CN105959872A - Smart robot and sound source direction recognition method for same - Google Patents

Abstract

The invention discloses a smart robot and a sound source direction recognition method for the same. The smart robot comprises a main portion (1); a head portion (2) configured to rotate on the main portion (1); a microphone array disposed on the head portion (2) and including a first single-directivity microphone (31), a second single-directivity microphone (32), and an omnidirectional microphone (33), wherein a predetermined angle [theta]y is arranged between the sound receiving direction of the first single-directivity microphone (31) and the second single-directivity microphone (32) and the rotating direction of the head portion (2); and a processing module for determining the sound source direction according to a sound signal acquired by the microphone array, wherein the first single-directivity microphone (31), the second single-directivity microphone (32), and the omnidirectional microphone (33) are electrically connected with the processing module.

Description

Intelligent robot and the Sounnd source direction discriminating conduct for intelligent robot

Technical field

The invention belongs to technical field of electronic products, in particular it relates to a kind of intelligent robot and for intelligent robotSounnd source direction discriminating conduct.

Background technology

Along with the gradually development of smart electronics product, those skilled in the art develop intelligence that can be interactive with user speechEnergy robot, this intelligent robot can provide the user put through phone, voice broadcast by identifying the voice command of userInformation etc. service.Generally, this intelligent robot can be placed on the furniture such as desk, bin use, on intelligent robotIt is provided with the full directional microphone for receiving user voice order.

But, owing to full directional microphone is able to receive that the sound of all directions, so also can receive in surroundingNoise.The acoustical signal that noise and voice command mix can cause intelligent robot cannot accurately identify the feelings of voice commandCondition.Further, those skilled in the art devise the intelligent robot using uni-directional microphone to receive voice command, thusAvoiding receiving the noise from other direction, the noise signal in the acoustical signal of uni-directional microphone pickup is greatly decreased.

But, it was found by the inventors of the present invention that owing to the sound on fixed-direction is only had well by uni-directional microphoneReceiving sensitivity, if so user sends voice command from other direction, the acoustical signal of intelligent robot pickup strongSpend relatively low, it is possible to cause the situation of None-identified.Thus, it is necessary to the method that order is picked up or the structure of intelligent robotImprove.

Summary of the invention

It is an object of the present invention to provide a kind of new solution distinguishing Sounnd source direction for intelligent robot.

According to the first aspect of the invention, it is provided that a kind of intelligent robot, including:

Main part；

Head, described header arrangement is to rotate on described main part；

Microphone array, described microphone array is arranged on described head, and microphone array includes first single sensing wheatGram wind, the second uni-directional microphone and full directional microphone, described first uni-directional microphone and the second uni-directional microphoneQuiet down the direction direction of rotation difference predetermined angle theta along described head_y；

Acoustical signal for picking up according to described microphone array judges the processing module of Sounnd source direction, and described first is singleDirectional microphone, the second uni-directional microphone and full directional microphone electrically connect with described processing module.

Alternatively, described intelligent robot includes the driving means for driving described end rotation, described driving meansElectrically connect with described processing module.

Preferably, described predetermined angle theta_yIt it is 90 °.

Preferably, described intelligent robot includes the 3rd uni-directional microphone, quieting down of described 3rd uni-directional microphoneDirection is identical with the direction that quiets down of described first uni-directional microphone.

Present invention also offers a kind of Sounnd source direction discriminating conduct for intelligent robot, including:

Thering is provided microphone array, described microphone array includes full directional microphone, the first uni-directional microphone and secondThe direction that quiets down of uni-directional microphone, described first uni-directional microphone and the second uni-directional microphone is along preset rotating direction phaseDifference predetermined angle theta_y；

Described microphone array receives sound, and wherein full directional microphone is normal intensity D0 to the receiving intensity of sound,First uni-directional microphone is the first intensity D1 to the receiving intensity of sound, second uni-directional microphone receiving intensity to soundIt is the second intensity D2；

According to described normal intensity DO and the first intensity D1 and the first uni-directional microphone at preset rotating direction placeThe strength model that quiets down in plane is calculated alternative direction θ₁And θ₂；

According to described normal intensity D0, the second intensity D2 and predetermined angle theta_y, it is judged that alternative direction θ₁Whether meet secondUni-directional microphone preset rotating direction the strength model that quiets down in the planes；

If alternative direction θ₁Meet the strength model that quiets down of the second uni-directional microphone, the most alternative direction θ₁For Sounnd source directionθ₀, the most alternative direction θ₂For Sounnd source direction θ₀。

Preferably, the strength model that quiets down of described first uni-directional microphone and the second uni-directional microphone is in predetermined rotationTurn the strength difference Polar Coordinate Model that quiets down that direction is set up in the plane.

Preferably, preset rotating direction in the planes on the basis of the direction that quiets down of the first uni-directional microphone sideTo.

Preferably, if alternative direction θ₁The calculating error quieted down in strength model at the second uni-directional microphone is less than by mistakeDifference upper limit k, then judge that this alternative direction meets the strength model that quiets down of the second uni-directional microphone.

Preferably, it is provided that for drive described microphone array be listed in the predetermined surfaces of revolution rotate driving means, if sound sourceDirection θ₀More than 0 ° and less than 180 °, the most described driving means drive microphone array rotate along the direction that angle is gradually increased toSounnd source direction θ₀If, Sounnd source direction θ₀More than 180 ° and less than 360 °, the most described driving means drive microphone array along angle byThe least direction rotates to Sounnd source direction θ₀。

Preferably, described predetermined angle theta_yIt it is 90 °.

It was found by the inventors of the present invention that existing intelligent robot is in use, if user sends the position of voice commandPutting does not quiets down on direction at uni-directional microphone, and voice command possibly cannot be made correct identification by intelligent robot.At thisIn the case of Zhong, intelligent robot may not do any response or only make prompting user and move to quiet down the response in direction.UserOften select to move to quiet down and send voice command again on direction.Moreover, it is contemplated that to the occupation mode of this intelligent robotAnd occasion, those skilled in the art generally believe without arranging the function judging Sounnd source direction for intelligent robot.Therefore, thisThat bright technical assignment to be realized or the those skilled in the art of technical problem is that to be solved never expect or do not haveAnticipate, therefore the present invention is a kind of new technical scheme.

By detailed description to the exemplary embodiment of the present invention referring to the drawings, the further feature of the present invention andAdvantage will be made apparent from.

Accompanying drawing explanation

Combined in the description and the accompanying drawing of the part that constitutes description shows embodiments of the invention, and evenWith its explanation together for explaining the principle of the present invention.

Fig. 1 is the Facad structure schematic diagram of the intelligent robot that the specific embodiment of the invention provides；

Fig. 2 is the Sounnd source direction discriminating conduct steps flow chart for intelligent robot that the specific embodiment of the invention providesFigure；

Fig. 3 is the full directional microphone schematic diagram to the receiving intensity of sound in polar coordinate；

Fig. 4 is the uni-directional microphone schematic diagram to the receiving intensity of sound in polar coordinate；

Fig. 5 is the strength difference Polar Coordinate Model schematic diagram that quiets down that the specific embodiment of the invention provides.

Detailed description of the invention

The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should also be noted that unless additionally haveBody illustrates, the parts illustrated the most in these embodiments and positioned opposite, the numerical expression of step and numerical value are not intended to thisThe scope of invention.

Description only actually at least one exemplary embodiment is illustrative below, never as to the present inventionAnd any restriction applied or use.

May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitableIn the case of when, described technology, method and apparatus should be considered a part for description.

It is shown here that any occurrence should be construed as merely exemplary with in all examples discussed, and notIt is as restriction.Therefore, other example of exemplary embodiment can have different values.

It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawingIndividual accompanying drawing is defined, then need not it is further discussed in accompanying drawing subsequently.

The invention provides a kind of intelligent robot, as it is shown in figure 1, including main part 1, head 2 and mikeArray and processing module.The constructional device of this intelligent robot can be used in judging the direction of the voice command that user sends.InstituteStating head 2 to be arranged on described main part 1, head 2 is configured on main part 1 rotate.Alternatively, it is contemplated that userGenerally with intelligent robot height substantially quite and the uncertain position of peripheral direction sends voice command, described head 2 canTo be configured to left rotation and right rotation on main part 1.Described microphone array is arranged on described head 2, and microphone array includesFirst uni-directional microphone the 31, second uni-directional microphone 32 and full directional microphone 33.Wherein, the first uni-directional microphone31 is different from the direction that quiets down of the second uni-directional microphone 32, the direction phase that the direction that quiets down of two mikes rotates along head 2Difference predetermined angle theta_y.So, when user sends voice command from a direction, the first uni-directional microphone 31 singly refers to secondThe intensity of sound received to mike 32 is different, and its sound signal intensity produced also is different.All referring to MikeThe intensity of sound that wind 33 receives then is typically normal intensity, and the sound signal intensity of generation is also normal intensity.According to above-mentionedThree kinds of acoustical signals, can calculate user relative to the position of intelligent robot and direction.Those skilled in the art can basisDescribed predetermined angular is selected by the situations such as the practical application of product, performance requirement, and this is not limited by the present inventionSystem.

Processing module in described intelligent robot is for calculating, judge the direction at user place, i.e. Sounnd source direction.IntelligenceFirst uni-directional microphone the 31, second uni-directional microphone 32 in robot and full directional microphone 33 are all and processing moduleElectrical connection, in order to the acoustical signal that transmission pickup is arrived.The intelligent robot that the present invention provides can be used in distinguishing the sound source of userDirection, provides condition for improving the identification accuracy of voice command.It is possible to further send voice message, user is reminded to moveMove quieting down on direction of the first uni-directional microphone 31 or the second uni-directional microphone 32；Or, can make with rotatable head 2Mike, towards Sounnd source direction, is pointed to so that single in the direction that quiets down of the first uni-directional microphone 31 or the second uni-directional microphone 32Wind picks up the acoustical signal of voice command accurately.

Preferably, as it is shown in figure 1, can also include driving means 4 in described intelligent robot, described driving means 4 is usedRotate on main part 1 in drive head 2.Described driving means 4 electrically connects with processing module, and processing module calculates sound sourceBehind direction, can send to driving means 4 and rotate instruction, order about head 2 and rotate, by the direction alignment that quiets down of uni-directional microphoneSounnd source direction.

In one embodiment of the invention, in order to effectively increase the first uni-directional microphone 31 and second single sensing wheatGram wind 32 is in the difference of the intensity that quiets down of different directions, it is preferable that described predetermined angle theta_yIt it is 90 °, as shown in Figure 1.Such as, instituteState head 2 can on main part 1 left rotation and right rotation, the first uni-directional microphone 31 is arranged on the front of described head 2, describedTwo uni-directional microphones 32 are then arranged on the side of described head 2.So, it is in most of position user and sends voice commandTime, it can be all different, just that the first uni-directional microphone 31 and the second uni-directional microphone 32 accept intensity to voice commandIn calculating Sounnd source direction.Only 45 °, a few cases such as 225 °, it is identical that two uni-directional microphones just there will be receiving intensitySituation.

Further, in order to receive apparent, acoustical signal accurately, described microphone array can also include the 3rdUni-directional microphone 34.The direction that quiets down of described 3rd uni-directional microphone 34 can be with described first uni-directional microphone 31The direction that quiets down is consistent, and the single array that points to of the two uni-directional microphone composition, described single array that points to receives sound for realityOrder.Such as, user sends voice command somewhere, by first uni-directional microphone the 31, second uni-directional microphone 32 withAnd after the intensity of acoustical signal that generates of full directional microphone 33 judges Sounnd source direction, described head 2 singly refers to the first, the 3rdTo the direction that quiets down of mike 34, i.e. single directional steering Sounnd source direction that quiets down pointing to array, points to the actual reception of array with singleVoice command, for processing module identification, judgement.The phonetic order transmitted from its direction that quiets down can be generated more by single array that points toAcoustical signal clearly, and owing to the direction that quiets down of the second uni-directional microphone 32 is generally not towards Sounnd source direction, so it is rawThe acoustical signal become is only used for differentiating Sounnd source direction, and is not involved in the actual judgement to phonetic order.Certainly, at its of the present inventionIn its embodiment, it is also possible to by the directional steering Sounnd source direction that quiets down of the second uni-directional microphone, receive sound life for realityOrder, this is not limited by the present invention.

Invention further provides a kind of Sounnd source direction discriminating conduct for intelligent robot, this discriminating conduct canTo use in above-mentioned intelligent robot or other intelligent electronic device.As in figure 2 it is shown, the method is specific as follows:

First, it is provided that one group of microphone array, described microphone array includes the first uni-directional microphone, second single sensingMike and full directional microphone.Predetermined preset rotating direction, described microphone array can be along predetermined rotation sideTo rotation.Wherein, the direction that quiets down of the first uni-directional microphone and the second uni-directional microphone is pre-along preset rotating direction differenceDetermine angle, θ_y, i.e. two uni-directional microphones quiet down direction in the plane at preset rotating direction place towards different directions.Described predetermined angular can be set according to practical situation.Need explanation, the receipts of uni-directional microphone of the present inventionSound direction refer to the dead ahead of uni-directional microphone, i.e. uni-directional microphone towards, in this direction, uni-directional microphoneThe intensity that quiets down the highest.As a example by the embodiment shown in Fig. 1 of the present invention, the head being arranged on main part can left-right rotaryTurn, then the direction of left rotation and right rotation is preset rotating direction.Wherein, first, second uni-directional microphone is in sustained height, and twoThe plane at the extension line place that the direction that quiets down of individual uni-directional microphone is outside, is the plane at preset rotating direction place.

Second, receive voice command with above-mentioned microphone array, and produce corresponding acoustical signal.Wherein, due to all referring toIdentical to the receiving intensity of sound in all directions to mike, as it is shown on figure 3, so full directional microphone reception to soundIntensity is normal intensity D0.Uni-directional microphone accepts intensity difference in all directions to sound, has directivity, such as Fig. 4Shown in, the first uni-directional microphone is the first intensity D1 to the receiving intensity of sound, and the second uni-directional microphone produces soundReceiving intensity be the second intensity D2.

3rd, according to described normal intensity D0, the first intensity D1 and the first uni-directional microphone at preset rotating directionThe strength model that quiets down in the plane at place calculates alternative direction θ₁And θ₂.Due to uni-directional microphone receipts in a planeSound intensity model generally in heart, as it is shown in figure 1, so the acoustical signal of same intensity often obtain two corresponding alternativeDirection θ₁And θ₂。

4th, according to described normal intensity D0, the second intensity D2 and predetermined angle theta_y, it is judged that described alternative direction θ₁It isNo meet second uni-directional microphone strength model that quiets down in the plane at preset rotating direction place.

5th, if alternative direction θ₁Meet the strength model that quiets down of the second uni-directional microphone, then demonstrate the last the secondDegree D2 is that voice command is from alternative direction θ₁When transmitting, the second uni-directional microphone accepts intensity to sound, so alternative sideIt is Sounnd source direction θ to θ₀.Under normal circumstances, owing to there is predetermined angle theta_y, so two alternative direction θ₁And θ₂At least oneThe strength model that quiets down of the second uni-directional microphone can be met, if so alternative direction θ₁Do not meet second single sensing MikeThe strength model that quiets down of wind, the most alternative direction θ₂It is Sounnd source direction θ₀.In the method, if alternative direction θ₁Do not meet, thenCan directly assert alternative direction θ₂For Sounnd source direction θ₀；Alternative direction θ can also be determined whether₂Whether meet second singly to refer toTo the strength model that quiets down of mike, improve degree of accuracy.

The said method that the present invention provides can clearly judge the relative direction position between sound source and intelligent robot,It is easy to follow-up the making of intelligent robot and improves acoustical signal definition and the action of accuracy.Such as, intelligent robot can be sent outGo out prompt tone, remind user to move at the direction that quiets down of the first uni-directional microphone or directly by the first uni-directional microphoneThe directional steering Sounnd source direction that quiets down.

Fig. 3 is the full directional microphone intensity polar coordinate figure that quiets down in a plane, visible full directional microphone in figureAll directions in the cincture intensity that quiets down is basically identical；And Fig. 4 is the uni-directional microphone intensity pole seat that quiets down in a planeMark on a map shape, it is seen that uni-directional microphone is the strongest in the intensity that quiets down of dead ahead, i.e. 0 ° of position, strong with quieting down of full directional microphoneDegree is substantially suitable, and in dead astern, i.e. the intensity that quiets down of 180 ° of positions is the most weak.

Especially, for the ease of calculating, simplify and distinguish Sounnd source direction θ₀Algorithm, the invention provides one group in predetermined rotationTurn direction mike in the planes quiet down strength difference Polar Coordinate Model.Fig. 5 shows the figure of this function model, to schemeAs a example by embodiment shown in 1, this function model is equivalent to overlook down over the polar coordinate of foundation, described predetermined angle from headDegree θ_yIt it is 90 °.Wherein, full directional microphone quiets down strength difference r₀It is single sensing Mike for standard deviation a, described standard deviation aWind is the intensity power difference that quiets down of 0 ° and 180 °.First uni-directional microphone quiets down strength difference r₁And second single point toMike quiets down strength difference r₂Represented by below equation respectively:

$r_1=\frac{a}{2}\×(1+\cos (\mathrm{\θ}\left)\right)---\left(a\right);$

$r_2=\frac{a}{2}\×(1+\sin (\mathrm{\θ}\left)\right)---\left(b\right);$

Relative to the angle of zero degree position during wherein θ represents polar coordinate, especially, the receipts of the first uni-directional microphone are selectedSound direction is as the zero degree position in polar coordinate.In this embodiment, equation (a) represents quieting down of the first uni-directional microphoneStrength difference Polar Coordinate Model, equation (b) represents the strength difference Polar Coordinate Model that quiets down of the second uni-directional microphone.

This advantage quieting down strength difference Polar Coordinate Model is, the intensity that quiets down of three mikes has all deducted single sensingMike himself 180 ° time the intensity that quiets down so that uni-directional microphone is at the intensity difference that quiets down of himself 180 ° of positionValue is 0, is i.e. positioned at polar initial point.So, for expressing the function of the strength difference that quiets down without considering uni-directional microphoneIn the value of himself 180 ° of position, reduce model complexity.And predetermined angle theta_yIt is 90 ° and can reduce answering of model furtherMiscellaneous degree, it is to avoid the angle compensation doing other in a model processes.

As a example by the embodiment shown in Fig. 1,3-5, concrete computational methods are illustrated.When full directional microphone 33When receiving sound or voice command at the same time with first, second single microphone 31,32, full directional microphone 33 produces soundReceiving intensity be normal intensity D0, normal intensity D0 and uni-directional microphone are basic to the receiving intensity of sound in the direction that quiets downQuite.For uni-directional microphone, standard deviation a is known fixed, needs explanation, the first uni-directional microphone 31 and theThe uni-directional microphone that the two usual serviceabilities of uni-directional microphone 32 are consistent.The receiving intensity of the first uni-directional microphone 31 isFirst intensity D1, the receiving intensity of the second uni-directional microphone 32 is the second intensity D2.

The receiving intensity of each mike in microphone array is combined with the above-mentioned strength difference Polar Coordinate Model that quiets down,Can obtain below equation:

$\frac{a}{2}\×(1+\cos (\mathrm{\θ})=D_1-(D_0-a)---\left(1\right)$

$\frac{a}{2}\×(1+\sin (\mathrm{\θ}\left)\right)=D_2-(D_0-a)---\left(2\right)$

Wherein equation (1) is equal to the strength difference r that quiets down of the first uni-directional microphone 31₁, equation (2) is single equal to secondThe strength difference r that quiets down of directional microphone 32₂.Two alternative direction θ can be calculated by equation (1)₁And θ₂:

Further, by θ₁It is brought into checking in equation (2), if θ₁Meet equation (2), the most alternative direction θ₁For sound source sideTo θ₀, otherwise θ₂For Sounnd source direction θ₀.Can also be further by θ₂It is brought in equation (2) and verifies.

The Sounnd source direction discriminating conduct implementation method in a kind of detailed description of the invention provided for the present invention above.The partyMethod is the feature that make use of the intensity that quiets down of uni-directional microphone to have obvious directivity, uses the letter of two uni-directional microphonesNumber intensity compares with full directional microphone, thus judges Sounnd source direction.In other embodiments of the present invention, it is also possible toUtilizing These characteristics to build the different strength models that quiets down, above-mentioned embodiment is currently preferred one.For example, it is also possible toDirectly using actual signal intensity to build the strength model that quiets down, this is not limited by the present invention.

More preferably, in the above-mentioned embodiment of the present invention, as it is shown in figure 5, sit for the ease of setting up the strength difference pole that quiets downMark model, has preset reference direction, and i.e. 0 ° position is consistent with the direction that quiets down of the first uni-directional microphone.In this situationUnder, without trigonometric function is carried out angle compensation in the strength difference Polar Coordinate Model that quiets down.But this is not limited by the present inventionSystem, in other embodiments, described reference direction can also with or not the direction one that quiets down of first, second uni-directional microphoneCause.

Especially, in practical operation, in microphone array, the installation site of each mike, angle and performance all may be usedError can be there is, such as, when selected described predetermined angle theta_yWhen being 90 °, actual first uni-directional microphone and second single sensingThe angle of the direction difference that quiets down of mike is not equal to 90 °；Or, the performance of two identical uni-directional microphones exists trickleDifference.So, it may appear that alternative direction θ₁And θ₂All cannot comply fully with the second uni-directional microphone to quiet down strength difference polar coordinateThe situation of model.For solving the problems referred to above, more preferably, the invention provides and judge whether alternative direction meets second and quiet down intensityThe condition of difference Polar Coordinate Model.In one embodiment, by two alternative direction θ₁And θ₂Introduce second respectively to quiet down intensityDifference Polar Coordinate Model, if the result of calculation that certain alternative direction is in equation (2) makes the gap on equation (2) equal sign both sidesLess than error upper limit k, then judge that this alternative direction is Sounnd source direction θ₀.Ideally, error upper limit k should be equal to 0dB.OnePlant in detailed description of the invention, k=2dB can be selected, i.e. quiet down in strength difference Polar Coordinate Model second when alternative directionWhen calculating error less than 2dB, it is judged that this alternative direction is Sounnd source direction θ₀。

$|\frac{a}{2}\&times;(1+\sin (\mathrm{\&theta;}\left)\right)-(D_2-(D_0-a\left)\right)|<2dB---\left(3\right)$

Equation (3) is the deformation of equation (2), represents above-mentioned Rule of judgment, alternative direction θ₁If meeting the bar of equation (3)Part, then judge that it meets the strength difference Polar Coordinate Model that quiets down of the second uni-directional microphone.The calculating of this Rule of judgmentJourney is simple, simplifies evaluation algorithm.In other embodiments of the present invention, it would however also be possible to employ other determination methods, such as, singleSolely normal intensity D0, the second intensity D2 are brought into and can be calculated two checking directions in equation (2).By two alternative directions withTwo the checking directions calculated by equation (2) compare, if the most a certain alternative direction and the difference in arbitrary checking directionLess than 10 °, then judge that this alternative direction meets second and quiets down strength difference Polar Coordinate Model, for Sounnd source direction.It is above thisTwo kinds of bright offer judge whether alternative direction meets the second condition quieting down strength difference Polar Coordinate Model, and both judges barPart calculates simple, and accuracy is higher.The present invention is not limiting as using above-mentioned Rule of judgment, and those skilled in the art also may be usedThe numerical value etc. of Rule of judgment is adjusted according to practical situation.

Further, Sounnd source direction θ is being distinguished₀After, microphone array can be made further to turn to Sounnd source direction, makeThe sound received or sound life, towards Sounnd source direction, are improved in the direction that quiets down of one uni-directional microphone or the second uni-directional microphoneThe receiving intensity of order.Preferably, Sounnd source direction θ can be prejudged₀Size, and then select microphone array rotation sideTo.As a example by the embodiment shown in Fig. 1 and 5, it is provided that for the driving means 4 driving microphone array to rotate, if sound sourceDirection θ₀More than 0 ° and less than 180 °, then driving means 4 can drive microphone array to rotate along the direction increased between angleTo Sounnd source direction θ₀, the most in Figure 5 along rotate in an anti-clockwise direction；If Sounnd source direction θ₀More than 180 ° and less than 360 °, then turnDynamic in opposite direction.

Especially, when rotation microphone array is with the receiving intensity of raising sound or voice command, can be with the first listThe direction alignment Sounnd source direction that quiets down of directional microphone or the second uni-directional microphone, those skilled in the art can optionally itsOne, this is not limited by the present invention.More preferably, described microphone array may be provided for the 3rd uni-directional microphone.The direction that quiets down of described 3rd uni-directional microphone is consistent with the direction that quiets down of the first uni-directional microphone.3rd single sensing MikeWind is not involved in distinguishing of Sounnd source direction, itself and first uni-directional microphone composition single sensing array.When needs accept voice commandTime, single array that points to is turned to Sounnd source direction by driving means, single point to array and more single than one points to wheat quieting down to have on directionGram more preferable receiving intensity of wind.Those skilled in the art can arrange other uni-directional microphone according to practical situation, with firstOr the second single array that points to of uni-directional microphone composition, the strengthening receiving intensity to sound, this is not limited by the present invention.

Although by example, some specific embodiments of the present invention have been described in detail, but the skill of this areaArt personnel are it should be understood that example above is merely to illustrate rather than in order to limit the scope of the present invention.The skill of this areaArt personnel are it should be understood that can modify to above example without departing from the scope and spirit of the present invention.ThisBright scope is defined by the following claims.

Claims (10)

1. an intelligent robot, it is characterised in that including:

Main part (1)；

Head (2), described head (2) is configured in the upper rotation of described main part (1)；

Microphone array, described microphone array is arranged on described head (2), and microphone array includes first single sensing MikeWind (31), the second uni-directional microphone (32) and full directional microphone (33), described first uni-directional microphone (31) and secondThe direction direction of rotation difference predetermined angle theta along described head (2) that quiets down of uni-directional microphone (32)_y；

Acoustical signal for picking up according to described microphone array judges the processing module of Sounnd source direction, described first single sensingMike (31), the second uni-directional microphone (23) and full directional microphone (33) electrically connect with described processing module.

Intelligent robot the most according to claim 1, it is characterised in that described intelligent robot includes for driving describedThe driving means (4) of end rotation, described driving means (4) electrically connects with described processing module.

Intelligent robot the most according to claim 1, it is characterised in that described predetermined angle theta_yIt it is 90 °.

Intelligent robot the most according to claim 1, it is characterised in that described intelligent robot includes the 3rd single sensing wheatGram wind (34), the side of quieting down with described first uni-directional microphone (31), the direction that quiets down of described 3rd uni-directional microphone (34)To identical.

5. the Sounnd source direction discriminating conduct for intelligent robot, it is characterised in that including:

Thering is provided microphone array, described microphone array includes that full directional microphone, the first uni-directional microphone and second singly refer toPre-along preset rotating direction difference to the direction that quiets down of mike, described first uni-directional microphone and the second uni-directional microphoneDetermine angle, θ_y；

Described microphone array receives sound, and wherein full directional microphone is normal intensity D0 to the receiving intensity of sound, and firstUni-directional microphone is the first intensity D1 to the receiving intensity of sound, and the second uni-directional microphone is to the receiving intensity of soundTwo intensity D2；

According to described normal intensity DO and the first intensity D1 and the first uni-directional microphone in preset rotating direction place planeIn the strength model that quiets down be calculated alternative direction θ₁And θ₂；

According to described normal intensity D0, the second intensity D2 and predetermined angle theta_y, it is judged that alternative direction θ₁Whether meet second singly to refer toTo mike preset rotating direction the strength model that quiets down in the planes；

If alternative direction θ₁Meet the strength model that quiets down of the second uni-directional microphone, the most alternative direction θ₁For Sounnd source direction θ₀, noThe most alternative direction θ₂For Sounnd source direction θ₀。

Sounnd source direction discriminating conduct for intelligent robot the most according to claim 5, it is characterised in that described firstThe strength model that quiets down of uni-directional microphone and the second uni-directional microphone is set up in the plane at preset rotating directionQuiet down strength difference Polar Coordinate Model.

Sounnd source direction discriminating conduct for intelligent robot the most according to claim 5, it is characterised in that in predetermined rotationTurn direction direction on the basis of the direction that quiets down of the first uni-directional microphone in the planes.

Sounnd source direction method of discrimination for intelligent robot the most according to claim 5, it is characterised in that if alternative sideTo θ₁The calculating error quieted down in strength model at the second uni-directional microphone is less than error upper limit k, then judge this alternative sideTo the strength model that quiets down meeting the second uni-directional microphone.

9., according to one of the arbitrarily described Sounnd source direction discriminating conduct for intelligent robot of claim 5-8, its feature existsIn, it is provided that the driving means rotated for driving described microphone array to be listed in the predetermined surfaces of revolution, if Sounnd source direction θ₀More than 0 °And less than 180 °, the most described driving means drives microphone array to rotate to Sounnd source direction θ along the direction that angle is gradually increased₀,If Sounnd source direction θ₀More than 180 ° and less than 360 °, the most described driving means drives the side that microphone array is gradually reduced along angleTo rotating to Sounnd source direction θ₀。

Sounnd source direction discriminating conduct for intelligent robot the most according to claim 5, it is characterised in that described pre-Determine angle, θ_yIt it is 90 °.