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    Acoustic processing device and acoustic processing method
    42.
    发明授权
    Acoustic processing device and acoustic processing method 有权

    公开(公告)号：US09720068B2

    公开(公告)日：2017-08-01

    申请号：US14808444

    申请日：2015-07-24

    Applicant: HONDA MOTOR CO., LTD.

    Inventor： Keisuke Nakamura ,  Kazuhiro Nakadai ,  Tetsuo Kinoshita ,  Hideyuki Takahashi ,  Lana Sinapayen

    IPC: G01S3/80

    CPC classification number: G01S3/80

    Abstract: An acoustic processing device includes: a sound pickup unit configured to record an acoustic signal; a motion detection unit configured to detect the motion of the device; a self-localization unit configured to estimate the position of the device based on the acoustic signal and the motion; and a use determination unit configured to determine whether or not to use the acoustic signal in a sound source localization unit detecting the position of a target sound source to be detected based on the intensity of a reference signal incoming from a reference sound source determined in advance.

    Sound processing device, sound processing method, and sound processing program
    43.
    发明授权
    Sound processing device, sound processing method, and sound processing program 有权

    公开(公告)号：US09664772B2

    公开(公告)日：2017-05-30

    申请号：US14454095

    申请日：2014-08-07

    Applicant: HONDA MOTOR CO., LTD.

    Inventor： Kazuhiro Nakadai ,  Keisuke Nakamura ,  Lana Sinapayen ,  Michita Imai

    IPC: H04R3/00 ,  G01S3/802

    CPC classification number: G01S3/802

    Abstract: A sound processing device includes a sound collection unit configured to record a sound signal, a tilt information acquisition unit configured to acquire tilt information on a tilt of the sound processing device, an azimuth estimation unit configured to estimate azimuths of a sound source in a plane in which the sound collection unit is arranged based on the sound signals which are recorded by the sound collection unit at least at two times; and an elevation angle estimation unit configured to estimate an elevation angle of the sound source with respect to the plane in which the sound collection unit is arranged based on the tilt information acquired by the tilt information acquisition unit and the azimuths estimated by the azimuth estimation unit at least at two times.

    Sound source separating device and sound source separating method
    47.
    发明授权
    Sound source separating device and sound source separating method 有权
    声源分离装置和声源分离方法

    公开(公告)号：US09583119B2

    公开(公告)日：2017-02-28

    申请号：US15180210

    申请日：2016-06-13

    Applicant: HONDA MOTOR CO., LTD.

    Inventor： Kazuhiro Nakadai ,  Takeshi Mizumoto ,  Keisuke Nakamura

    IPC: G10L15/00 ,  G10L15/20 ,  G10L21/028 ,  G10L21/0216 ,  G10L25/84

    CPC classification number: G10L21/028 ,  G10L15/00 ,  G10L15/20 ,  G10L25/84 ,  G10L2021/02166

    Abstract: A sound source separating device includes: a sound collecting unit configured to collect sound signals using a plurality of microphones; a sound source localizing unit configured to localize a sound source on the basis of the sound signals collected by the sound collecting unit; a sound source separating unit configured to separate the sound signals collected by the sound collecting unit into sound sources corresponding to the number of fixed sound sources and fixed sound source directions without using the sound source localization result from the sound source localizing unit; and a speech extracting unit configured to extract speech signals of the fixed sound sources on the basis of the sound source localization result from the sound source localizing unit and the sound source separation result from the sound source separating unit.

    Abstract translation: 声源分离装置包括：声音收集单元，被配置为使用多个麦克风收集声音信号; 声源定位单元，被配置为基于由所述声音收集单元收集的声音信号来定位声源; 声源分离单元，被配置为将声音收集单元收集的声音信号分离成与固定声源和固定声源方向对应的声源，而不使用来自声源定位单元的声源定位结果; 以及语音提取单元，被配置为基于来自声源定位单元的声源定位结果和来自声源分离单元的声源分离结果来提取固定声源的语音信号。

    VOICE ENHANCEMENT DEVICE AND VOICE ENHANCEMENT METHOD
    48.
    发明申请
    VOICE ENHANCEMENT DEVICE AND VOICE ENHANCEMENT METHOD 有权
    语音增强设备和语音增强方法

    公开(公告)号：US20160372132A1

    公开(公告)日：2016-12-22

    申请号：US15173922

    申请日：2016-06-06

    Applicant: HONDA MOTOR CO., LTD.

    Inventor： Kazuhiro Nakadai ,  Takeshi Mizumoto ,  Keisuke Nakamura ,  Masayuki Takigahira

    IPC: G10L21/0232 ,  G10L21/14 ,  B60R11/02 ,  G10L25/21

    CPC classification number: G10L21/0232

    Abstract: A voice enhancement device includes: a sound receiving unit configured to receive an audio signal; a vehicle state monitor unit configured to monitor a vehicle state; a noise estimation unit configured to estimate a noise component for each frequency component using a cumulative histogram created by accumulating frequency of power of the audio signal received by the sound receiving unit for each frequency component; and a voice enhancer configured to suppress the noise component for each frequency component estimated by the noise estimation unit in the received audio signal, wherein the noise estimation unit resets the cumulative histogram on the basis of a monitoring result of the vehicle state monitor unit.

    Abstract translation: 语音增强装置包括：声音接收单元，被配置为接收音频信号; 配置为监视车辆状态的车辆状态监视单元; 噪声估计单元，被配置为使用通过累积由所述声音接收单元为每个频率分量接收的所述音频信号的功率频率而产生的累积直方图来估计每个频率分量的噪声分量; 以及语音增​​强器，被配置为抑制由所接收的音频信号中的噪声估计单元估计的每个频率分量的噪声分量，其中，噪声估计单元基于车辆状态监视单元的监视结果复位累积直方图。

    Sound processing device and sound processing method
    49.
    发明授权
    Sound processing device and sound processing method 有权
    声音处理装置和声音处理方法

    公开(公告)号：US09384760B2

    公开(公告)日：2016-07-05

    申请号：US14155446

    申请日：2014-01-15

    Applicant: HONDA MOTOR CO., LTD.

    Inventor： Kazuhiro Nakadai ,  Keisuke Nakamura ,  Tatsuya Higuchi

    IPC: G10L15/20 ,  G10L25/78 ,  G10L21/0216

    CPC classification number: G10L25/78 ,  G10L21/0216

    Abstract: A sound processing device includes a first noise suppression unit configured to suppress a noise component included in an input sound signal using a first suppression amount, a second noise suppression unit configured to suppress the noise component included in the input sound signal using a second suppression amount greater than the first suppression amount, a speech section detection unit configured to detect whether the sound signal whose noise component has been suppressed by the second noise suppression unit includes a speech section having a speech for every predetermined time, and a speech recognition unit configured to perform a speech recognizing process on a section, which is detected to be a speech section by the speech section detection unit, in the sound signal whose noise component has been suppressed by the first noise suppression unit.

    Abstract translation: 声音处理装置包括：第一噪声抑制部，被配置为使用第一抑制量抑制包含在输入声音信号中的噪声分量;第二噪声抑制单元，被配置为使用第二抑制量来抑制包含在输入声音信号中的噪声分量 大于第一抑制量的语音部分检测单元，被配置为检测由第二噪声抑制单元抑制了噪声分量的声音信号是否包括每个预定时间具有语音的语音部分，以及语音识别单元，被配置为 在由第一噪声抑制单元抑制了噪声分量的声音信号中，对由语音部分检测单元检测为语音部分的部分执行语音识别处理。

    AUTONOMOUS ACTION ROBOT, AND CONTROL METHOD FOR AUTONOMOUS ACTION ROBOT
    50.
    发明申请
    AUTONOMOUS ACTION ROBOT, AND CONTROL METHOD FOR AUTONOMOUS ACTION ROBOT 有权
    自动机器人，自动机器人的控制方法

    公开(公告)号：US20160059418A1

    公开(公告)日：2016-03-03

    申请号：US14831279

    申请日：2015-08-20

    Applicant: HONDA MOTOR CO., LTD.

    Inventor： Keisuke Nakamura ,  Kazuhiro Nakadai

    IPC: B25J9/16

    CPC classification number: G05D1/0274 ,  G01S3/8083 ,  G01S17/42 ,  G05D1/0246 ,  G05D1/0255 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47

    Abstract: An autonomous action robot includes: a sound acquisition unit that acquires an acoustic signal; a sound source localization unit that estimates a direction of a sound source with respect to the acoustic signal; a distance measurement unit that performs measurements related to distance for a predetermined range; a map information generation unit that generates two-dimensional map information and that estimates a self-location of the autonomous action robot, using information of the distance; a sound source direction determination unit that re-estimates the direction of the sound source based on the two-dimensional map information, the estimated self-location information, and the estimated sound source direction; an action generation unit that generates an action plan based on the two-dimensional map information and the sound source direction estimated by the sound source direction determination unit; and a control unit that controls the autonomous action robot according to the action plan.

    Abstract translation: 自主动作机器人包括：声音获取单元，其获取声信号; 声源定位单元，其相对于声信号估计声源的方向; 距离测量单元，其执行与距离相关的测量预定范围; 地图信息生成单元，其使用所述距离的信息生成二维地图信息，并且估计所述自主动作机器人的自身位置; 声源方向确定单元，其基于二维地图信息，估计的自位置信息和估计声源方向重新估计声源的方向; 动作生成单元，其基于由所述声源方向确定单元估计的所述二维地图信息和所述声源方向生成动作规划; 以及根据动作计划来控制自主动作机器人的控制单元。

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