, 지능형 로봇 장치 및 지능형 로봇의 서비스 방법
JP2024035150A (ja) エンティティを制御するためのシステムおよび方法
CN116728419A (zh) 弹琴机器人的连续弹琴动作规划方法、系统、设备及介质
CN114385000A (zh) 智能设备控制方法、装置、服务器和存储介质
JP2007528797A (ja) オブジェクトを動画化するのを可能にする電子装置及び方法
Clarke et al. Prediction-based methods for teleoperation across delayed networks
JP2024052635A (ja) 加速度計データを使用した深層学習に基づく音予測のためのシステム及び方法
JPWO2022034679A5 (ja) 挙動学習装置、挙動学習方法、挙動推定装置、挙動推定方法、及びプログラム
CN120002675B (zh) 机器人动作预测方法、装置、设备及存储介质
JP2024501885A (ja) 現実ロボットのシミュレーション駆動型ロボット制御
JP3955756B2 (ja) 動作制御装置、方法及びプログラム
US20240100693A1 (en) Using embeddings, generated using robot action models, in controlling robot to perform robotic task
CN120755870A (zh) 人形机器人的姿势生成方法、装置、机器人、介质及产品
KR20230082531A (ko) 복수의 태스크에 대한 오프라인 메타 강화학습 방법 및 이를 수행하기 위한 컴퓨팅 장치
CN113468042A (zh) 人机交互测试系统和方法
US20240112019A1 (en) System and method for deep learning-based sound prediction using accelerometer data
JP2005250795A (ja) シミュレーション装置及びシミュレーション方法
KR20260019686A (ko) 스킬 그라운딩 장치 및 방법
JP2024172050A (ja) 予測システム、学習システム、予測方法、学習方法、予測プログラム及び学習プログラム
WO2025256740A1 (en) Method and device for demonstration-based robot programming with adaptive reference frames

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant