TW201712668A - A robot indoor noises control system - Google Patents
A robot indoor noises control system Download PDFInfo
- Publication number
- TW201712668A TW201712668A TW105120419A TW105120419A TW201712668A TW 201712668 A TW201712668 A TW 201712668A TW 105120419 A TW105120419 A TW 105120419A TW 105120419 A TW105120419 A TW 105120419A TW 201712668 A TW201712668 A TW 201712668A
- Authority
- TW
- Taiwan
- Prior art keywords
- signal
- noise
- sound
- control system
- unit
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17821—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the input signals only
- G10K11/17823—Reference signals, e.g. ambient acoustic environment
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1785—Methods, e.g. algorithms; Devices
- G10K11/17857—Geometric disposition, e.g. placement of microphones
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1787—General system configurations
- G10K11/17879—General system configurations using both a reference signal and an error signal
- G10K11/17881—General system configurations using both a reference signal and an error signal the reference signal being an acoustic signal, e.g. recorded with a microphone
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Soundproofing, Sound Blocking, And Sound Damping (AREA)
- Manipulator (AREA)
Abstract
Description
本發明涉及聲音領域，尤其涉及一種機器人對室內的低頻噪聲控制系統。The invention relates to the field of sound, and in particular to a low frequency noise control system for a robot to a room.
噪聲污染是一個全世界都十分關注的環境問題，過量的環境噪聲對人的生理和心理健康都會造成一定的影響；高噪聲環境會對人們的聽力和身體健康造成嚴重的損害；而一般噪聲則會對人們日常工作與生活造成一定的影響。據統計，噪聲污染對全球範圍內約70%以上的城市居民造成不同程度的危害。而作爲發展中國家，中國噪聲污染對人民的影響更爲突出。以家用電器爲主要噪聲源的室內低頻噪聲已經成爲不可忽視的噪聲源。實際監測表明：家用電冰箱爲35~50分貝，洗衣機爲50~70分貝，電風扇爲55~70分貝，吸塵器爲60~80分貝，家庭影院可以達到60~80分貝。由於現代人的生活和工作時間大多數是在室內度過，室內噪聲污染會影響到人的心理狀况，導致聽覺、神經系統及內分泌系統出現病變，持續的室內噪聲會對人們的日常生活造成較大的危害。Noise pollution is an environmental issue that is of great concern to the whole world. Excessive environmental noise will have a certain impact on people's physical and mental health; high noise environment will cause serious damage to people's hearing and physical health; It will have a certain impact on people's daily work and life. According to statistics, noise pollution causes different degrees of harm to more than 70% of urban residents in the world. As a developing country, the impact of noise pollution on the people in China is more prominent. Indoor low-frequency noise, which uses household appliances as the main noise source, has become a source of noise that cannot be ignored. The actual monitoring shows that the household refrigerator is 35~50 decibels, the washing machine is 50~70 decibels, the electric fan is 55~70 decibels, the vacuum cleaner is 60~80 decibels, and the home theater can reach 60~80 decibels. Since most people's lives and working hours are spent indoors, indoor noise pollution can affect people's psychological conditions, leading to lesions in the auditory, nervous system and endocrine system. Continuous indoor noise will cause people's daily life. Larger harm.
傳統降噪技術的主要方法包括吸聲處理、隔音處理和使用消聲器。吸聲處理包括使用吸聲材料或吸聲結構來吸取聲能，從而降低噪聲强度。但吸聲材料主要指多孔吸聲材料，其吸聲係數隨聲波頻率增加而增大，達到極大值後略降再回升，到高頻時起伏變化就不再明顯；中低頻的吸聲還隨著多孔材料的厚度增加而增加，但厚度對高頻聲波的吸收不顯著。隔聲處理主要包括隔聲罩和隔聲屏兩種，隔聲罩的隔聲性能總體遵循質量控制規律，但在應用上需要更多地考慮通風、散熱、耐蝕、耐熱、設備維修等問題。消聲處理中的抗性消聲器能夠較好地降低低頻噪聲，但它的消聲頻段窄，並且隨消聲頻率的下降而使體積變得龐大起來。而複合消聲器雖然消聲量和消聲頻帶都比較理性，但其體積過大，且使用壽命在高溫、蒸汽侵蝕和高速氣流衝擊下减短。The main methods of conventional noise reduction technology include sound absorption treatment, sound insulation treatment and the use of muffler. Sound absorption processing involves the use of sound absorbing materials or sound absorbing structures to absorb sound energy, thereby reducing noise intensity. However, the sound absorbing material mainly refers to the porous sound absorbing material, and its sound absorption coefficient increases with the increase of the sound wave frequency. After reaching the maximum value, it slightly rises and then rises again. When it reaches the high frequency, the undulating change is no longer obvious; the low frequency sound absorption also follows The thickness of the porous material increases and increases, but the thickness does not significantly absorb high frequency sound waves. The sound insulation treatment mainly includes two kinds of sound insulation cover and sound insulation screen. The sound insulation performance of the sound insulation cover generally follows the quality control law, but in the application, it is necessary to consider more problems such as ventilation, heat dissipation, corrosion resistance, heat resistance and equipment maintenance. The resistant muffler in the muffling process can better reduce the low frequency noise, but its muffling frequency band is narrow, and the volume becomes bulky as the muffling frequency decreases. Although the composite muffler is more rational in terms of noise reduction and muffling frequency, its volume is too large, and its service life is shortened under high temperature, steam erosion and high-speed airflow impact.
針對現有的降噪技術存在的上述問題，現提供一種旨在實現降低室內的低頻噪聲，體積小，降噪效率高，便於使用的機器人室內噪聲控制系統。Aiming at the above problems existing in the existing noise reduction technology, a robot indoor noise control system aiming at reducing low frequency noise in a room, having a small volume, high noise reduction efficiency, and being convenient to use is provided.
具體技術方案如下：The specific technical solutions are as follows:
一種機器人室內噪聲控制系統，應用於複數個噪聲源的環境中，用於消除所述噪聲源發射的噪聲信號，所述機器人室內噪聲控制系統包括：A robot indoor noise control system is applied to an environment of a plurality of noise sources for canceling a noise signal emitted by the noise source, the robot indoor noise control system comprising:
複數個次級聲源，複數個所述次級聲源按輸出聲音信號的分貝區間的不同分爲多個音頻類別，所述分貝區間與所述音頻類別一一對應；a plurality of secondary sound sources, wherein the plurality of secondary sound sources are divided into a plurality of audio categories according to different decibel intervals of the output sound signal, and the decibel intervals are in one-to-one correspondence with the audio categories;
一採集單元，用於採集所述聲音信號和所述噪聲信號；An acquisition unit, configured to collect the sound signal and the noise signal;
一識別單元，連接所述採集單元，所述識別單元預設有多個所述分貝區間，用以將所述噪聲信號的分貝分別與多個所述分貝區間進行匹配，以獲取與所述噪聲信號匹配的所述分貝區間對應的所述音頻類別，並輸出所述噪聲信號和所述聲音信號；An identification unit is connected to the collection unit, and the identification unit is pre-configured with a plurality of the decibel sections for respectively matching the decibels of the noise signal with the plurality of decibel sections to obtain the noise And matching the audio category corresponding to the decibel interval of the signal, and outputting the noise signal and the sound signal;
一控制單元，分別連接所述識別單元和所述次級聲源，用於根據每個所述噪聲信號的方向和頻率進行處理獲取相應的控制信號，並將所述控制信號發送至與所述噪聲信號匹配的所述分貝區間對應的所述音頻類別的所述次級聲源，使所述次級聲源輸出與所述噪聲源的聲波幅度相同，且聲波相位相反的所述聲音信號。a control unit, respectively connected to the identification unit and the secondary sound source, configured to process a corresponding control signal according to a direction and a frequency of each of the noise signals, and send the control signal to And the secondary sound source of the audio category corresponding to the decibel interval matched by the noise signal, so that the secondary sound source outputs the sound signal having the same sound wave amplitude as the noise source and the sound wave phase is opposite.
優選的，所述採集單元採用多通道信號採集器。Preferably, the acquisition unit uses a multi-channel signal collector.
優選的，所述多通道信號採集器用於將採集到的多路所述聲音信號和多路所述噪聲信號分別同步轉換爲聲音數字信號和噪聲數字信號，並採用DMA中斷的方式將所述聲音數字信號的聲波相位和所述噪聲數字信號的聲波相位同步發送至所述控制單元。Preferably, the multi-channel signal collector is configured to synchronously convert the collected plurality of the sound signals and the plurality of the noise signals into a sound digital signal and a noise digital signal, respectively, and use the DMA interrupt to rotate the sound. The acoustic phase of the digital signal is sent to the control unit in synchronism with the acoustic phase of the noisy digital signal.
優選的，所述多通道信號採集器包括第一陣列麥克風，所述第一陣列麥克風用於採集所述噪聲信號。Preferably, the multi-channel signal collector comprises a first array microphone, and the first array microphone is used to collect the noise signal.
優選的，所述多通道信號採集器包括第二陣列麥克風，所述第二陣列麥克風用於採集所述聲音信號。Preferably, the multi-channel signal collector comprises a second array microphone, and the second array microphone is used to collect the sound signal.
優選的，還包括：Preferably, the method further includes:
一多路信號傳輸單元，分別連接所述控制單元和所述識別單元，用於將所述識別單元識別後的所述聲音信號和所述噪聲信號發送至所述控制單元。A multiplex signal transmission unit is respectively connected to the control unit and the identification unit, and configured to send the sound signal and the noise signal identified by the identification unit to the control unit.
優選的，所述多路信號傳輸單元採用USB多路麥克風信號傳輸器，用於將所述聲音信號和所述噪聲信號封裝成數據報文並通過USB協議將所述數據報文發送至所述控制單元。Preferably, the multi-channel signal transmission unit uses a USB multi-channel microphone signal transmitter for encapsulating the sound signal and the noise signal into a data message and transmitting the data message to the control unit.
上述技術方案的有益效果：The beneficial effects of the above technical solutions:
在本技術方案中，機器人室內噪聲控制系統的控制單元可根據採集單元採集到的所述噪聲信號進行處理獲取控制信號，使所述次級聲源根據控制信號輸出與所述噪聲源的聲波幅度相同，且聲波相位相反的所述聲音信號，使同一分貝區間內的聲音信號與噪聲信號二者疊加後相互抵消，從而達到消除室內低頻噪聲的效果。In the technical solution, the control unit of the robot indoor noise control system may process the acquisition of the control signal according to the noise signal collected by the acquisition unit, so that the secondary sound source outputs the amplitude of the sound wave with the noise source according to the control signal. The same sound signal with the opposite phase of the sound wave superimposes both the sound signal and the noise signal in the same decibel interval to cancel each other, thereby achieving the effect of eliminating indoor low frequency noise.
下面將結合本發明實施例中的附圖，對本發明實施例中的技術方案進行清楚、完整地描述，顯然，所描述的實施例僅僅是本發明一部分實施例，而不是全部的實施例。基於本發明中的實施例，本領域普通技術人員在沒有作出創造性勞動的前提下所獲得的所有其他實施例，都屬於本發明保護的範圍。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
需要說明的是，在不衝突的情况下，本發明中的實施例及實施例中的特徵可以相互組合。It should be noted that the embodiments in the present invention and the features in the embodiments may be combined with each other without conflict.
下面結合附圖和具體實施例對本發明作進一步說明，但不作爲本發明的限定。The invention is further illustrated by the following figures and specific examples, but is not to be construed as limiting.
如圖1所示，一種機器人室內噪聲控制系統，應用於複數個噪聲源1的環境中，用於消除噪聲源1發射的噪聲信號，機器人室內噪聲控制系統包括：As shown in FIG. 1 , a robot indoor noise control system is applied to the environment of a plurality of noise sources 1 for eliminating noise signals emitted by the noise source 1 , and the robot indoor noise control system includes:
複數個次級聲源6，複數個次級聲源6按輸出聲音信號的分貝區間的不同分爲多個音頻類別，分貝區間與音頻類別一一對應；a plurality of secondary sound sources 6, the plurality of secondary sound sources 6 are divided into a plurality of audio categories according to different decibel intervals of the output sound signals, and the decibel intervals are in one-to-one correspondence with the audio categories;
一採集單元2，用於採集聲音信號和噪聲信號；An acquisition unit 2 is configured to collect a sound signal and a noise signal;
一識別單元3，連接採集單元2，識別單元3預設有多個分貝區間，用以將噪聲信號的分貝分別與多個分貝區間進行匹配，以獲取與噪聲信號匹配的分貝區間對應的音頻類別，並輸出噪聲信號和聲音信號；An identification unit 3 is connected to the acquisition unit 2, and the identification unit 3 is pre-configured with a plurality of decibel intervals for matching the decibels of the noise signal with the plurality of decibel intervals to obtain the audio category corresponding to the decibel interval matching the noise signal. And outputting a noise signal and a sound signal;
一控制單元5，分別連接識別單元3和次級聲源6，用於根據每個噪聲信號的方向和頻率進行處理獲取相應的控制信號，並將控制信號發送至與噪聲信號匹配的分貝區間對應的音頻類別的次級聲源6，使次級聲源6輸出與噪聲源1的聲波幅度相同，且聲波相位相反的聲音信號。a control unit 5 is respectively connected to the identification unit 3 and the secondary sound source 6, for processing according to the direction and frequency of each noise signal to obtain a corresponding control signal, and transmitting the control signal to a decibel interval matching the noise signal The secondary sound source 6 of the audio class causes the secondary sound source 6 to output a sound signal having the same amplitude of the sound wave as the noise source 1 and having the opposite phase of the sound wave.
在本實施例中，控制單元5可根據採集單元2採集到的噪聲信號進行處理獲取控制信號，使次級聲源6根據控制信號輸出與噪聲源1的聲波幅度相同，且聲波相位相反的聲音信號，使同一分貝區間內的聲音信號與噪聲信號二者疊加後相互抵消，從而達到消除室內低頻噪聲的效果。從而實現降低用戶室內環境中的低頻噪聲，爲用戶營造一個安靜的室內生活環境的目的。In this embodiment, the control unit 5 can process and acquire a control signal according to the noise signal collected by the acquisition unit 2, so that the secondary sound source 6 outputs the same sound wave amplitude as the noise source 1 according to the control signal, and the sound wave phase has the opposite phase. The signal is such that the sound signal and the noise signal in the same decibel interval are superimposed and canceled each other, thereby achieving the effect of eliminating indoor low frequency noise. Thereby, the low frequency noise in the indoor environment of the user is reduced, and the user is created with a quiet indoor living environment.
在優選的實施例中，採集單元2採用多通道信號採集器。In a preferred embodiment, acquisition unit 2 employs a multi-channel signal collector.
進一步地，採集單元2可以是FPGA多通道麥克風陣列信號採集器。Further, the acquisition unit 2 may be an FPGA multi-channel microphone array signal collector.
在優選的實施例中，多通道信號採集器包括第一陣列麥克風，第一陣列麥克風用於採集噪聲信號。In a preferred embodiment, the multi-channel signal collector includes a first array of microphones for collecting noise signals.
在本實施例中，第一陣列麥克風相當於初級噪聲源傳聲器，可安放在可能形成噪聲源1的方向，接收各個方向的噪聲源1發出的噪聲信號。In the present embodiment, the first array microphone is equivalent to the primary noise source microphone, and can be placed in a direction in which the noise source 1 can be formed, and receives the noise signal from the noise source 1 in each direction.
在優選的實施例中，多通道信號採集器還可包括第二陣列麥克風，第二陣列麥克風用於採集聲音信號。In a preferred embodiment, the multi-channel signal collector may further comprise a second array microphone for collecting sound signals.
進一步地，多通道信號採集器可包括多路陣列麥克風。Further, the multi-channel signal collector can include a multi-channel array microphone.
在本實施例中，第二陣列麥克風相當於誤差傳聲器，設置於次級聲源6附近，用於接收次級聲源6發出的聲波信號作爲降噪誤差動態值，控制單元5根據反饋的降噪誤差動態值對輸出的控制信號進行相應的調整。In this embodiment, the second array microphone is equivalent to the error microphone, and is disposed near the secondary sound source 6 for receiving the sound wave signal emitted by the secondary sound source 6 as the dynamic value of the noise reduction error, and the control unit 5 reduces the feedback according to the feedback. The noise error dynamic value adjusts the output control signal accordingly.
在優選的實施例中，多通道信號採集器用於將採集到的多路聲音信號和多路噪聲信號分別同步轉換爲聲音數字信號和噪聲數字信號，並採用DMA中斷的方式將聲音數字信號的聲波相位和噪聲數字信號的聲波相位同步發送至控制單元5。In a preferred embodiment, the multi-channel signal collector is configured to synchronously convert the collected multi-channel sound signal and the multi-path noise signal into a sound digital signal and a noise digital signal, respectively, and use the DMA interrupt method to transmit the sound wave of the sound digital signal. The phase of the acoustic phase of the phase and noise digital signals is sent synchronously to the control unit 5.
在本實施例中，多通道信號採集器可用於實現對多路陣列麥克風中各路麥克風信號的相位同步採集，採用多路ADC來同步將多路陣列麥克風信號轉換爲數字信號，通過DMA中斷的方式實現多路陣列麥克風的相位同步。In this embodiment, the multi-channel signal collector can be used to realize phase synchronous acquisition of each microphone signal in the multi-channel array microphone, and multiple ADCs are used to synchronously convert the multi-channel array microphone signal into a digital signal, which is interrupted by DMA. The method realizes phase synchronization of the multi-channel array microphone.
在優選的實施例中，還可包括：In a preferred embodiment, the method may further include:
一多路信號傳輸單元4，分別連接控制單元5和識別單元3，用於將識別單元3識別後的聲音信號和噪聲信號發送至控制單元5。A multiplex signal transmission unit 4 is connected to the control unit 5 and the identification unit 3 for transmitting the sound signal and the noise signal recognized by the identification unit 3 to the control unit 5.
在本實施例中，多路信號傳輸單元4通過將多通道信號採集器採集的多路信號同步發送至控制單元5。In the present embodiment, the multiplex signal transmission unit 4 transmits the multiplex signals collected by the multi-channel signal collector to the control unit 5 in synchronization.
在優選的實施例中，多路信號傳輸單元4採用USB多路麥克風信號傳輸器，用於將聲音信號和噪聲信號封裝成數據報文並通過USB協議將數據報文發送至控制單元5。In a preferred embodiment, the multiplex signal transmission unit 4 employs a USB multiplexed microphone signal transmitter for encapsulating the sound signal and the noise signal into data messages and transmitting the data messages to the control unit 5 via the USB protocol.
在本實施例中，USB多路麥克風信號傳輸器將陣列麥克風採集到的麥克風信號封裝成數據報文，並通過USB協議將數據報文傳輸到控制單元5，控制單元5從USB接口中解析麥克風信號來提取出噪聲信號，並根據噪聲信號的方向及頻率實時計算出主動抵消噪聲的次級聲源6輸出的聲音信號的方向及頻率，並控制次級聲源6輸出可實時抵消噪聲信號的聲音信號。In this embodiment, the USB multi-channel microphone signal transmitter encapsulates the microphone signal collected by the array microphone into a data message, and transmits the data message to the control unit 5 through the USB protocol, and the control unit 5 parses the microphone from the USB interface. The signal extracts the noise signal, and calculates the direction and frequency of the sound signal output by the secondary sound source 6 actively canceling the noise according to the direction and frequency of the noise signal, and controls the output of the secondary sound source 6 to cancel the noise signal in real time. Sound signal.
控制單元5控制次級聲源6可輸出包含多個不同方向的數字功放驅動揚聲器向噪聲源1實時發射與噪聲信號的聲波幅度相等、相位相反的聲波，産生二者疊加抵消的效果，從而達到主動噪聲動態控制的效果。The control unit 5 controls the secondary sound source 6 to output a digital power amplifier driving loudspeaker comprising a plurality of different directions to real-time transmit sound waves having the same amplitude and opposite phase of the sound wave as the noise signal to the noise source 1 to generate an effect of superimposing and canceling the two. The effect of active noise dynamic control.
實際環境中噪聲源1（初級聲源）特性及聲場空間中的溫度、氣流速度等物理參數會經常隨時間發生變化。機器人室內噪聲控制系統是基於兩列頻率相同、相位差固定的聲波，疊加後會産生相加性或相消性干涉來消除噪聲的原理，通過設置傳遞函數爲自適應時變，並同時將次級聲源6輸出的聲音信號（反饋信號）考慮在內。通過採集噪聲信號和反饋信號，根據噪聲信號的聲壓，控制次級聲源6發出與噪聲源1頻率相反，振幅相同的抵消聲波，使聲音信號與噪聲信號進行疊加、抵消，實現主動噪聲動態控制的效果。In the actual environment, the physical parameters such as the noise source 1 (primary sound source) and the temperature and air velocity in the sound field space often change with time. The robot indoor noise control system is based on two sets of sound waves with the same frequency and fixed phase difference. After superposition, additive or destructive interference will be generated to eliminate the noise. By setting the transfer function to adaptive time-varying, and at the same time The sound signal (feedback signal) output by the level sound source 6 is taken into consideration. By collecting the noise signal and the feedback signal, according to the sound pressure of the noise signal, the secondary sound source 6 is controlled to emit a canceling sound wave having the same frequency and the same amplitude as the noise source 1, so that the sound signal and the noise signal are superimposed and cancelled to realize active noise dynamics. The effect of the control.
以上所述僅爲本發明較佳的實施例，並非因此限制本發明的實施方式及保護範圍，對於本領域技術人員而言，應當能夠意識到凡運用本發明說明書及圖示內容所作出的等同替換和顯而易見的變化所得到的方案，均應當包含在本發明的保護範圍內。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the embodiments and the scope of the present invention, and those skilled in the art should be able to Alternatives and obvious variations are intended to be included within the scope of the invention.
1‧‧‧噪聲源
2‧‧‧採集單元
3‧‧‧識別單元
4‧‧‧多路信號傳輸單元
5‧‧‧控制單元
6‧‧‧次級聲源1‧‧‧Noise source
2‧‧‧ acquisition unit
3‧‧‧ Identification unit
4‧‧‧Multiple signal transmission unit
5‧‧‧Control unit
6‧‧‧Secondary sound source
圖1爲本發明所述機器人室內噪聲控制系統的一種實施例的模組圖。1 is a block diagram of an embodiment of a robot indoor noise control system according to the present invention.
1‧‧‧噪聲源 1‧‧‧Noise source
2‧‧‧採集單元 2‧‧‧ acquisition unit
3‧‧‧識別單元 3‧‧‧ Identification unit
4‧‧‧多路信號傳輸單元 4‧‧‧Multiple signal transmission unit
5‧‧‧控制單元 5‧‧‧Control unit
6‧‧‧次級聲源 6‧‧‧Secondary sound source
Claims (7)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510381669.4A CN106328116B (en) | 2015-06-30 | 2015-06-30 | Indoor noise control system of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201712668A true TW201712668A (en) | 2017-04-01 |
| TWI584268B TWI584268B (en) | 2017-05-21 |
Family
ID=57607724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW105120419A TWI584268B (en) | 2015-06-30 | 2016-06-29 | A robot indoor noises control system |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN106328116B (en) |
| HK (1) | HK1231617A1 (en) |
| TW (1) | TWI584268B (en) |
| WO (1) | WO2017000776A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045778A (en) * | 2017-04-26 | 2017-08-15 | 兰州交通大学 | A kind of Multifunctional noise bucking-out system |
| KR102021830B1 (en) * | 2018-01-09 | 2019-09-17 | 엘지전자 주식회사 | Cleaner |
| KR102457135B1 (en) | 2018-01-09 | 2022-10-19 | 엘지전자 주식회사 | Cleaner |
| CN111564150B (en) * | 2020-05-07 | 2024-02-02 | 中国科学院声学研究所 | Active noise control method and device based on open active noise reduction equipment |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003284181A (en) * | 2002-03-20 | 2003-10-03 | Matsushita Electric Ind Co Ltd | Sound collection apparatus |
| EP1581026B1 (en) * | 2004-03-17 | 2015-11-11 | Nuance Communications, Inc. | Method for detecting and reducing noise from a microphone array |
| CN201177964Y (en) * | 2008-01-30 | 2009-01-07 | 联创汽车电子有限公司 | In-vehicle active sound eliminating system |
| CN101673550A (en) * | 2008-09-09 | 2010-03-17 | 联芯科技有限公司 | Spectral gain calculating method and device and noise suppression system |
| TW201016981A (en) * | 2008-10-24 | 2010-05-01 | Yen Sun Technology Corp | Low-noise heat dissipation fan |
| CN101593522B (en) * | 2009-07-08 | 2011-09-14 | 清华大学 | Method and equipment for full frequency domain digital hearing aid |
| CN102074246B (en) * | 2011-01-05 | 2012-12-19 | 瑞声声学科技(深圳)有限公司 | Dual-microphone based speech enhancement device and method |
| TW201247996A (en) * | 2011-05-26 | 2012-12-01 | Anpec Electronics Corp | Noiseless motor apparatus and denoise driver |
| CN102300140B (en) * | 2011-08-10 | 2013-12-18 | 歌尔声学股份有限公司 | Speech enhancing method and device of communication earphone and noise reduction communication earphone |
| TW201322782A (en) * | 2011-11-25 | 2013-06-01 | Rong-Chin Lo | Implementation of active noise cancellation of exhaust hood using phase compensation technology |
| JP6066335B2 (en) * | 2012-02-08 | 2017-01-25 | 国立大学法人九州工業大学 | Silencer |
| CN203134364U (en) * | 2012-10-29 | 2013-08-14 | 郑力铭 | Door and window active noise reduction device |
| JP6151613B2 (en) * | 2013-06-11 | 2017-06-21 | ラージ有限会社 | Audio signal amplitude suppressor |
| CN103440861A (en) * | 2013-08-30 | 2013-12-11 | 云南省科学技术情报研究院 | Self-adaption noise reduction device for low frequency noise in indoor environment |
| CN104217712B (en) * | 2014-09-19 | 2018-02-27 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | The active noise reducing device and rock drilling machine of engineering machinery operating room |
| TWM497896U (en) * | 2014-10-15 | 2015-03-21 | Chien-Chuan Chen | Soft film battery-free noise self-muffling type hearing aid |
-
2015
- 2015-06-30 CN CN201510381669.4A patent/CN106328116B/en active Active
-
2016
- 2016-06-14 WO PCT/CN2016/085762 patent/WO2017000776A1/en active Application Filing
- 2016-06-29 TW TW105120419A patent/TWI584268B/en not_active IP Right Cessation
-
2017
- 2017-05-19 HK HK17105084.7A patent/HK1231617A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| TWI584268B (en) | 2017-05-21 |
| WO2017000776A1 (en) | 2017-01-05 |
| HK1231617A1 (en) | 2017-12-22 |
| CN106328116A (en) | 2017-01-11 |
| CN106328116B (en) | 2020-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2017000814A1 (en) | Active noise control system | |
| TWI584268B (en) | A robot indoor noises control system | |
| CN102300140B (en) | Speech enhancing method and device of communication earphone and noise reduction communication earphone | |
| CN203761556U (en) | Double-microphone noise reduction earphone | |
| CN205425376U (en) | Take active noise reduction's new fan | |
| US20030228019A1 (en) | Method and system for reducing noise | |
| TWI353579B (en) | ||
| WO2016041247A1 (en) | Downlink active noise reduction apparatus and method, and mobile terminal | |
| CN106254989A (en) | A kind of noise cancelling headphone and noise-reduction method thereof | |
| WO2021174781A1 (en) | Active noise reduction air conditioner and control method therefor | |
| WO2021174780A1 (en) | Active noise reduction air conditioner and control method therefor | |
| CN105336318A (en) | Initiative denoising silence device for large generator unit | |
| CN107343235A (en) | It is a kind of can plug earphone cord active noise reduction earphone | |
| CN109166568A (en) | A kind of low-power consumption active active noise reduction system and method for fan | |
| CN211822707U (en) | Active noise reduction air conditioner | |
| CN105681975A (en) | LED lamp and system for eliminating ambient noise | |
| CN205194324U (en) | Large -scale generating set's active noise reduction silence device | |
| CN110660379A (en) | Noise processing method and device and air conditioner | |
| CN213019888U (en) | Active noise-reducing split air conditioner | |
| CN112240584B (en) | Noise reduction method of range hood and range hood | |
| CN211822706U (en) | Active noise reduction air conditioner | |
| CN208015952U (en) | Electromechanical integration acoustic-electric shields earmuff | |
| CN111816154A (en) | Integrated kitchen with function of making an uproar falls in initiative | |
| CN210425307U (en) | Noise acquisition analysis and active noise reduction system for air conditioner outdoor unit | |
| CN110992922B (en) | Noise reduction communication method and device for wireless earphone in aircraft service test environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |