Robot Microphone Array Configuration for 360-Degree Localization
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Solution Overview
Problem
The improper arrangement of microphone arrays on robots limits the height and movement of the robot and results in poor noise reduction due to the need for static positioning and aesthetic issues with multiple arrays.
Innovation Solution
An annular microphone array is evenly distributed around the neck, and a linear microphone array is placed on a line connecting two microphones from the annular array, with both sets of microphones transmitting data to a main control module for sound source localization and beam-forming, allowing for 360-degree wake-up and sound pickup without limiting the robot's height or movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an annular microphone array is disposed at the neck of the robot, then 360-degree wake-up and sound source localization can be realized, but the neck will hide the microphones behind the neck causing sounds to be reflected and affecting sound pickup effect
Solution Approach 1:
The patent divides the microphone array into two separate segments: an annular microphone array disposed at the neck for 360-degree wake-up and sound source localization, and a linear microphone array disposed on the head for beam-forming sound pickup. This segmentation allows each array to perform its specialized function without interfering with the other, resolving the contradiction between omnidirectional detection and directional pickup quality.
2Reliability
If an annular microphone array is disposed at the head of the robot, then beam-forming can be performed, but the height of the robot is limited
Solution Approach 1:
The patent transitions from placing all microphones in a single location (either head or neck) to distributing them across two different spatial dimensions: the annular array at the neck and the linear array on the head. This dimensional distribution allows the system to achieve both beam-forming capability and unrestricted robot height design.
3Reliability
If an annular microphone array is disposed at the head of the robot, then beam-forming can be performed, but the movement of the head of the robot is limited
Solution Approach 1:
The patent segments the microphone array functionality between two locations: the annular array at the neck remains stationary to maintain beam-forming capability, while the head can move freely for interaction. The linear array on the head complements the neck array without restricting head movement, as the system processes signals from both arrays coordinatelessly.
4Reliability
If simultaneous use of annular microphone array and linear microphone array is implemented, then sound pickup and noise reduction can be improved, but the robot body has holes affecting aesthetics and causing poor noise reduction
Solution Approach 1:
The patent merges the annular microphone array at the neck with the linear microphone array on the head into a unified sound processing system. By coordinating signals from both arrays through the sound pickup module and main control module, the system achieves effective noise reduction without requiring separate independent systems that would create aesthetic issues. The merged system processes all microphone inputs together to achieve superior noise reduction.
Data Source
AI summary
The present disclosure provides a robot and an audio data processing method thereof. The robot includes a body, a main control module, and a sound pickup module. The sound pickup module includes microphones divided into a first microphone array and a second microphone array; the first microphone array includes N microphones disposed around the body; the second microphone array includes M microphones disposed on the body and located on a line connecting two of the microphones in the first microphone array; the main control module is configured to obtain N channels of audio data through the first microphone array, obtain M channels of audio data through the second microphone array, and perform a sound source localization and a sound pickup based on the N channels of audio data and the M channels of audio data.