An Iterative Denoising Device and Cleaning Robot Based on Speech Recognition

Abstract

The invention discloses an iterative denoising device based on speech recognition and a cleaning robot, comprising the following unit: a confidence value acquisition unit, which is used to determine the target speech signal from the speech signals obtained by the microphone array, and obtain the target confidence accordingly value; the pre-denoising unit is used to receive the target confidence value obtained by the confidence value acquisition unit, and select the noise data matching the target confidence value from the noise database, and then control the noise data and the unmarked in the target speech signal The voiced frame participates in pre-denoising processing to obtain a pre-denoising processing result corresponding to the noise data; the processing unit is configured to adjust the target confidence level according to the relationship between the pre-denoising processing result output by the pre-denoising unit and a predetermined threshold value, and transmit the adjusted result to the pre-denoising unit, so as to denoise the unmarked voiced frame.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a speech recognition-based iterative denoising device and a cleaning robot. Background technique [0002] Existing mobile robots (such as mechatronics equipment such as sweeping robots, window cleaning robots, and floor mopping robots among cleaning robots) will generate noise during work. The voice signal is picked up by voice, but when the voice signal from the user is picked up, the noise generated during the robot's work is usually picked up by voice, so that the voice signal picked up by the device is mixed with a lot of external noise , the corresponding speech recognition accuracy is not high, which will seriously affect the robot's recognition of external speech (effective signal), and make logical decisions based on speech interpretation (such as performing relevant path planning). [0003] In the prior art, the method of denoising at the front end of the voi...

AI Technical Summary

Problems solved by technology

[0002] Existing mobile robots (such as mechatronics equipment such as sweeping robots, window cleaning robots, and floor mopping robots among cleaning robots) will generate noise during work. The voice signal is picked up by voice, but when the voice signal from the user is picked up, the noise generated during the robot's work is usually picked up by voice, so that the voice signal picked up by the device is mixed with a lot of external noise , the corresponding voice recognition accuracy is not high, which will seriously affect the robot's recognition of external voices (effective signals), and make logical decisions based on voice interpretation (such as performing relevant path planning)

[0003] In the prior art, the method of denoising at the front end of the voice signal is generally to select the appropriate voice signal according to the result of the voice signal classification, and suppress the voice signal that does not meet the requirements, but the method for the voice signal classification is more complicated, not only The noise reduction is not complete, and the efficiency of speech recognition is not high, there are always remaining speech frames that have not been processed, which affects the effect of speech recognition

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