Robot Head Microphone Array Beam Steering for Far-Field Noise Reduction
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Solution Overview
Problem
The performance of noise reduction in microphone arrays on robot heads is affected when the head is moved, as the initial beam forming area changes, leading to reduced noise reduction effectiveness.
Innovation Solution
A method that calculates the target rotation angle based on the position angle of a far-field audio source and the initial rotation angle of the robot's servo, allowing the microphone array to adjust and align with the sound source, thereby enhancing noise reduction by changing the beam area to prioritize sound source enhancement over noise suppression.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot's head is moved to track the sound source, then the audio collection capability is improved, but the beam forming area changes causing noise reduction performance to deteriorate
Solution Approach 1:
The patent applies dynamics by making the beam forming area adjustable and adaptable to the robot's head position. The system dynamically recalculates and reconfigures the beam forming parameters based on the current head orientation, allowing the noise reduction system to maintain effectiveness despite head movements. This transforms a static beam forming approach into a dynamic one that adapts to changing conditions.
Solution Approach 2:
The system uses feedback from the sound source positioning information and head position data to continuously adjust the beam forming area. By monitoring the relationship between the sound source direction and the current beam forming configuration, the system provides feedback to recalibrate the noise reduction parameters, ensuring optimal performance is maintained after head movements.
2Reliability
If the beam forming area is fixed for noise suppression, then noise reduction is improved, but the ability to track and enhance far-field audio sources deteriorates
Solution Approach 1:
The beam forming area is transformed from a fixed configuration to a dynamic one that can be adjusted based on sound source position. The system calculates the appropriate beam forming parameters based on the located sound source direction and updates the beam configuration accordingly, enabling both noise suppression and sound source tracking to function effectively.
Solution Approach 2:
The patent changes the parameters of the beam forming area based on the sound source position and head orientation. By adjusting parameters such as beam direction, width, and gain according to the located sound source, the system maintains noise reduction effectiveness while adapting to track and enhance different audio sources in varying positions.
3Object-affected harmful factors
If the microphone array uses a fixed noise suppression area, then noise filtering is improved, but the signal-to-noise ratio for moving sound sources deteriorates
Solution Approach 1:
The system employs feedback by continuously monitoring the sound source position and comparing it with the current beam forming configuration. When the head moves or the sound source position changes, the feedback mechanism triggers recalculation of the beam forming parameters to maintain optimal signal-to-noise ratio, ensuring that noise filtering remains effective for moving sound sources.
Solution Approach 2:
The system performs preliminary action by pre-calculating and preparing updated beam forming parameters based on predicted sound source positions and head movements. This allows the system to proactively adjust the noise suppression area before the actual movement occurs, maintaining continuous optimal performance without interruption.
Data Source
AI summary
The present disclosure provides a noise reduction processing method, system and terminal device. In the present disclosure, a position angle of a far-field audio input sound source and a microphone array as well as a rotation angle of a head servo of a robot are obtained, and then a target rotation angle of the robot is calculated. The head servo of the robot is controlled to rotate according to the target rotation angle such that the robot moves along with the far-field sound source, and a beam area is changed according to the target rotation angle to enable a sound source enhancement area to process far-field audios. As a result, the noise reduction performance of the microphone array beam is effectively improved.