Robot acoustic device and robot acoustic system
First Claim
1. A robot auditory apparatus for a robot having a noise generating source in its interior, characterized in that it comprises:
- a sound insulating cladding with which at least a portion of the robot is covered;
at least two outer microphones disposed outside of said cladding for primarily collecting an external sound;
at least one inner microphone disposed inside of said cladding for primarily collecting noises from said noise generating source in the robot interior;
a processing section responsive to signals from said outer and inner microphones for canceling from respective sound signals from said outer microphones, noises signal from said interior noise generating source while detecting burst noises owing to said noise generating source from a signal from said at least one inner microphone for canceling signal portions from said sound signals for bands containing said burst noises; and
a directional information extracting section responsive to a left and a right sound signals from said processing section for determining a direction from which said external sound is emitted.
2 Assignments
0 Petitions
Accused Products
Abstract
A robot auditory apparatus and system are disclosed which are made capable of attaining active perception upon collecting a sound from an external target with no influence received from noises generated interior of the robot such as those emitted from the robot driving elements. The apparatus and system are for a robot having a noise generating source in its interior, and include: a sound insulating cladding (14) with which at least a portion of the robot is covered; at least two outer microphones (16 and 16) disposed outside of the cladding (14) for collecting an external sound primarily; at least one inner microphone (17) disposed inside of the cladding (14) for primarily collecting noises from the noise generating source in the robot interior; a processing section (23, 24) responsive to signals from the outer and inner microphones (16 and 16; and 17) for canceling from respective sound signals from the outer microphones (16 and 16), noises signal from the interior noise generating source and then issuing a left and a right sound signal; and a directional information extracting section (27) responsive to the left and right sound signals from the processing section (23, 24) for determining the direction from which the external sound is emitted. The processing section (23, 24) is adapted to detect burst noises owing to the noise generating source from a signal from the at least one inner microphone (17) for removing signal portions from the sound signals for bands containing the burst noises.
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Citations
25 Claims
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1. A robot auditory apparatus for a robot having a noise generating source in its interior, characterized in that it comprises:
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a sound insulating cladding with which at least a portion of the robot is covered; at least two outer microphones disposed outside of said cladding for primarily collecting an external sound; at least one inner microphone disposed inside of said cladding for primarily collecting noises from said noise generating source in the robot interior; a processing section responsive to signals from said outer and inner microphones for canceling from respective sound signals from said outer microphones, noises signal from said interior noise generating source while detecting burst noises owing to said noise generating source from a signal from said at least one inner microphone for canceling signal portions from said sound signals for bands containing said burst noises; and a directional information extracting section responsive to a left and a right sound signals from said processing section for determining a direction from which said external sound is emitted. - View Dependent Claims (3, 4, 5)
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2. A robot auditory apparatus for a robot having a noise generating source in its interior, characterized in that it comprises:
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a sound insulating cladding for self-recognition with which at least a portion of the robot is covered; at least two outer microphones disposed outside of said cladding for primarily collecting an external sound; at least one inner microphone disposed inside of said cladding for primarily collecting noises from said noise generating source in the robot interior; a processing section responsive to signals from said outer and inner microphones for canceling from respective sound signals from said outer microphones, noise signals from said interior noise generating source while detecting burst noises owing to said noise generating source from a signal from said at least one inner microphone for canceling signal portions from said sound signals for bands containing said burst noises; and a directional information extracting section responsive to a left and a right sound signals from said processing section for determining a direction from which said external sound is emitted.
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6. A robot auditory system for a robot having a noise generating source in its interior, characterized in that it comprises:
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a sound insulating cladding with which at least a portion of the robot is covered; at least two outer microphones disposed outside of said cladding for collecting external sounds primarily; at least one inner microphone disposed inside of said cladding for primarily collecting noises from said noise generating source in said robot interior; a processing section responsive to signals from said outer and inner microphones for canceling from respective sound signals from said outer microphones, noise signals from said interior noise generating source while detecting burst noises owing to said noise generating source from a signal from said at least one inner microphone for canceling signal portions from said sound signals for bands containing said burst noises; a pitch extracting section for effecting a frequency analysis on each of the a left and a right sound signals from said processing section to provide sound data as to time, frequency and power thereof from a pitch accompanied harmonic structure which the sound data signifies; a left and right channel corresponding section responsive to left and right sound data from said pitch extracting section for providing respective sets of directional information determining directions from which the sounds are emitted, respectively; and a sound source separating section for splitting said sound data into those sound data for respective sound sources of said sounds on the basis of such harmonic structures or said sets of directional information provided by said left and right channel corresponding section. - View Dependent Claims (10, 11, 12, 13, 14, 16, 17, 18, 19, 21, 22, 23, 24)
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7. A robot auditory system for a robot having a noise generating source in its interior, characterized in that it comprises:
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a sound insulating cladding for self-recognition with which at least a portion of the robot is covered; at least two outer microphones disposed outside of said cladding for collecting external sounds primarily; at least one inner microphone disposed inside of said cladding for primarily collecting noises from said noise generating source in said robot interior; a processing section responsive to signals from said outer and inner microphones for canceling from respective sound signals from said outer microphones, noise signals from said interior noise generating source while detecting burst noises owing to said noise generating source from a signal from said at least one inner microphone for canceling signal portions from said sound signals for bands containing said burst noises; a pitch extracting section for effecting a frequency analysis on each of a left and a right sound signals from said processing section to provide sound data as to time, frequency and power thereof from a pitch accompanied harmonic structure which the sound data signifies; a left and right channel corresponding section responsive to left and right sound data from said pitch extracting section for providing respective sets of directional information determining directions from which the sounds are emitted, respectively; and a sound source separating section for splitting said sound data into those sound data for respective sound sources of said sounds on the basis of such harmonic structures or said sets of directional information provided by said left and right channel corresponding section.
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8. A robot auditory system for a humanoid or animaloid robot having a noise generating source in its interior, characterized in that it comprises:
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a sound insulating cladding with which at least a head portion of the robot is covered; at least a pair of outer microphones disposed outside of said cladding and positioned thereon at a pair of ear corresponding areas, respectively, of the robot for collecting external sounds primarily; at least one inner microphone disposed inside of said cladding for primarily collecting noises from said noise generating source in said robot interior; a processing section responsive to signals from said outer and inner microphones for canceling from respective sound signals from said outer microphones, noise signals from said interior noise generating source while detecting burst noises owing to said noise generating source from a signal from said at least one inner microphone for canceling signal portions from said sound signals for bands containing said burst noises; a pitch extracting section for effecting a frequency analysis on each of a left and a right sound signals from said processing section to provide sound data as to time, frequency and power thereof from a pitch accompanied harmonic structure which the sound data signifies; a left and right channel corresponding section responsive to left and right sound data from said pitch extracting section for providing respective sets of directional information determining directions from which the sounds are emitted, respectively; and a sound source separating section for splitting said sound data into those sound data for respective sound sources of said sounds on the basis of such harmonic structures or said sets of directional information provided by said left and right channel corresponding section. - View Dependent Claims (15, 20, 25)
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9. A robot auditory system for a humanoid or animaloid robot having a noise generating source in its interior, characterized in that it comprises:
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a sound insulating cladding for self-recognition with which at least a head portion of the robot is covered; at least a pair of outer microphones disposed outside of said cladding and positioned thereon at a pair of ear corresponding areas, respectively, of the robot for collecting external sounds primarily; at least one inner microphone disposed inside of said cladding for primarily collecting noises from said noise generating source in said robot interior; a processing section responsive to signals from said outer and inner microphones for canceling from respective sound signals from said outer microphones, noise signals from said interior noise generating source while detecting burst noises owing to said noise generating source from a signal from said at least one inner microphone for canceling signal portions from said sound signals for bands containing said burst noises; a pitch extracting section for effecting a frequency analysis on each of a left and a right sound signals from said processing section to provide sound data as to time, frequency and power thereof from a pitch accompanied harmonic structure which the sound data signifies; a left and right channel corresponding section responsive to left and right sound data from said pitch extracting section for providing respective sets of directional information determining directions from which the sounds are emitted, respectively; and a sound source separating section for splitting said sound data into those sound data for respective sound sources of said sounds on the basis of such harmonic structures or said sets of directional information provided by said left and right channel corresponding section.
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Specification