WO2017000771A1 - System for cancelling environment noise and application method thereof - Google Patents

System for cancelling environment noise and application method thereof Download PDF

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Publication number
WO2017000771A1
WO2017000771A1 PCT/CN2016/085750 CN2016085750W WO2017000771A1 WO 2017000771 A1 WO2017000771 A1 WO 2017000771A1 CN 2016085750 W CN2016085750 W CN 2016085750W WO 2017000771 A1 WO2017000771 A1 WO 2017000771A1
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noise
spectrum
audio
unit
signal
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PCT/CN2016/085750
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French (fr)
Chinese (zh)
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施家琪
刘鑫
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芋头科技(杭州)有限公司
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    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L21/00Speech 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
    • G10L21/02Speech enhancement, e.g. noise reduction or echo cancellation
    • G10L21/0208Noise filtering
    • G10L21/0216Noise filtering characterised by the method used for estimating noise
    • G10L21/0232Processing in the frequency domain

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  • the present invention relates to the field of intelligent voice interaction, and in particular to a ring noise cancellation system and an application method thereof.
  • the home-oriented intelligent robot is a kind of anthropomorphic machine system with different external sensing ability and processing ability, which is different from industrial control robot.
  • the most important feature of home robots is that they are easy to interact.
  • the most natural way of interaction is voice interaction.
  • voice interaction is the voice interaction between human and machine has great uncertainty.
  • One of the key problems is the daily environment. Noise has a great influence on effective speech. The noise in the daily environment will cause the robot to not recognize or misidentify the human voice, and finally the effect of voice interaction is greatly reduced.
  • the Home intelligence robot is a brand new field, and current environmental noise cancellation technology targets There is no deep research and application in this field.
  • Traditional environmental noise cancellation technology is mostly used for telephone communication.
  • the main purpose of these technologies is to prevent the influence of environmental background noise on communication quality.
  • the common environmental noise cancellation techniques used by smart devices based on voice interaction mostly come from the prior art of traditional telephone communication.
  • These technologies include spectrum subtraction method, Wiener filtering method, and adaptive noise cancellation method. There are some problems with the application of these methods to the robotics field.
  • the spectral subtraction method is a method of subtracting the mean value of the speech segment from the mean value of the speech segment to obtain the noise mean value, and then using the noise mean value to eliminate the noise.
  • the Wiener filter rule uses the transfer function of the Wiener filter to convolve the mean value of the noise amplitude with the amplitude of the speech segment to obtain the amplitude information of the signal after noise cancellation.
  • the Wiener filtering method does not cause more serious speech distortion, and can effectively suppress noise with a small or stable range in the environment.
  • the method estimates the noise mean by estimating the noise power spectrum by calculating the statistical average of the silent period. This estimation is based on the premise that the noise power spectrum does not change much before and after the utterance, so the change is larger.
  • Another method of environmental noise cancellation that is commonly used on smart devices is directional microphone plus adaptive noise cancellation, which uses an omnidirectional microphone to collect ambient noise, a directional microphone to collect user speech, and then for both signals. Do adaptive noise reduction to obtain a pure speech signal.
  • the above method has a good environmental noise elimination effect on a conventional telephone handset, but cannot be applied to a robot. This is because the above method relies on a directional microphone to collect user speech, which requires the user and the directional microphone to maintain a certain distance and direction, which is obviously not applicable in the home robot environment.
  • the present invention provides a ring noise cancellation method for a home robot, which is characterized in that it comprises the following steps:
  • Step S1 an acquisition unit samples a sound signal in an environment in which the robot is currently located, acquires an audio signal that matches the sound signal, and acquires the audio signal by using Fourier transform analysis. a signal that matches the acquired spectrum signal, wherein the audio signal is composed of a plurality of audio frame signals;
  • Step S2 determining whether the currently-mentioned audio frame matches a preset voice frame according to a predetermined method
  • Step S3 in a state in which the audio frame matches the voice frame, updating a noise power spectrum corresponding to each of the audio frames in the acquired spectrum;
  • Step S4 acquiring a gain of the noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
  • Step S5 performing inverse Fourier transform on the calculation result, and removing noise in the audio signal to obtain a valid audio signal.
  • step 3 further includes:
  • Step 31 in the state that the audio frame does not match the voice frame, the current noise power spectrum is read; in the state where the noise power spectrum is 0, step 33 is performed;
  • Step 32 Calculate a new power noise spectrum according to the noise power spectrum and the acquired spectrum processing, and assign the new power noise spectrum to the power noise spectrum;
  • Step 33 Calculate and update the noise power spectrum according to the noise variance in the environment in which the computing environment is located.
  • the above method is characterized in that, in the step 32, the noise power spectrum and the acquisition spectrum obtain a new power noise spectrum according to a smoothing processing method.
  • a ring noise cancellation system is applied to a home robot, and is characterized in that: an acquisition unit is configured to sample a sound signal in an environment in which the robot is currently located to obtain an audio signal that matches the sound signal, And acquiring, by the Fourier transform analysis, the acquired spectrum signal that matches the audio signal, wherein the sound signal includes a noise signal, and the audio signal is composed of a plurality of audio frame signals;
  • a determining unit configured to connect the collecting unit to determine whether the currently-mentioned audio frame matches a preset voice frame according to a predetermined method; and form a judgment result output;
  • an update unit connected to the determining unit, in a state that the audio frame matches the voice frame, and a noise power spectrum corresponding to each of the audio frames in the acquired spectrum;
  • a calculation unit connected to the update unit, acquiring a gain of the noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
  • a processing unit configured to receive the calculation result output by the calculation unit, perform inverse Fourier transform processing on the calculation result, and remove noise in the audio signal to obtain an effective audio signal.
  • the collecting unit comprises:
  • a buffer unit configured to receive the sound signal acquired by the acquisition unit
  • a micro processing unit is connected to the buffer unit for performing a buffer sampling process on the sound signal in the buffer unit.
  • the above system is characterized in that, in the buffer unit, the sound signal is stored in the buffer unit in a predetermined audio packet format.
  • a reading unit connected to the buffer unit for reading a predetermined audio data packet stored in the buffer unit.
  • the above system is characterized in that the audio data packet has a duration of 10 ms.
  • a ring noise elimination system designed by the present invention and an application method thereof are a complete software technical solution for environmental noise elimination of a home intelligent robot based on voice interaction as an interaction basis, and solve the traditional environmental noise elimination range. Larger unsteady noise is not a good problem.
  • FIG. 1 is a schematic diagram of an algorithm flow of the present invention.
  • the core idea of the present invention is to first detect whether the audio data is a valid speech start frame according to the spectral energy, and if there is no valid speech, the statistical average noise variance is used as the initial value of the noise power spectrum.
  • a valid speech start frame is detected, it is determined whether the current signal is a noise or a valid speech signal based on an estimate of the noise power spectrum.
  • the present invention relates to a ring noise cancellation method, which is applied to a home robot, which includes the following steps:
  • Step S1 an acquisition unit samples a sound signal in a current environment of the robot, acquires an audio signal that matches the sound signal, and acquires an acquired spectrum signal that matches the audio signal by performing Fourier transform analysis on the audio signal.
  • the audio signal is composed of a plurality of audio frame signals;
  • Step S2 determining whether the current audio frame matches a preset voice frame according to a predetermined method
  • Step S3 updating a noise power spectrum corresponding to each audio frame in the acquired spectrum in a state in which the audio frame matches the voice frame;
  • Step S4 acquiring a gain of a noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
  • step S5 an inverse Fourier transform is performed on the calculation result to remove noise in the audio signal to obtain an effective audio signal.
  • step S3 the method further includes:
  • Step 31 in the state in which the audio frame does not match the voice frame, the current noise power spectrum is read; in the state where the noise power spectrum is 0, step 33 is performed;
  • Step 32 Calculate a new power noise spectrum according to the noise power spectrum and the acquisition spectrum processing, and assign a new power noise spectrum to the power noise spectrum;
  • Step 33 Calculate and update the noise power spectrum according to the noise variance in the environment in which the calculation is performed.
  • step 32 the noise power spectrum and the acquisition spectrum are subjected to a smoothing process to obtain a new power noise spectrum.
  • the present invention designs a ring noise cancellation system according to the ring noise elimination method, which is applied to a home robot, and includes:
  • the acquisition unit is configured to sample the sound signal in the environment in which the robot is currently located to obtain an audio signal that matches the sound signal, and obtain an acquired spectrum signal that matches the audio signal by performing Fourier transform analysis on the audio signal, where
  • the sound signal includes a noise signal, and the audio signal is composed of a plurality of audio frame signals;
  • a determining unit connected to the collecting unit, configured to determine whether the current audio frame matches a predetermined voice frame according to a predetermined method; and form a judgment result output;
  • the updating unit and the connection judging unit further acquire a noise power spectrum corresponding to each audio frame in the spectrum when the judgment result is that the audio frame matches the speech frame;
  • a calculation unit connected to the update unit, obtains a gain of the noise power spectrum in the acquired spectrum, and performs Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
  • the processing unit is connected to the calculation unit for receiving the calculation result output by the calculation unit, performing inverse Fourier transform processing on the calculation result, and removing noise in the audio signal to obtain an effective audio signal.
  • the acquisition unit includes:
  • a buffer unit for receiving a sound signal acquired by the acquisition unit
  • a micro processing unit is connected to the buffer unit for performing a pulse sampling process on the sound signal in the buffer unit.
  • the sound signal is stored in the buffer unit in a predetermined audio packet format.
  • the audio processing framework layer further includes:
  • the reading unit is connected to the buffer unit for reading a predetermined audio data packet stored in the buffer unit.
  • a software system layer framework and an audio noise reduction processing algorithm for implementing audio collection and processing in a preset embedded system are applied to a home intelligent robot, wherein the software system includes:
  • An acquisition unit a software driver for collecting audio stream data from a specific audio device
  • the collection unit further includes:
  • the buffer unit is configured to receive the sound signal acquired by the collecting unit
  • the micro processing unit is connected to the buffer unit, and is used for resampling the sound signal in the buffer unit, and a noise reduction component formed by the reading unit
  • the reading unit is connected to the buffer unit for reading a predetermined audio data packet stored in the buffer unit.
  • the micro processing unit reads the audio data stream from the buffer unit, and performs necessary re-sampling processing on the audio data stream, and then cuts the audio data packet into 10 milliseconds to be filled into the buffer unit, wherein the reading unit is used for the buffer unit. Reading the preprocessed audio data packet and then transmitting it to the algorithm for environmental noise cancellation processing;
  • the determining unit is connected to the collecting unit for determining whether the current audio frame matches a predetermined voice frame according to a predetermined method, forming a judgment result output, and adapting different underlying drivers and an adaptation software program of the upper application software;
  • an update unit connected to the determining unit, and updating a noise power spectrum corresponding to each audio frame in the acquired spectrum in a state that the audio frame matches the voice frame;
  • the calculating unit obtains the gain of the noise power spectrum in the acquired spectrum, and performs Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
  • the processing unit is connected to the calculation unit for accepting the calculation result output by the calculation unit, performing inverse Fourier transform processing on the calculation result, and removing noise in the audio to obtain an effective audio signal.
  • the application interface sends the obtained valid audio signal to the upper application.
  • Step S1 The home intelligent robot collects the sound signal through the audio device, acquires the audio data that matches the sound signal, and then detects whether the collected audio data is a valid voice start frame according to the energy of the audio data, if the detected result is displayed as For invalid speech data, the average noise variance is counted as the initial value of the noise power spectrum. If the detected result shows valid speech, proceed to the next step.
  • step S1 the home intelligence robot obtains a spectrum of the collected audio data by performing discrete Fourier transform on the collected audio data, and the discrete Fourier transform is performed by transforming the signal from the time domain to the frequency domain. Then study the spectral structure and variation of the signal.
  • Step S2 judging whether the collected audio data is noise according to the estimated noise power spectrum in step S1, and if it is noise, smoothing the power spectrum of the noise and the previously calculated noise power spectrum, after finishing After the smoothing process, the estimation of the noise power spectrum is updated. If the noise is not detected but the normal command voice, the next step is performed.
  • Step S3 updating the noise power spectrum of each point in the spectrum of the speech frame collected to the audio data, and then calculating the pure tone Fourier change estimate of the audio data, in the present invention, by using the minimum mean square error discriminant method A pure tone Fourier change estimate for the speech frame is calculated.
  • Step S4 Acquire a noise power gain in the acquired spectrum, and perform Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output.
  • step S5 the ambient sound collected in the audio data is removed to obtain a pure sound, so that only the robot can clearly obtain the command content.
  • the environment in the audio data is removed by discrete Fourier transform. sound.
  • the robot needs to eliminate the ambient noise after speech acquisition to improve the accuracy of speech recognition.
  • a ring noise elimination system designed by the present invention and an application method thereof are a complete software technical solution for environmental noise elimination of a home intelligent robot based on voice interaction as an interaction basis, and solve the traditional environmental noise elimination range. Larger unsteady noise is not a good problem.

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Abstract

A system for cancelling environment noise and application method thereof. The method comprises: firstly detecting whether audio data is an onset frame of effective speech according to frequency spectrum energy, and counting the average noise variance as the initial value of a noise power spectrum if there is no effective speech; determining that a current signal is noise or an effective speech signal according to estimation of the noise power spectrum after detecting the onset frame of effective speech; performing smooth processing on the previous noise power spectrum and a power spectrum of a current frame, and updating the estimation of the noise power spectrum, if the current signal is noise; and updating a noise power spectrum of each point in a frequency spectrum of a current speech frame, calculating the estimated value of Fourier Transform of pure speech of the current frame by using a minimum mean square error determining method, and obtaining, by using inverse Fourier Transform, a current frame on which environment noise cancellation is performed, if the current signal is speech.

Description

一种环噪消除系统及其应用方法Ring noise elimination system and application method thereof 技术领域Technical field
本发明涉及智能语音交互领域,尤其涉及一种环噪消除系统及其应用方法。The present invention relates to the field of intelligent voice interaction, and in particular to a ring noise cancellation system and an application method thereof.
背景技术Background technique
随着机器人的应用领域扩大和人工智能技术的飞速发展,面向普通家庭的智能机器人开始被人们关注。面向家庭的智能机器人是一种有别于工业控制机器人的具有一定外界感知能力及处理能力的拟人机器系统。家庭机器人不同于传统工业机器人,其最重要的特征就是便于交互,而最自然的交互方式就是语音交互,然而人与机器的语音交互存在极大的不确定性,其中关键问题之一就是日常环境噪声对有效语音的影响较大,日常环境中的噪声会导致机器人无法识别或误识别人类的语音,最后导致语音交互的效果大打折扣。目前大多数应用于家庭的智能机器人由于缺少对环境噪声的有效消除方法,在信噪比较低的环境中几乎无法正常工作。而另外一些智能设备多将应用于传统电话通信领域的语音增强技术应用于家庭智能设备上,应用于电话通信的传统环境噪声消除与语音增强技术大多对说话人和设备的交互距离提出了一定的限制。除此之外,一些应用于传统电话通信领域的语音增强技术仅对稳态噪声有较好的效果,对日常环境中的一些非稳态噪声则效果较差。With the expansion of the application field of robots and the rapid development of artificial intelligence technology, intelligent robots for ordinary families have begun to attract people's attention. The home-oriented intelligent robot is a kind of anthropomorphic machine system with different external sensing ability and processing ability, which is different from industrial control robot. Unlike the traditional industrial robots, the most important feature of home robots is that they are easy to interact. The most natural way of interaction is voice interaction. However, the voice interaction between human and machine has great uncertainty. One of the key problems is the daily environment. Noise has a great influence on effective speech. The noise in the daily environment will cause the robot to not recognize or misidentify the human voice, and finally the effect of voice interaction is greatly reduced. At present, most of the intelligent robots used in the home are unable to work normally in an environment with low signal-to-noise due to the lack of effective elimination of environmental noise. Other smart devices are applied to the voice enhancement technology in the traditional telephone communication field to be applied to the home smart device. The traditional environmental noise elimination and speech enhancement technologies applied to the telephone communication mostly provide a certain distance to the interaction distance between the speaker and the device. limit. In addition, some speech enhancement techniques applied in the field of traditional telephone communication have only a good effect on steady-state noise, and are less effective for some unsteady noise in the daily environment.
家庭智能机器人是一个全新的领域,目前环境噪声消除技术针对 该领域还没有较深的研究和应用,传统的环境噪声消除技术多用于电话通信,这些技术的主要目的是防止环境背景噪声对通信质量的影响。目前基于语音交互的智能设备使用的常见环境噪声消除技术多来自传统电话通信的已有技术,这些技术有频谱相减法,维纳滤波法,自适应噪声抵消法。这些方法应用到机器人领域都存在一些问题。频谱相减法是一种用语音段幅值均值减去无语音段间隙取得噪声均值,然后利用噪声均值做噪声消除的方法,该方法对非稳态噪声有较差的效果,容易造成噪声消除后的语音失真,从而导致语音识别率下降。维纳滤波法则是利用维纳滤波器的传递函数,将噪声幅值均值与语音段幅值进行卷积,得到噪声消除后信号的幅值信息。维纳滤波法不会造成较严重的语音失真,并且能有效的抑制环境中的变化范围不大或较稳定的噪声。但是该方法是通过计算无声期间的统计平均来估计噪声功率谱来估计噪声均值,这种估计是以噪声功率谱在发声前和发声后变化不大作为前提下的,故在变化较大的非稳态噪声情况下,该方法无法获得较好的降噪效果。另一种在智能设备上多采用的环境噪音消除方法是定向麦克风加自适应噪声抵消的方法,该方法使用一个全向麦克风用于收集环境噪音,一个定向麦克风收集用户语音,然后针对两种信号做自适应降噪抵消来获得纯净的语音信号。上述方法在传统电话手机上有较好的环境噪音消除效果,而在机器人上却无法适用。这是因为上述方法依赖定向麦克风来收集用户语音,这就要求用户和定向麦克风保持一定的距离和方向,显然在家庭机器人环境下该方法无法适用。 Home intelligence robot is a brand new field, and current environmental noise cancellation technology targets There is no deep research and application in this field. Traditional environmental noise cancellation technology is mostly used for telephone communication. The main purpose of these technologies is to prevent the influence of environmental background noise on communication quality. At present, the common environmental noise cancellation techniques used by smart devices based on voice interaction mostly come from the prior art of traditional telephone communication. These technologies include spectrum subtraction method, Wiener filtering method, and adaptive noise cancellation method. There are some problems with the application of these methods to the robotics field. The spectral subtraction method is a method of subtracting the mean value of the speech segment from the mean value of the speech segment to obtain the noise mean value, and then using the noise mean value to eliminate the noise. This method has a poor effect on the unsteady noise, and is easy to cause the noise to be eliminated. The speech is distorted, resulting in a decrease in speech recognition rate. The Wiener filter rule uses the transfer function of the Wiener filter to convolve the mean value of the noise amplitude with the amplitude of the speech segment to obtain the amplitude information of the signal after noise cancellation. The Wiener filtering method does not cause more serious speech distortion, and can effectively suppress noise with a small or stable range in the environment. However, the method estimates the noise mean by estimating the noise power spectrum by calculating the statistical average of the silent period. This estimation is based on the premise that the noise power spectrum does not change much before and after the utterance, so the change is larger. In the case of steady-state noise, this method cannot obtain better noise reduction effects. Another method of environmental noise cancellation that is commonly used on smart devices is directional microphone plus adaptive noise cancellation, which uses an omnidirectional microphone to collect ambient noise, a directional microphone to collect user speech, and then for both signals. Do adaptive noise reduction to obtain a pure speech signal. The above method has a good environmental noise elimination effect on a conventional telephone handset, but cannot be applied to a robot. This is because the above method relies on a directional microphone to collect user speech, which requires the user and the directional microphone to maintain a certain distance and direction, which is obviously not applicable in the home robot environment.
发明内容Summary of the invention
鉴于上述问题,本发明提供一种环噪消除方法,应用于家庭机器人,其特征在于,包括以下步骤:In view of the above problems, the present invention provides a ring noise cancellation method for a home robot, which is characterized in that it comprises the following steps:
步骤S1,一采集单元对所述机器人当前所处环境中的声音信号进行采样,获取与所述声音信号相匹配的音频信号,并对所述音频信号通过傅里叶变换分析获取与所述音频信号相匹配的采集频谱信号,其中所述音频信号由复数个音频帧信号组成;Step S1: an acquisition unit samples a sound signal in an environment in which the robot is currently located, acquires an audio signal that matches the sound signal, and acquires the audio signal by using Fourier transform analysis. a signal that matches the acquired spectrum signal, wherein the audio signal is composed of a plurality of audio frame signals;
步骤S2,按照预定的方法判断当前所述的音频帧是否匹配一预设的语音帧;Step S2, determining whether the currently-mentioned audio frame matches a preset voice frame according to a predetermined method;
步骤S3,于所述音频帧匹配所述语音帧的状态下,更新所述采集频谱中每个所述音频帧所对应的一噪声功率谱;Step S3, in a state in which the audio frame matches the voice frame, updating a noise power spectrum corresponding to each of the audio frames in the acquired spectrum;
步骤S4,获取所述采集频谱中的所述噪声功率谱的增益,并根据所述增益对所述采集频谱进行傅里叶变换计算,形成一计算结果输出;Step S4: acquiring a gain of the noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
步骤S5,对所述计算结果进行傅里叶逆变换,去除所述音频信号中的噪声以获取有效音频信号。Step S5, performing inverse Fourier transform on the calculation result, and removing noise in the audio signal to obtain a valid audio signal.
上述的方法,其特征在于,所述步骤3中还包括:The above method is characterized in that the step 3 further includes:
步骤31、于所述音频帧不匹配所述语音帧的状态下,读取当前的所述噪声功率谱;于所述噪声功率谱为0的状态下,执行步骤33;Step 31, in the state that the audio frame does not match the voice frame, the current noise power spectrum is read; in the state where the noise power spectrum is 0, step 33 is performed;
步骤32、根据所述噪声功率谱和所述采集频谱处理计算得到新功率噪声谱,并将所述新功率噪声谱赋值于所述功率噪声谱; Step 32: Calculate a new power noise spectrum according to the noise power spectrum and the acquired spectrum processing, and assign the new power noise spectrum to the power noise spectrum;
步骤33、根据当算所处环境中的噪声方差计算并更新所述噪声功率谱。Step 33: Calculate and update the noise power spectrum according to the noise variance in the environment in which the computing environment is located.
上述的方法,其特征在于,所述步骤32中,所述噪声功率谱和所述采集频谱按照平滑处理方法得到新功率噪声谱。The above method is characterized in that, in the step 32, the noise power spectrum and the acquisition spectrum obtain a new power noise spectrum according to a smoothing processing method.
一种环噪消除系统,应用于家庭机器人中,其特征在于,包括:采集单元,用以对所述机器人当前所处环境中的声音信号进行采样获取与所述声音信号相匹配的音频信号,并对所述音频信号通过傅里叶变换分析获取与所述音频信号相匹配的采集频谱信号,其中,所述声音信号中包括噪声信号,所述音频信号由复数个音频帧信号组成;A ring noise cancellation system is applied to a home robot, and is characterized in that: an acquisition unit is configured to sample a sound signal in an environment in which the robot is currently located to obtain an audio signal that matches the sound signal, And acquiring, by the Fourier transform analysis, the acquired spectrum signal that matches the audio signal, wherein the sound signal includes a noise signal, and the audio signal is composed of a plurality of audio frame signals;
判断单元,连接所述采集单元,用以按照预定的方法判断当前所述的音频帧是否匹配一预设的语音帧;并形成一判断结果输出;a determining unit, configured to connect the collecting unit to determine whether the currently-mentioned audio frame matches a preset voice frame according to a predetermined method; and form a judgment result output;
更新单元,连接所述判断单元,于所述判断结果为所述音频帧匹配所述语音帧的状态下,更将所述采集频谱中每个所述音频帧所对应的一噪声功率谱;And an update unit, connected to the determining unit, in a state that the audio frame matches the voice frame, and a noise power spectrum corresponding to each of the audio frames in the acquired spectrum;
计算单元,连接所述更新单元,获取所述采集频谱中的所述噪声功率谱的增益,并根据所述增益对所述采集频谱进行傅里叶变换计算,形成一计算结果输出;a calculation unit, connected to the update unit, acquiring a gain of the noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
处理单元,连接所述计算单元,用以接收所述计算单元输出的所述计算结果,对所述计算结果进行傅里叶逆变换处理,去除所述音频信号中的噪声以获取有效音频信号。And a processing unit, configured to receive the calculation result output by the calculation unit, perform inverse Fourier transform processing on the calculation result, and remove noise in the audio signal to obtain an effective audio signal.
上述的系统,其特征在于,所述采集单元中包括:The above system is characterized in that: the collecting unit comprises:
一缓冲单元,用以接收所述采集单元获取的所述声音信号 a buffer unit, configured to receive the sound signal acquired by the acquisition unit
一微处理单元,连接所述缓冲单元,用以对所述缓冲单元中的所述声音信号进行冲采样处理。a micro processing unit is connected to the buffer unit for performing a buffer sampling process on the sound signal in the buffer unit.
上述的系统,其特征在于,于所述缓冲单元中,所述声音信号按照预定的音频数据包形式存储于所述缓冲单元中。The above system is characterized in that, in the buffer unit, the sound signal is stored in the buffer unit in a predetermined audio packet format.
上述的系统,其特征在于,所述音频处理框架层还包括:The above system is characterized in that the audio processing framework layer further comprises:
读取单元,连接所述缓冲单元,用以读取存储于所述缓冲单元中的预定的所述音频数据包。And a reading unit connected to the buffer unit for reading a predetermined audio data packet stored in the buffer unit.
上述的系统,其特征在于,所述音频数据包时长为10ms。The above system is characterized in that the audio data packet has a duration of 10 ms.
综上所述,本发明设计的一种环噪消除系统及其应用方法是应用于以语音交互作为交互基础的家庭智能机器人的环境噪音消除的完整软件技术方案,解决传统环境噪音消除对变化范围较大的非稳定噪声效果不好的问题。In summary, a ring noise elimination system designed by the present invention and an application method thereof are a complete software technical solution for environmental noise elimination of a home intelligent robot based on voice interaction as an interaction basis, and solve the traditional environmental noise elimination range. Larger unsteady noise is not a good problem.
附图说明DRAWINGS
参考所附附图,以更加充分的描述本发明的实施例。然而,所附附图仅用于说明和阐述,并不构成对本发明范围的限制。Embodiments of the present invention are described more fully with reference to the accompanying drawings. However, the attached drawings are for illustration and illustration only and are not intended to limit the scope of the invention.
图1为本发明算法流程示意图。FIG. 1 is a schematic diagram of an algorithm flow of the present invention.
具体实施方式detailed description
为了使本发明的技术方案及优点更加易于理解,下面结合附图作进一步详细说明。应当说明,此处所描述的具体实施例仅仅用以解释 本发明,并不用于限定本发明。In order to make the technical solutions and advantages of the present invention easier to understand, the following detailed description will be made with reference to the accompanying drawings. It should be noted that the specific embodiments described herein are merely illustrative The present invention is not intended to limit the invention.
本发明的核心思想是:首先对音频数据根据频谱能量来检测是否为有效语音起始帧,如果无有效语音,则统计平均的噪声方差作为噪声功率谱的初始值。当检测到有效语音起始帧后,根据噪声功率谱的估计来判断当前信号是噪声还是有效语音信号。如果是噪声,则对将之前的噪声功率谱与当前帧的功率谱做平滑处理,更新对噪声功率谱的估计,如果是语音,则更新当前语音帧频谱中每个点的噪声功率谱,然后使用最小均方误差判别法计算出当前帧的纯净音傅里叶变化的估值,然后使用反傅里叶变换得到环境音消除后的当前帧。The core idea of the present invention is to first detect whether the audio data is a valid speech start frame according to the spectral energy, and if there is no valid speech, the statistical average noise variance is used as the initial value of the noise power spectrum. When a valid speech start frame is detected, it is determined whether the current signal is a noise or a valid speech signal based on an estimate of the noise power spectrum. If it is noise, smooth the previous noise power spectrum and the power spectrum of the current frame, update the estimation of the noise power spectrum, and if it is speech, update the noise power spectrum of each point in the current speech frame spectrum, and then The minimum mean square error discriminant method is used to calculate the estimate of the pure Fourier transform of the current frame, and then the inverse Fourier transform is used to obtain the current frame after the ambient sound is removed.
所以本发明涉及一种环噪消除方法,该方法应用于家庭机器人,其中包括有以下步骤:Therefore, the present invention relates to a ring noise cancellation method, which is applied to a home robot, which includes the following steps:
步骤S1,一采集单元对机器人当前所处环境中的声音信号进行采样,获取与声音信号相匹配的音频信号,并对音频信号通过傅里叶变换分析获取与音频信号相匹配的采集频谱信号,其中音频信号由复数个音频帧信号组成;Step S1: an acquisition unit samples a sound signal in a current environment of the robot, acquires an audio signal that matches the sound signal, and acquires an acquired spectrum signal that matches the audio signal by performing Fourier transform analysis on the audio signal. Wherein the audio signal is composed of a plurality of audio frame signals;
步骤S2,按照预定的方法判断当前的音频帧是否匹配一预设的语音帧;Step S2, determining whether the current audio frame matches a preset voice frame according to a predetermined method;
步骤S3,于音频帧匹配语音帧的状态下,更新采集频谱中每个音频帧所对应的一噪声功率谱;Step S3, updating a noise power spectrum corresponding to each audio frame in the acquired spectrum in a state in which the audio frame matches the voice frame;
步骤S4,获取采集频谱中的噪声功率谱的增益,并根据增益对采集频谱进行傅里叶变换计算,形成一计算结果输出; Step S4: acquiring a gain of a noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
步骤S5,对计算结果进行傅里叶逆变换,去除音频信号中的噪声以获取有效音频信号。In step S5, an inverse Fourier transform is performed on the calculation result to remove noise in the audio signal to obtain an effective audio signal.
其中,在步骤S3中还包括:Wherein, in step S3, the method further includes:
步骤31、于音频帧不匹配语音帧的状态下,读取当前的噪声功率谱;于噪声功率谱为0的状态下,执行步骤33;Step 31, in the state in which the audio frame does not match the voice frame, the current noise power spectrum is read; in the state where the noise power spectrum is 0, step 33 is performed;
步骤32、根据噪声功率谱和采集频谱处理计算得到新功率噪声谱,并将新功率噪声谱赋值于功率噪声谱;Step 32: Calculate a new power noise spectrum according to the noise power spectrum and the acquisition spectrum processing, and assign a new power noise spectrum to the power noise spectrum;
步骤33、根据当算所处环境中的噪声方差计算并更新噪声功率谱。Step 33: Calculate and update the noise power spectrum according to the noise variance in the environment in which the calculation is performed.
在步骤32中,噪声功率谱和采集频谱按照平滑处理方法得到新功率噪声谱。In step 32, the noise power spectrum and the acquisition spectrum are subjected to a smoothing process to obtain a new power noise spectrum.
另外,本发明根据该环噪消除方法设计了一种环噪消除系统,应用于家庭机器人中,包括:In addition, the present invention designs a ring noise cancellation system according to the ring noise elimination method, which is applied to a home robot, and includes:
采集单元,用以对机器人当前所处环境中的声音信号进行采样获取与声音信号相匹配的音频信号,并对音频信号通过傅里叶变换分析获取与音频信号相匹配的采集频谱信号,其中,声音信号中包括噪声信号,音频信号由复数个音频帧信号组成;The acquisition unit is configured to sample the sound signal in the environment in which the robot is currently located to obtain an audio signal that matches the sound signal, and obtain an acquired spectrum signal that matches the audio signal by performing Fourier transform analysis on the audio signal, where The sound signal includes a noise signal, and the audio signal is composed of a plurality of audio frame signals;
判断单元,连接采集单元,用以按照预定的方法判断当前的音频帧是否匹配一预设的语音帧;并形成一判断结果输出;a determining unit, connected to the collecting unit, configured to determine whether the current audio frame matches a predetermined voice frame according to a predetermined method; and form a judgment result output;
更新单元,连接判断单元,于判断结果为音频帧匹配语音帧的状态下,更将采集频谱中每个音频帧所对应的一噪声功率谱; The updating unit and the connection judging unit further acquire a noise power spectrum corresponding to each audio frame in the spectrum when the judgment result is that the audio frame matches the speech frame;
计算单元,连接更新单元,获取采集频谱中的噪声功率谱的增益,并根据增益对采集频谱进行傅里叶变换计算,形成一计算结果输出;a calculation unit, connected to the update unit, obtains a gain of the noise power spectrum in the acquired spectrum, and performs Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
处理单元,连接计算单元,用以接收计算单元输出的计算结果,对计算结果进行傅里叶逆变换处理,去除音频信号中的噪声以获取有效音频信号。The processing unit is connected to the calculation unit for receiving the calculation result output by the calculation unit, performing inverse Fourier transform processing on the calculation result, and removing noise in the audio signal to obtain an effective audio signal.
在本发明中,采集单元中包括:In the present invention, the acquisition unit includes:
一缓冲单元,用以接收采集单元获取的声音信号;a buffer unit for receiving a sound signal acquired by the acquisition unit;
一微处理单元,连接缓冲单元,用以对缓冲单元中的声音信号进行冲采样处理。A micro processing unit is connected to the buffer unit for performing a pulse sampling process on the sound signal in the buffer unit.
在本发明中,于缓冲单元中,声音信号按照预定的音频数据包形式存储于缓冲单元中。In the present invention, in the buffer unit, the sound signal is stored in the buffer unit in a predetermined audio packet format.
在本发明中,音频处理框架层还包括:In the present invention, the audio processing framework layer further includes:
读取单元,连接缓冲单元,用以读取存储于缓冲单元中的预定的音频数据包。The reading unit is connected to the buffer unit for reading a predetermined audio data packet stored in the buffer unit.
下面结合实施例进行具体说明The following is specifically described in conjunction with the embodiments.
针对目前只能机器人环境降噪碰到的问题,线提出一种应用于智能家庭机器人的环境噪音消除技术方案:In view of the problems that can only be encountered in robotic environment noise reduction, the line proposes an environmental noise elimination technology solution for smart home robots:
一套预设嵌入式系统中实现音频采集,处理的软件系统层框架及音频降噪处理算法,应用于家庭智能机器人,其中软件系统包括:A software system layer framework and an audio noise reduction processing algorithm for implementing audio collection and processing in a preset embedded system are applied to a home intelligent robot, wherein the software system includes:
采集单元,用于从特定的音频设备中采集音频流数据的软件驱动程序; An acquisition unit, a software driver for collecting audio stream data from a specific audio device;
其中采集单元中还包括:The collection unit further includes:
一个缓冲单元和微处理单元,缓冲单元用以接收采集单元获取的声音信号,微处理单元连接缓冲单元,用来对缓冲单元中的声音信号进行重采样处理,以及一读取单元组成的降噪处理软件层,读取单元连接所述缓冲单元,用以读取储存在缓冲单元中的预定音频数据包。其中微处理单元从缓冲单元中读取音频数据流后,并对音频数据流进行必要的重采样处理,然后切割成10毫秒的音频数据包填充到缓冲单元,其中读取单元用于从缓冲单元中读取经过预处理的音频数据包,然后输送到算法进行环境噪音消除处理;a buffer unit and a micro processing unit, the buffer unit is configured to receive the sound signal acquired by the collecting unit, the micro processing unit is connected to the buffer unit, and is used for resampling the sound signal in the buffer unit, and a noise reduction component formed by the reading unit Processing the software layer, the reading unit is connected to the buffer unit for reading a predetermined audio data packet stored in the buffer unit. The micro processing unit reads the audio data stream from the buffer unit, and performs necessary re-sampling processing on the audio data stream, and then cuts the audio data packet into 10 milliseconds to be filled into the buffer unit, wherein the reading unit is used for the buffer unit. Reading the preprocessed audio data packet and then transmitting it to the algorithm for environmental noise cancellation processing;
判断单元,与采集单元连接,用以按照预定的方法判断当前音频帧是否匹配一预设的语音帧,形成一判断结果输出,并适配不同的底层驱动以及上层应用软件的适配软件程序;The determining unit is connected to the collecting unit for determining whether the current audio frame matches a predetermined voice frame according to a predetermined method, forming a judgment result output, and adapting different underlying drivers and an adaptation software program of the upper application software;
更新单元,与该判断单元连接,于判断结果为音频帧匹配语音帧的状态下,更新采集频谱中每个音频帧对应的一噪声功率谱;And an update unit, connected to the determining unit, and updating a noise power spectrum corresponding to each audio frame in the acquired spectrum in a state that the audio frame matches the voice frame;
计算单元,获取采集频谱中的噪声功率谱的增益,并根据增益对采集频谱进行傅里叶变换计算,形成一计算结果输出;The calculating unit obtains the gain of the noise power spectrum in the acquired spectrum, and performs Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
处理单元,连接计算单元,用以接受计算单元输出的计算结果,对计算结果进行傅里叶逆变换处理,去除音频中的噪声以获取有效音频信号。The processing unit is connected to the calculation unit for accepting the calculation result output by the calculation unit, performing inverse Fourier transform processing on the calculation result, and removing noise in the audio to obtain an effective audio signal.
应用接口,将获取的有效音频信号发送给上层应用。The application interface sends the obtained valid audio signal to the upper application.
如图1所示,针对上述系统的应用,还涉及一种环噪消除的计算方法: As shown in FIG. 1 , for the application of the above system, a calculation method of ring noise cancellation is also involved:
步骤S1,家庭智能机器人通过音频设备采集声音信号,获取与声音信号相匹配的音频数据,然后根据音频数据的能量检测该采集到的音频数据是否为有效语音起始帧,如果检测的结果显示为无效的语音数据,则统计一下平均的噪声方差作为噪声功率谱的初始值,如果检测到的结果显示为有效语音,则继续进行下一步。Step S1: The home intelligent robot collects the sound signal through the audio device, acquires the audio data that matches the sound signal, and then detects whether the collected audio data is a valid voice start frame according to the energy of the audio data, if the detected result is displayed as For invalid speech data, the average noise variance is counted as the initial value of the noise power spectrum. If the detected result shows valid speech, proceed to the next step.
其中,在步骤S1中,家庭智能机器人通过对采集到的音频数据进行离散傅里叶变换来得到被采集的音频数据的频谱,离散傅里叶变换是通过把信号从时间域变换到频率域,进而研究信号的频谱结构和变化规律。Wherein, in step S1, the home intelligence robot obtains a spectrum of the collected audio data by performing discrete Fourier transform on the collected audio data, and the discrete Fourier transform is performed by transforming the signal from the time domain to the frequency domain. Then study the spectral structure and variation of the signal.
步骤S2,根据步骤S1中的统计的噪声功率谱的估计来判断采集到音频数据是否为噪声,如果是噪声,则将该噪声的功率谱和之前统计的噪声功率谱做平滑处理,在进行完平滑处理后更新噪声功率谱的估计,如果检测到的不是噪声,而是正常的命令语音,则进行下一步。Step S2, judging whether the collected audio data is noise according to the estimated noise power spectrum in step S1, and if it is noise, smoothing the power spectrum of the noise and the previously calculated noise power spectrum, after finishing After the smoothing process, the estimation of the noise power spectrum is updated. If the noise is not detected but the normal command voice, the next step is performed.
步骤S3,更新被采集到音频数据的语音帧频谱中每个点的噪声功率谱,然后计算该音频数据的纯净音傅里叶变化估值,在本发明中,通过使用最小均方误差判别法计算该语音帧的纯净音傅里叶变化估值。Step S3, updating the noise power spectrum of each point in the spectrum of the speech frame collected to the audio data, and then calculating the pure tone Fourier change estimate of the audio data, in the present invention, by using the minimum mean square error discriminant method A pure tone Fourier change estimate for the speech frame is calculated.
步骤S4,获取采集频谱中的噪声功率增益,并根据增益对所采集频谱进行傅里叶变换计算,形成一计算结果输出。Step S4: Acquire a noise power gain in the acquired spectrum, and perform Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output.
步骤S5,去除被采集到音频数据中的环境音,以获得纯净音,这样只能机器人就能很清楚的得到命令内容,在本发明中,通过离散傅里叶逆变换去除音频数据中的环境音。 In step S5, the ambient sound collected in the audio data is removed to obtain a pure sound, so that only the robot can clearly obtain the command content. In the present invention, the environment in the audio data is removed by discrete Fourier transform. sound.
所以在一个基于安卓嵌入式智能操作系统的基于语音交互的家庭智能机器人中,需要机器人在语音采集后进行环境噪音消除以提高语音识别正确率。Therefore, in a home-based intelligent robot based on Android embedded intelligent operating system based on voice interaction, the robot needs to eliminate the ambient noise after speech acquisition to improve the accuracy of speech recognition.
综上所述,本发明设计的一种环噪消除系统及其应用方法是应用于以语音交互作为交互基础的家庭智能机器人的环境噪音消除的完整软件技术方案,解决传统环境噪音消除对变化范围较大的非稳定噪声效果不好的问题。In summary, a ring noise elimination system designed by the present invention and an application method thereof are a complete software technical solution for environmental noise elimination of a home intelligent robot based on voice interaction as an interaction basis, and solve the traditional environmental noise elimination range. Larger unsteady noise is not a good problem.
通过说明和附图,给出了具体实施方式的特定结构的典型实施例,基于本发明精神,还可作其他的转换。尽管上述发明提出了现有的较佳实施例,然而,这些内容并不作为局限。Exemplary embodiments of the specific structure of the specific embodiments are given by way of illustration and the accompanying drawings, and other transitions are possible in accordance with the spirit of the invention. Although the above invention proposes a prior preferred embodiment, these are not intended to be limiting.
对于本领域的技术人员而言,阅读上述说明后,各种变化和修正无疑将显而易见。因此,所附的权利要求书应看作是涵盖本发明的真实意图和范围的全部变化和修正。在权利要求书范围内任何和所有等价的范围与内容,都应认为仍属本发明的意图和范围内。 Various changes and modifications will no doubt become apparent to those skilled in the <RTIgt; Accordingly, the appended claims are to cover all such modifications and modifications The scope and content of any and all equivalents are intended to be within the scope and spirit of the invention.

Claims (8)

  1. 一种环噪消除方法,应用于家庭机器人,其特征在于,包括以下步骤:A ring noise elimination method is applied to a home robot, which is characterized in that it comprises the following steps:
    步骤S1,一采集单元对所述机器人当前所处环境中的声音信号进行采样,获取与所述声音信号相匹配的音频信号,并对所述音频信号通过离散傅里叶变换分析获取与所述音频信号相匹配的采集频谱信号,其中所述音频信号由复数个音频帧信号组成;Step S1: an acquisition unit samples a sound signal in an environment in which the robot is currently located, acquires an audio signal that matches the sound signal, and acquires and analyzes the audio signal by discrete Fourier transform analysis. An acquisition spectrum signal matched by an audio signal, wherein the audio signal is composed of a plurality of audio frame signals;
    步骤S2,按照预定的方法判断当前所述的音频帧是否匹配一预设的语音帧;Step S2, determining whether the currently-mentioned audio frame matches a preset voice frame according to a predetermined method;
    步骤S3,于所述音频帧匹配所述语音帧的状态下,更新所述采集频谱中每个所述音频帧所对应的一噪声功率谱;Step S3, in a state in which the audio frame matches the voice frame, updating a noise power spectrum corresponding to each of the audio frames in the acquired spectrum;
    步骤S4,获取所述采集频谱中的所述噪声功率谱的增益,并根据所述增益对所述采集频谱进行傅里叶变换计算,形成一计算结果输出;Step S4: acquiring a gain of the noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
    步骤S5,对所述计算结果进行傅里叶逆变换,去除所述音频信号中的噪声以获取有效音频信号。Step S5, performing inverse Fourier transform on the calculation result, and removing noise in the audio signal to obtain a valid audio signal.
  2. 根据权利要求1所述的方法,其特征在于,所述步骤3中还包括:The method according to claim 1, wherein the step 3 further comprises:
    步骤31、于所述音频帧不匹配所述语音帧的状态下,读取当前的所述噪声功率谱;于所述噪声功率谱为0的状态下,执行步骤33;Step 31, in the state that the audio frame does not match the voice frame, the current noise power spectrum is read; in the state where the noise power spectrum is 0, step 33 is performed;
    步骤32、根据所述噪声功率谱和所述采集频谱处理计算得到新功率噪声谱,并将所述新功率噪声谱赋值于所述功率噪声谱;Step 32: Calculate a new power noise spectrum according to the noise power spectrum and the acquired spectrum processing, and assign the new power noise spectrum to the power noise spectrum;
    步骤33、根据当算所处环境中的噪声方差计算并更新所述噪声 功率谱。Step 33: Calculate and update the noise according to the noise variance in the environment in which the computing environment is located power spectrum.
  3. 根据权利要求2所述的方法,其特征在于,所述步骤32中,所述噪声功率谱和所述采集频谱按照平滑处理方法得到新功率噪声谱。The method according to claim 2, wherein in the step 32, the noise power spectrum and the acquired spectrum obtain a new power noise spectrum according to a smoothing method.
  4. 一种环噪消除系统,应用于家庭机器人中,其特征在于,包括:A ring noise cancellation system for use in a home robot, characterized in that it comprises:
    采集单元,用以对所述机器人当前所处环境中的声音信号进行采样获取与所述声音信号相匹配的音频信号,并对所述音频信号通过傅里叶变换分析获取与所述音频信号相匹配的采集频谱信号,其中,所述声音信号中包括噪声信号,所述音频信号由复数个音频帧信号组成;An acquisition unit, configured to sample a sound signal in an environment in which the robot is currently located to obtain an audio signal that matches the sound signal, and acquire the audio signal by using Fourier transform analysis a matched acquisition spectrum signal, wherein the sound signal includes a noise signal, and the audio signal is composed of a plurality of audio frame signals;
    判断单元,连接所述采集单元,用以按照预定的方法判断当前所述的音频帧是否匹配一预设的语音帧,并形成一判断结果输出;a determining unit, configured to connect the collecting unit to determine whether the currently-mentioned audio frame matches a preset voice frame according to a predetermined method, and form a judgment result output;
    更新单元,连接所述判断单元,于所述判断结果为所述音频帧匹配所述语音帧的状态下,更将所述采集频谱中每个所述音频帧所对应的一噪声功率谱;And an update unit, connected to the determining unit, in a state that the audio frame matches the voice frame, and a noise power spectrum corresponding to each of the audio frames in the acquired spectrum;
    计算单元,连接所述更新单元,获取所述采集频谱中的所述噪声功率谱的增益,并根据所述增益对所述采集频谱进行傅里叶变换计算,形成一计算结果输出;a calculation unit, connected to the update unit, acquiring a gain of the noise power spectrum in the acquired spectrum, and performing Fourier transform calculation on the acquired spectrum according to the gain to form a calculation result output;
    处理单元,连接所述计算单元,用以接收所述计算单元输出的所述计算结果,对所述计算结果进行傅里叶逆变换处理,去除所述音频信号中的噪声以获取有效音频信号。 And a processing unit, configured to receive the calculation result output by the calculation unit, perform inverse Fourier transform processing on the calculation result, and remove noise in the audio signal to obtain an effective audio signal.
  5. 根据权利要求4所述的系统,其特征在于,所述处理单元中包括:The system of claim 4, wherein the processing unit comprises:
    一缓冲单元,用以接收所述采集单元获取的所述声音信号;a buffer unit, configured to receive the sound signal acquired by the collection unit;
    一微处理单元,连接所述缓冲单元,用以对所述缓冲单元中的所述声音信号进行重采样处理。a micro processing unit is coupled to the buffer unit for performing resampling processing on the sound signal in the buffer unit.
  6. 根据权利要求5所述的系统,其特征在于,于所述缓冲单元中,所述声音信号按照预定的音频数据包形式存储于所述缓冲单元中。The system according to claim 5, wherein in said buffer unit, said sound signal is stored in said buffer unit in a predetermined audio packet format.
  7. 根据权利要求6所述的系统,其特征在于,所述处理单元还包括:The system of claim 6 wherein the processing unit further comprises:
    读取单元,连接所述缓冲单元,用以读取存储于所述缓冲单元中的预定的所述音频数据包。And a reading unit connected to the buffer unit for reading a predetermined audio data packet stored in the buffer unit.
  8. 根据权利要求6所述的系统,其特征在于,所述音频数据包时长为10ms。 The system of claim 6 wherein said audio data packet has a duration of 10 ms.
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