CN209551796U - Robot - Google Patents
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- CN209551796U CN209551796U CN201822240151.0U CN201822240151U CN209551796U CN 209551796 U CN209551796 U CN 209551796U CN 201822240151 U CN201822240151 U CN 201822240151U CN 209551796 U CN209551796 U CN 209551796U
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Abstract
The utility model is suitable for the technical field of electronics, a robot is provided, which comprises a pickup module and a main control module; the pickup module is electrically connected with the main control module and comprises a microphone array, and the microphone array comprises N microphones; n microphones are uniformly distributed around the robot body of the robot, and the main control module acquires N paths of audio data acquired by the microphone array and carries out sound source positioning and sound pickup based on the audio data. Carry out audio data collection through the microphone array that the fuselage setting at the robot is constituteed by N microphones that are annular and evenly distributed, will gather N way audio data again and transmit to host system, realize sound localization and sound through host system based on this audio data and reference audio data and pick up, 360 degrees wakening up and the sound source localization that can support the robot promptly, can support the formation of directional beam again, realize sound and pick up, need not to set up the microphone hole at the robot head, can not influence the pleasing to the eye of robot.
Description
Technical field
The utility model belongs to electronic technology field more particularly to a kind of robot.
Background technique
In design robot, if the position of microphone array is put incorrect, interactive voice effect will affect.Cause
Most basic requirement and precondition for the Wave beam forming (beam-forming) of microphone array is: sound goes directly microphone
Each of array microphone.Therefore, if annular microphone array is placed at robot neck, the neck of robot
The subsequent microphone of neck can be blocked, sound is caused to reflect microphone behind the robot neck that cannot go directly, Jin Erying by neck
Ring pickup effect.
It is usual on the market at present regarding to the issue above: to be that annular microphone is placed on to the head of robot or is used simultaneously
Annular microphone array and linear microphone array, annular microphone array are placed at robot neck, for realizing machine
360 degree of people wake up and 360 degree of auditory localizations, linear microphone are placed on robot head, for Wave beam forming to be picked up
Sound.
And annular microphone array is placed on robot head then to the limited height system of robot, simultaneously because annular wheat
Gram wind array needs to can be only achieved preferable pickup effect in horizontal stationary state, therefore the headwork of robot is caused to have
Limitation, and and annular microphone be placed on the aperture of robot head annular and also will affect the beauty of robot.And it uses simultaneously
Annular microphone array and linear microphone array will lead to the aperture of microphone everywhere with robot, influence robot
Beauty.
Utility model content
In view of this, the utility model embodiment provides a kind of robot, to solve at present since annular Mike is arranged
The position of wind array and cause the height of robot and headwork to be limited and inaesthetic problem.
The utility model provides a kind of robot, including pickup module and main control module；
The pickup module is electrically connected with the main control module, and the pickup module includes microphone array, the Mike
Wind array includes that N number of microphone, wherein N >=3 and N are integer；
N number of microphone in a ring and is uniformly distributed in the fuselage of the robot, passes through N number of microphone and carries out
Audio data is acquired, and the road the N audio data that N number of microphone is got is transmitted to the main control module；So that the master control
Module is based on the audio data and carries out auditory localization and voice pickup.
A kind of robot provided by the utility model is arranged by the fuselage in robot by a ring and equally distributed
The microphone array of N number of microphone composition carries out audio data collecting, then will collect the road N audio data and reference audio data
It is transferred in main control module, which is based on by main control module and realizes auditory localization and voice pickup, can be supported
360 degree of robot wake up and auditory localization, and can support the formation of directional beam, realize voice pickup, not will cause pair
The limitation of the height of robot will not limit the headwork of robot, solve at present since annular microphone array is arranged
The position of column and cause the height of robot and headwork to be limited and inaesthetic problem.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of modular structure schematic diagram for robot that the utility model embodiment one provides；
Fig. 2 is a kind of structural schematic diagram of the pickup module 10 for robot that the utility model embodiment one provides；
Fig. 3 is the distribution schematic diagram of the microphone array 11 for the robot that the utility model embodiment one provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the utility model embodiment.However, it will be clear to one skilled in the art that there is no these
The utility model also may be implemented in the other embodiments of detail.In other situations, omit to well-known system,
The detailed description of system, circuit and method, in case unnecessary details interferes the description of the utility model.
It should be noted that term " includes " in the specification and claims of the utility model and they are any
Deformation, it is intended that cover and non-exclusive include.Such as process, method or system, product comprising a series of steps or units
Or equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit, or can
Selection of land further includes the other step or units intrinsic for these process, methods, product or equipment.In addition, term " first ",
" second " and " third " etc. are for distinguishing different objects, not for description particular order.
The utility model embodiment is in order to solve to lead to robot since the position of annular microphone array is arranged at present
Height and headwork is limited and inaesthetic problem, provide a kind of robot, pass through robot fuselage be arranged
By in a ring and the microphone array that forms of equally distributed N number of microphone carries out audio data collecting, then the road N sound will be collected
Frequency evidence and reference audio data are transferred in main control module, by main control module be based on the audio data realize auditory localization and
Voice pickup, can support the 360 degree of wake-ups and auditory localization of robot, and can support the formation of directional beam, realize
Voice pickup not will cause the limitation to the height of robot, will not limit the headwork of robot, solve at present by
The height of robot and headwork is caused to be limited and inaesthetic problem in the position that annular microphone array is arranged.
In order to illustrate technical solution described in the utility model, the following is a description of specific embodiments.
Embodiment one:
As shown in Figure 1, present embodiments providing a kind of robot 1, which includes pickup module 10 and master control mould
Block 20.
Pickup module 10 is electrically connected with main control module 20, and pickup module 10 includes microphone array 11, microphone array 11
Including N number of microphone；Wherein N >=3 and N are integer.
N number of microphone is uniformly distributed around the fuselage of robot 1, and main control module 20 obtains the N that microphone array 10 acquires
Road audio data, and auditory localization and voice pickup are carried out based on audio data.
In one embodiment, above-mentioned sound pick up equipment 10 further includes MIC platelet 12.
MIC platelet 12 is electrically connected with microphone array 11 and main control module 20 respectively.
MIC platelet 12 is transmitted to main control module after the road the N audio data that microphone array 11 acquires is carried out analog-to-digital conversion
20.The road the N analog audio data that microphone array 11 acquires is converted to digital audio-frequency data by specific MIC platelet, then should
Digital audio-frequency data is transmitted to main control module 20.
In one embodiment, above-mentioned MIC platelet 12 includes being electrically connected respectively with microphone array 11 and main control module 20
Analog-digital converter 121.Analog-to-digital conversion is carried out to the road N audio data by analog-digital converter 121.In a particular application, MIC is small
The collected analog audio data of each microphone can be converted into corresponding digital audio-frequency data by plate 12, then by digital audio
Data are numbered, and the digital audio-frequency data that number is completed is sent to main control module.
In a particular application, as shown in Fig. 2, above-mentioned pickup module 10 includes passing through microphone lines reality with microphone array 11
The MIC platelet 12 being now electrically connected, the MIC platelet include analog-digital converter 121.MIC platelet by I2S bus, I2C bus with
And power supply line is electrically connected with main control module 20.The 11 collected road N audio data of microphone array is passed through mould by MIC platelet 12
Number converter 121 carries out analog-to-digital conversion, then the road the N audio data after conversion is merged, and will be after fusion by I2S interface
Audio data be transferred in main control module 20.Above-mentioned MIC platelet is also respectively numbered the road N audio data, passes through number
Audio data is carried out with the microphone for collecting the audio data corresponding.
In one embodiment, above-mentioned first microphone array includes 6 microphones, and 6 microphones are set to robot
Fuselage, 6 microphones are distributed in any point on 30 longitudinal axis of fuselage using robot as the circumference in the center of circle, circumference perpendicular to
Longitudinal axis.
In a particular application, above-mentioned robot is anthropomorphic robot, and above-mentioned anthropomorphic robot includes head and fuselage, fuselage
Including neck, the neck of above-mentioned robot is arranged in above-mentioned 6 microphones.
In a particular application, as shown in figure 3, microphone array 11 include the first microphone MIC1, second microphone MIC2,
Third microphone MIC3, the 4th microphone MIC4, the 5th microphone MIC5 and the 6th microphone MIC6, wherein the first Mike
Wind MIC1 and second microphone MIC2 is located at perpendicular on the horizontal line of 30 longitudinal axis of robot fuselage, the first microphone MIC1,
Second microphone MIC2, third microphone MIC3, the 4th microphone MIC4, the 5th microphone MIC5 and the 6th microphone MIC6
According to equidistantly according to the center of circle for the circumference that any point on 30 longitudinal axis of fuselage of every two microphone and robot is the center of circle
The angle of formation is 60 degree, i.e., is uniformly distributed by 360 degree of necks around robot.First microphone MIC1, second microphone
MIC2, third microphone MIC3, the 4th microphone MIC4, the 5th microphone MIC5 and the 6th microphone MIC6 are constituted around machine
The microphone array of the annular 6MIC of device person neck.
In one embodiment, main control module introduces reference audio data from power amplifier 30 and is input to MIC platelet, described
MIC platelet is also used to carry out analog-to-digital conversion and coded transmission to the main control module to above-mentioned reference audio data.Specific
In, reference audio data are inputted to MIC platelet 12 above by main control module, by MIC platelet 12 by the reference of input
After audio data is numbered and is merged with the above-mentioned road N audio data, main control unit 20 is sent to by I2S interface.It is main
Control unit 20 eliminates echo according to this reference audio data, and the influence of filtering environmental noise further increases sound source
The accuracy of positioning and the accuracy of speech recognition.
In one embodiment, above-mentioned robot further includes the power amplifier 30 being electrically connected with main control module 20.
Main control module 20 obtains the audio data that power amplifier 30 plays, and generates reference according to the audio data that power amplifier 30 plays
Audio data.
In a particular application, two-way reference audio number is generated if corresponding play if audio is two-channel of above-mentioned main control module
According to；Reference audio data all the way are generated if corresponding play if audio is monophonic of above-mentioned main control module；If main control module correspondence is broadcast
Playback frequency is that the quadraphonic then generates four tunnel reference audio data.By taking two-channel as an example, main control module can directly be connected by data line
It is connected to MIC platelet, then the two-way reference audio data played at the power amplifier of main control module are passed into MIC platelet.
In one embodiment, above-mentioned main control module 20 includes Data buffer 21 (pond buffer), and Data buffer is used
In the storage road N audio data.In one embodiment, above-mentioned buffer pool not only stores the road N audio data, be also stored from
The reference audio data that MIC platelet transmits.
In a particular application, main control module 20 by the road the N audio data got from the I2S interface of MIC platelet 12 and
Reference audio data are stored in above-mentioned Data buffer 51.By control module 20 according to the audio data in Data buffer
Data-reusing is carried out, realizes that 360 degree wake up and formed wave beam to carry out pickup by operation preset algorithm.It needs to illustrate
Be, above-mentioned preset algorithm refer to it is existing according to collected audio data carry out auditory localization location algorithm, existing
According to collected audio data carry out robot wake-up wake-up algorithm and it is existing according to collected audio data carry out
The Wave beam forming pickup algorithm of Wave beam forming and pickup.
In a particular application, pass through the collected corresponding audio data of annular 6MIC and two-way reference audio data
(totally eight road audio data) carries out robot wake-up, i.e., carries out auditory localization according to above-mentioned eight road audio data, fixed by sound source
Position determines that the differential seat angle of sound source position and current location, control robot are turned to according to the differential seat angle and waken up robot,
After waking up robot, pass through the first microphone MIC1 and second microphone MIC2, third microphone in above-mentioned annular 6MIC
MIC3 and the collected audio data of the 6th microphone MIC6 and two-way reference audio data (totally six road audio data) carry out
Echo cancellor, Wave beam forming pickup and speech recognition carry out noise reduction, echo cancellor, wave beam according to above-mentioned six road audio data
Audio for speech recognition data are obtained after formation, it, will after being identified the audio data by speech ciphering equipment unit
Voice data is converted to text.
In one embodiment, above-mentioned main control module 20 can be Android development board, in the software of above-mentioned Android development board
Layer one Data buffer of setting, the road the N audio data that pickup module 10 is sended over and two-way reference audio data into
Row number is simultaneously stored in above-mentioned Data buffer, wakes up algorithm and recognizer by running parallel, concurrently slow from data
It rushes in pond and obtains required audio data.It should be noted that above-mentioned wake-up algorithm can be waken up using existing various voices
Algorithm, above-mentioned recognizer can use existing various speech recognition algorithms.By audio data that microphone is acquired into
Row multiplexing, the audio data that part microphone is got not only were used for waking up algorithm, but also were used for recognizer.So that being located at
The microphone array of Robot neck still can be realized 360 degree of auditory localization and 360 degree of wake-ups, while guarantee to be used for voice
The acquisition (Wave beam forming pickup) of the audio data of identification, does not influence speech recognition.Wheat is opened up without the head in robot
Gram air holes, will not influence the beauty of robot.
Below in conjunction with above-mentioned robot, to above-mentioned robot acquisition audio data and handle the working principle of audio data into
Row is described as follows:
In a particular application, audio data collecting is carried out around 6 microphones for being set to robot fuselage (neck).Wheat
6 microphones of gram wind array are set to the neck of robot, and 6 microphones are distributed on the fuselage datum line with robot
Any point is the circumference in the center of circle, and circumference forms annular 6MIC array perpendicular to longitudinal axis, 6 microphones.
By sending main control module for the collected 6 road audio data of 6 microphones, by main control module according to above-mentioned
Audio data realizes auditory localization and voice pickup.
In a particular application, the MIC platelet being electrically connected by 6 microphones with microphone array, to 6 tunnel audio numbers
After carrying out analog-to-digital conversion, data fusion is carried out to the audio data after analog-to-digital conversion, then the audio data merged is transmitted
To main control module.
In a particular application, MIC platelet is when carrying out data fusion, by importing two-way reference audio signal, by this two
Road reference audio signal and above-mentioned 6 road audio data carry out data fusion, and fused digital audio-frequency data is transferred to master control
Module.
In a particular application, above-mentioned MIC platelet Hai Jiangge road audio data carries out reference numeral, to above-mentioned 6 tunnel audio number
Accordingly and two-way reference audio data are numbered respectively.
Reference numeral is carried out to the collected audio data of each microphone specifically: the sound for getting the first microphone
Frequency data number is the first audio data, and the audio data that second microphone is got is numbered as second audio data, by the
The audio data number that three microphones are got is third audio data, is by the audio data number that the 4th microphone is got
The audio data that 5th microphone is got is numbered as fifth audio data, the 6th microphone is obtained by the 4th audio data
To audio data number be the 6th audio data, by first via reference audio data number be subtonic frequency evidence, by second
Road reference audio data number is the 8th audio data.
6 road audio data is stored in Data buffer by main control module, and is carried out sound source according to audio data and determined
Position and voice pickup.
Specifically, it is slow that two-way reference audio data and 6 road audio datas (totally 8 road audio data) are stored in above-mentioned data
It rushes in pond.First group of audio data is obtained from above-mentioned buffer pool, it is slow from data by the first preset algorithm localization of sound source position
It rushes in pond and obtains second group of audio data, Wave beam forming is carried out to second group of audio data by the second preset algorithm and audio drops
It makes an uproar processing.
Above-mentioned first group of audio data includes: the first audio data, second audio data, third audio data, the 4th sound
Frequency evidence, fifth audio data, the 6th audio data, subtonic frequency are accordingly and the 8th audio data；Above-mentioned second group of audio
Data include: the first audio data, second audio data, third audio data, the 6th audio data, subtonic frequency accordingly and
8th audio data.
In a particular application, main control module runs corresponding algorithm according to the audio data being stored in Data buffer,
It carries out auditory localization and voice pickup (Wave beam forming and noise reduction are to realize pickup), is waken up and speech recognition with realizing.Specifically
, main control module obtains the audio data of corresponding coding according to the algorithm of operation from above-mentioned Data buffer, and runs correspondence
Algorithm.Main control module from Data buffer by obtaining 6 road audio datas and two-way reference audio data, and according to 6
Road audio data and two-way reference audio data run wake up algorithm, realize 360 degree of wake-ups to robot.Main control module is simultaneously
Row ground from Data buffer the first microphone MIC1 obtain audio data, second microphone MIC2 obtain audio data with
And two-way reference audio data, and the sound that audio data, the second microphone MIC2 obtained according to the first microphone MIC1 is obtained
The audio data and two-way of audio data, the 6th microphone MIC6 acquisition that frequency is obtained according to third microphone MIC3 refer to sound
Frequency data run recognizer is realized and carries out speech recognition to user's word.
Specifically, main control module by obtaining the first audio data, second audio data, respectively from Data buffer
Three audio datas, the 4th audio data, fifth audio data, the 6th audio data, subtonic frequency evidence, the 8th audio data,
And according to the first audio data, second audio data, third audio data, the 4th audio data, fifth audio data, the 6th sound
Frequency evidence, subtonic frequency evidence, the 8th audio data carry out echo cancellor and run wake-up algorithm, realize to the 360 of robot
Spend auditory localization and wake-up.Main control module concurrently obtains the first audio data, second audio data, from Data buffer
Three audio datas, the 6th audio data, subtonic frequency evidence and the 8th audio data, and according to the first audio data, the second sound
Frequency evidence, third audio data, the 6th audio data, subtonic frequency evidence and the 8th audio data run recognizer, realize
Speech recognition is carried out to user's word.
In a particular application, pass through the corresponding audio data of the collected corresponding audio data of annular 6MIC and two-way
Reference audio data (totally eight road audio data) carry out robot wake-up, i.e., according to the first audio data, second audio data, the
Three audio datas, the 4th audio data, fifth audio data, the 6th audio data, subtonic frequency are accordingly and octave frequency
According to auditory localization is carried out, the differential seat angle of sound source position and current location is determined by auditory localization, controls robot according to the angle
Degree difference is turned to and is waken up robot, after waking up robot, passes through the collected audio data of the first microphone MIC1, the
The collected audio data of two microphone MIC2, the collected audio data of third microphone MIC3, the 6th microphone MIC6
The audio data and two-way reference audio data (totally six road audio data) of acquisition carry out echo cancellor, noise reduction, Wave beam forming and pick up
Sound and speech recognition, i.e., according to the first audio data, second audio data, third audio data, the 6th audio data, subtonic
Frequency is accordingly and the 8th audio data carries out noise reduction, obtains audio for speech recognition data after echo cancellor, by should
After audio data is identified by speech ciphering equipment unit, text is converted voice data into, realizes speech recognition.
It should be noted that the MIC that the sound of user can go directly forms MIC times when subscriber station is immediately ahead of robot
Column, it will be able to for doing Wave beam forming.Use annular 6MIC in this embodiment, as long as then subscriber station robot just before
Side, all MIC for the annular MIC array that sound can go directly are being adopted by the microphone that these MIC form semicircle MIC array
It would not be blocked when collecting sound, therefore use semicircle MIC array (the first microphone MIC1, second microphone MIC2, third
The semicircle MIC array of microphone MIC3 and the 6th microphone MIC6 composition) collected audio data does Wave beam forming just
It being capable of preferably pickup.It should also be noted that, above-mentioned only an embodiment of the present embodiment, as long as subscriber station is in machine
When immediately ahead of people, the microphone that the sound of user can go directly and (not be blocked) can be used to realize Wave beam forming, herein not
It limits.
It should be noted that above-mentioned first preset algorithm be it is existing can be realized that auditory localization and robot wake up call out
Awake algorithm, above-mentioned second preset algorithm are the existing algorithm that can be realized speech recognition.
A kind of robot provided in this embodiment, by the fuselage setting in robot by a ring and equally distributed N
The microphone array of a microphone composition carries out audio data collecting, then will collect the road N audio data and be transferred to main control module
In, which is based on by main control module and realizes auditory localization and voice pickup, 360 degree of robot can be supported to call out
Awake and auditory localization, and can support the formation of directional beam, it realizes voice pickup, not will cause the limit to the height of robot
System, will not limit the headwork of robot, and solving leads to machine since the position of annular microphone array is arranged at present
The height of device people and headwork are limited and inaesthetic problem.
Embodiment described above is only to illustrate the technical solution of the utility model, rather than its limitations；Although referring to before
Embodiment is stated the utility model is described in detail, those skilled in the art should understand that: it still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit for various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
And range, it should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of robot, which is characterized in that the robot includes pickup module and main control module；
The pickup module is electrically connected with the main control module, and the pickup module includes microphone array, the microphone array
Column include that N number of microphone, wherein N >=3 and N are integer；
N number of microphone is uniformly distributed around the fuselage of the robot, and the main control module obtains the microphone array
The road the N audio data of acquisition, and auditory localization and voice pickup are carried out based on the audio data.
2. robot according to claim 1, which is characterized in that the sound pick up equipment further includes MIC platelet；
The MIC platelet is electrically connected with the microphone array and the main control module respectively；
The road the N analog audio data that the microphone array acquires is converted to digital audio-frequency data and coding by the MIC platelet,
And by the digital audio-frequency data and coding transmission to the main control module.
3. robot according to claim 2, which is characterized in that the MIC platelet include with the microphone array and
The analog-digital converter of the main control module electrical connection, the analog-digital converter carry out analog-to-digital conversion to the road N audio data.
4. robot according to claim 1, which is characterized in that described gram of wind array includes 6 microphones, and described 6
Microphone is set to the fuselage of the robot, and 6 microphones are distributed in is with any point on the fuselage datum line
The circumference in the center of circle, the circumference is perpendicular to the longitudinal axis.
5. robot according to claim 2, which is characterized in that the main control module introduces reference audio data from power amplifier
And it is input to MIC platelet, the MIC platelet is also used to carry out analog-to-digital conversion and coded transmission extremely to above-mentioned reference audio data
The main control module.
6. robot according to claim 5, which is characterized in that further include the power amplifier being electrically connected with the main control module；
Control main control module obtains the audio data that the power amplifier plays, and generates ginseng according to the audio data that the power amplifier plays
Examine audio data.
7. robot according to claim 1, which is characterized in that the main control module includes Data buffer, the number
According to buffer pool for storing the road N audio data.
8. robot according to claim 2, which is characterized in that the MIC platelet by I2S bus, I2C bus and
Power supply line is electrically connected with the main control module, and the digital audio-frequency data is transmitted to the master control by the I2S bus
Module.
9. robot according to claim 2, which is characterized in that the MIC platelet passes through microphone lines and the Mike
The electrical connection of wind array.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822240151.0U CN209551796U (en) | 2018-12-28 | 2018-12-28 | Robot |
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| CN201822240151.0U CN209551796U (en) | 2018-12-28 | 2018-12-28 | Robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111383649A (en) * | 2018-12-28 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot and audio processing method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111383649A (en) * | 2018-12-28 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot and audio processing method thereof |
| CN111383649B (en) * | 2018-12-28 | 2024-05-03 | 深圳市优必选科技有限公司 | Robot and audio processing method thereof |
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