WO2017000776A1

WO2017000776A1 - Robot indoor noise control system

Info

Publication number: WO2017000776A1
Application number: PCT/CN2016/085762
Authority: WO
Inventors: 刘鑫
Original assignee: 芋头科技（杭州）有限公司
Priority date: 2015-06-30
Filing date: 2016-06-14
Publication date: 2017-01-05
Also published as: TW201712668A; CN106328116B; TWI584268B; CN106328116A; HK1231617A1

Abstract

A robot indoor noise control system, a control unit (5) of the robot indoor noise control system processing an acquired control signal on the basis of a noise signal collected by a collecting unit (2), such that a secondary sound source (6), on the basis of the control signal, outputs a sound signal having the same sound wave amplitude but the opposite sound wave phase to the noise source (1), so that when superimposed on one another, a sound signal and noise signal within the same decibel range cancel each other out, thereby achieving the effect of eliminating low-frequency indoor noise.

Description

Robot indoor noise control system

Technical field

The invention relates to the field of sound, and in particular to a low frequency noise control system for a robot to a room.

Background technique

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 to 50 decibels, the washing machine is 50 to 70 decibels, the electric fan is 55 to 70 decibels, the vacuum cleaner is 60 to 80 decibels, and the home theater can reach 60 to 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. Big harm.

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 a porous sound absorbing material, and its sound absorption coefficient increases as the frequency of the sound wave increases, reaching a maximum value. After a slight drop and then rise again, the fluctuations at the high frequency are no longer obvious; the sound absorption at the middle and low frequencies increases with the increase of the thickness of the porous material, but the absorption of the high frequency sound waves by the thickness is not significant. 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 ventilation, heat dissipation, corrosion resistance, heat resistance, equipment maintenance, etc. problem. 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.

Summary of the invention

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.

The specific technical solutions are as follows:

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:

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;

An acquisition unit, configured to collect the sound signal and the noise signal;

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;

a control unit, respectively connected to the identification unit and the secondary sound source, for processing according to the direction and frequency of each of the noise signals to obtain a corresponding control signal, and the control signal Transmitting the secondary sound source of the audio category corresponding to the decibel interval matching the noise signal such that the secondary sound source outputs the same sound wave amplitude as the noise source, and the sound waves are opposite in phase The sound signal.

Preferably, the acquisition unit uses a multi-channel signal collector.

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.

Preferably, the multi-channel signal collector comprises a first array microphone, and the first array microphone is used to collect the noise signal.

Preferably, the multi-channel signal collector comprises a second array microphone, and the second array microphone is used to collect the sound signal.

Preferably, the method further includes:

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.

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.

The beneficial effects of the above technical solutions:

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.

DRAWINGS

1 is a block diagram of an embodiment of a robot indoor noise control system according to the present invention.

detailed description

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.

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.

The invention is further illustrated by the following figures and specific examples, but is not to be construed as limiting.

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:

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;

An acquisition unit 2 is configured to collect a sound signal and a noise signal;

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;

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.

In this embodiment, the control unit 5 can perform the noise signal according to the acquisition unit 2 The control signal is obtained, so that the secondary sound source 6 outputs a sound signal having the same sound wave amplitude as the noise source 1 and the sound wave phase is opposite according to the control signal, so that the sound signal and the noise signal in the same decibel interval are superimposed and cancel 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.

In a preferred embodiment, acquisition unit 2 employs a multi-channel signal collector.

Further, the acquisition unit 2 may be an FPGA multi-channel microphone array signal collector.

In a preferred embodiment, the multi-channel signal collector includes a first array of microphones for collecting noise signals.

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.

In a preferred embodiment, the multi-channel signal collector may further comprise a second array microphone for collecting sound signals.

Further, the multi-channel signal collector can include a multi-channel array microphone.

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.

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.

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.

In a preferred embodiment, the method may further include:

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.

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.

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.

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.

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.

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.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the embodiments and the scope of the present invention. It should be appreciated by those skilled in the art that The equivalents and obvious changes made by the illustrated elements are all included in the scope of the present invention.

Claims

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, wherein the robot indoor noise control system comprises:

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;

An acquisition unit, configured to collect the sound signal and the noise signal;

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;

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.
The robot indoor noise control system according to claim 1, wherein said acquisition unit employs a multi-channel signal collector.
The robot indoor noise control system according to claim 2, wherein said multi-channel signal collector is configured to synchronously convert the collected plurality of said sound signals and said plurality of said noise signals into sound digital signals and noise, respectively. The digital signal is transmitted to the control unit in synchronism with the acoustic phase of the acoustic digital signal and the acoustic phase of the noisy digital signal by means of a DMA interrupt.
A robot indoor noise control system according to claim 2, wherein said multi-channel signal collector comprises a first array microphone, said first array microphone being for collecting said noise signal.
A robot indoor noise control system according to claim 2, wherein said multi-channel signal collector comprises a second array microphone, said second array microphone being for collecting said sound signal.
The robot indoor noise control system of claim 1 further comprising:

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.
The robot indoor noise control system according to claim 6, wherein the multi-channel signal transmission unit uses a USB multi-channel microphone signal transmitter for encapsulating the sound signal and the noise signal into data messages. The data message is sent to the control unit via a USB protocol.