A voice denoising method and chip based on cleaning robot

Abstract

The invention discloses a speech denoising method and a chip based on a cleaning robot. The method comprises the following steps: step 1, determining a target speech signal from speech signals acquired by a microphone array, and acquiring a target confidence coefficient value accordingly; step 2, determining whether a confidence coefficient value whose absolute value of the difference between theconfidence coefficient value and the target confidence coefficient value is less than predetermined noise data of a predetermined noise threshold exists in a noise database, if exists, performing step3; step 3, controlling the noise data to perform inverse processing to obtain an inverted noise signal, and combining and overlaying the inverted noise signal with the target speech signal to obtaina pre-denoised processing result; and step 4, marking a voiced frame corresponding to the pre-denoised processing result as a denoised voiced frame in the target speech signal according to the relationship between the pre-denoised processing result and the predetermined threshold; wherein the target speech signal comprises the voiced frame associated with a control instruction. According to the method, the precision of the speech signal denoising is improved by pre-denoising the target speech signal.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a voice denoising method and chip based on 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 their 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 the interpretation of voices (such as performing relevant path planning). [0003] In the prior art, the cleaning robot with voice recognition function do...

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 their 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 cleaning robot with voice recognition function does not preprocess the collected voice signal during the front-end denoising process of the voice signal, which reduces the accuracy of voice recognition

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