Sound source tracking system and method for vision robot and cleaning robot
A tracking system and robot technology, applied in manipulators, manufacturing tools, etc., can solve the problems of large amount of calculation, large calculation time, and excessive calculation amount, and achieve the effects of improving accuracy, accurate voice control, and overcoming errors
Active Publication Date: 2019-02-12
AMICRO SEMICON CORP
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However, this processing method has disadvantages such as complex calculation, large amount of calculation, long time required for positioning calculation, and not suitable for real-time positioning system; high-resolution spectral estimation technology needs to decompose the eigenvalue of the matrix, so the amount of calculation is large , the calculation time is also very large, usually need to use a computer to calculate, and it is not suitable for real-time positioning system
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[0020] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
[0021] refer to figure 1 As shown, the embodiment of the present invention provides a sound source tracking system for a visual robot. The sound source tracking system includes a voice localization processing unit, a steerable vision module, and a microphone array module. The sound source tracking system uses a microphone array The module collects the voice of the face location corresponding to the user using the vision robot. In the embodiment of the present invention, the microphone array modules are distributed on the side of the housing of the visual robot in the form of a ring array, and are electrically connected to the voice positioning processing unit through a protoc...
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The invention discloses a sound source tracking system and method for a vision robot and a cleaning robot. The sound source tracking system comprises a voice locating and processing unit, a steering vision module and a microphone array module. The microphone array module is distributed on the side edge of the shell of the vision robot in a ring-shaped array form, and electrically connected with the voice locating and processing unit through a protocol port. The steering vision module is arranged in a vision robot main body. A camera in the module is connected with a rotating servo steering engine. The rotating servo steering engine is electrically connected with the voice locating and processing unit through the other protocol port and used for controlling the rotating servo steering engine to operate after sampling of the microphone array module is triggered so as to drive the camera to be aligned to the position of the area for collecting the human face. The voice locating and processing unit is used for carrying out characteristic fusion processing on received video parameters of the steering vision module and voice frequency parameters of the microphone array module to achievelocating of target voice.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a sound source tracking system of a visual robot, a sound source tracking method and a cleaning robot. Background technique [0002] Due to its convenience, voice control has played an increasingly important role in smart homes, greatly releasing people's hands and improving user experience. However, in the field of robots, especially cleaning robots, the voice will be submerged in the noise due to the noise of various internal motors. Moreover, this kind of noise is not like a speaker, and the input sound is predictable, which leads to the change of sound source localization. very difficult. [0003] The existing sound source localization technology is to collect sound signals through a microphone with a certain geometric relationship, and then process the digital signal to obtain the position of the sound source in a certain reference coordinate system. After years...
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IPC IPC(8): B25J11/00B25J19/00B25J19/02
CPCB25J11/00B25J19/00B25J19/023
Inventor 许登科邓文拔
Owner AMICRO SEMICON CORP