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1. 发明授权

US07999168B2 Robot 有权
标题翻译：机器人
公开(公告)号：US07999168B2
公开(公告)日：2011-08-16
申请号：US12503448
申请日：2009-07-15
申请人： Kazuhiro Nakadai , Yuji Hasegawa , Hiroshi Tsujino , Kazumasa Murata , Ryu Takeda , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Yuji Hasegawa , Hiroshi Tsujino , Kazumasa Murata , Ryu Takeda , Hiroshi Okuno
IPC分类号： G10H1/00
CPC分类号： G10H1/36 , A63H3/28 , G10H1/40 , G10H2240/135 , G10H2250/371 , G10H2250/455
摘要： A robot includes: a sound collecting unit collecting and converting a musical sound into a musical acoustic signal; a voice signal generating unit generating a self-vocalized voice signal; a sound outputting unit converting the self-vocalized voice signal into a sound and outputting the sound; a self-vocalized voice regulating unit receiving the musical acoustic signal and the self-vocalized voice signal; a filtering unit performing a filtering process; a beat interval reliability calculating unit performing a time-frequency pattern matching process and calculating a beat interval reliability; a beat interval estimating unit estimating a beat interval; a beat time reliability calculating unit calculating a beat time reliability; a beat time estimating unit estimating a beat time on the basis of the calculated beat time reliability; a beat time predicting unit predicting a beat time before the current time; and a synchronization unit synchronizing the self-vocalized voice signal.
摘要翻译：机器人包括：收集单元，收集并将音乐声音转换成音乐声信号; 产生自发声音信号的语音信号产生单元; 声音输出单元，将自发声音信号转换成声音并输出声音; 接收音乐声音信号和自发声音信号的自发声音调节单元; 执行滤波处理的滤波单元; 节拍间隔可靠性计算单元，执行时间频率模式匹配处理并计算节拍间隔可靠性; 估计拍子间隔的拍子间隔估计单元; 节拍时间可靠性计算单元，计算节拍时间可靠性; 拍子时间估计单元，基于所计算的拍子时间可靠性来估计拍子时间; 拍子时间预测单元预测当前时间之前的拍子时间; 以及使自发声音信号同步的同步单元。

2. 发明授权

US08594846B2 Beat tracking apparatus, beat tracking method, recording medium, beat tracking program, and robot 有权
标题翻译：节拍跟踪装置，拍子跟踪方法，记录介质，拍子跟踪程序和机器人
公开(公告)号：US08594846B2
公开(公告)日：2013-11-26
申请号：US12503431
申请日：2009-07-15
申请人： Kazuhiro Nakadai , Yuji Hasegawa , Hiroshi Tsujino , Kazumasa Murata , Ryu Takeda , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Yuji Hasegawa , Hiroshi Tsujino , Kazumasa Murata , Ryu Takeda , Hiroshi Okuno
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G10H1/36 , A63H3/28 , G10H1/40 , G10H2240/135 , G10H2250/371 , G10H2250/455
摘要： A beat tracking apparatus includes: a filtering unit configured to perform a filtering process on an input acoustic signal and to accentuate an onset; a beat interval reliability calculating unit configured to perform a time-frequency pattern matching process employing a mutual correlation function on the acoustic signal of which the onset is accentuated and to calculate a beat interval reliability; and a beat interval estimating unit configured to estimate a beat interval on the basis of the calculated beat interval reliability.
摘要翻译：拍子跟踪装置包括：滤波单元，被配置为对输入的声信号执行滤波处理并加重起点; 拍子间隔可靠性计算单元，被配置为对所述开始强调的声学信号执行采用相互关联函数的时间 - 频率模式匹配处理，并且计算拍子间隔可靠性; 以及拍摄间隔估计单元，被配置为基于所计算的拍子间隔可靠性来估计拍子间隔。

3. 发明申请

US20100011939A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20100011939A1
公开(公告)日：2010-01-21
申请号：US12503448
申请日：2009-07-15
申请人： Kazuhiro NAKADAI , Yuji Hasegawa , Hiroshi Tsujino , Kazumasa Murata , Ryu Takeda , Hiroshi Okuno
发明人： Kazuhiro NAKADAI , Yuji Hasegawa , Hiroshi Tsujino , Kazumasa Murata , Ryu Takeda , Hiroshi Okuno
IPC分类号： G10H1/40
CPC分类号： G10H1/36 , A63H3/28 , G10H1/40 , G10H2240/135 , G10H2250/371 , G10H2250/455
摘要： A robot includes: a sound collecting unit collecting and converting a musical sound into a musical acoustic signal; a voice signal generating unit generating a self-vocalized voice signal; a sound outputting unit converting the self-vocalized voice signal into a sound and outputting the sound; a self-vocalized voice regulating unit receiving the musical acoustic signal and the self-vocalized voice signal; a filtering unit performing a filtering process; a beat interval reliability calculating unit performing a time-frequency pattern matching process and calculating a beat interval reliability; a beat interval estimating unit estimating a beat interval; a beat time reliability calculating unit calculating a beat time reliability; a beat time estimating unit estimating a beat time on the basis of the calculated beat time reliability; a beat time predicting unit predicting a beat time before the current time; and a synchronization unit synchronizing the self-vocalized voice signal.
摘要翻译：机器人包括：收集单元，收集并将音乐声音转换成音乐声信号; 产生自发声音信号的语音信号产生单元; 声音输出单元，将自发声音信号转换成声音并输出声音; 接收音乐声音信号和自发声音信号的自发声音调节单元; 执行滤波处理的滤波单元; 节拍间隔可靠性计算单元，执行时间频率模式匹配处理并计算节拍间隔可靠性; 估计拍子间隔的拍子间隔估计单元; 节拍时间可靠性计算单元，计算节拍时间可靠性; 拍子时间估计单元，基于所计算的拍子时间可靠性来估计拍子时间; 拍子时间预测单元预测当前时间之前的拍子时间; 以及使自发声音信号同步的同步单元。

4. 发明申请

US20090043588A1 SOUND-SOURCE SEPARATION SYSTEM 有权
标题翻译：声源分离系统
公开(公告)号：US20090043588A1
公开(公告)日：2009-02-12
申请号：US12187684
申请日：2008-08-07
申请人： Ryu Takeda , Kazuhiro Nakadai , Hiroshi Tsujino , Hiroshi Okuno
发明人： Ryu Takeda , Kazuhiro Nakadai , Hiroshi Tsujino , Hiroshi Okuno
IPC分类号： G10L21/00
CPC分类号： G10L21/0272
摘要： A system capable of reducing the influence of sound reverberation or reflection to improve sound-source separation accuracy. An original signal X(ω,f) is separated from an observed signal Y(ω,f) according to a first model and a second model to extract an unknown signal E(ω,f). According to the first model, the original signal X(ω,f) of the current frame f is represented as a combined signal of known signals S(ω,f−m+1) (m=1 to M) that span a certain number M of current and previous frames. This enables extraction of the unknown signal E(ω,f) without changing the window length while reducing the influence of reverberation or reflection of the known signal S(ω,f) on the observed signal Y(ω,f).
摘要翻译：一种能够减少声音混响或反射影响以提高声源分离精度的系统。根据第一模型和第二模型将原始信号X（ω，f）与观察信号Y（ω，f）分离以提取未知信号E（ω，f）。根据第一模型，当前帧f的原始信号X（ω，f）被表示为已知信号S（ω，f-m + 1）（m = 1到M）的组合信号，当前帧和前一帧的M个。这可以在不改变窗口长度的情况下提取未知信号E（ω，f），同时减少已知信号S（ω，f）的混响或反射对观测信号Y（ω，f）的影响。

5. 发明授权

US07987090B2 Sound-source separation system 有权
标题翻译：声源分离系统
公开(公告)号：US07987090B2
公开(公告)日：2011-07-26
申请号：US12187684
申请日：2008-08-07
申请人： Ryu Takeda , Kazuhiro Nakadai , Hiroshi Tsujino , Hiroshi Okuno
发明人： Ryu Takeda , Kazuhiro Nakadai , Hiroshi Tsujino , Hiroshi Okuno
IPC分类号： G10L19/14
CPC分类号： G10L21/0272
摘要： A system capable of reducing the influence of sound reverberation or reflection to improve sound-source separation accuracy. An original signal X(ω,f) is separated from an observed signal Y(ω,f) according to a first model and a second model to extract an unknown signal E(ω,f). According to the first model, the original signal X(ω,f) of the current frame f is represented as a combined signal of known signals S(ω,f−m+1) (m=1 to M) that span a certain number M of current and previous frames. This enables extraction of the unknown signal E(ω,f) without changing the window length while reducing the influence of reverberation or reflection of the known signal S(ω,f) on the observed signal Y(ω,f).
摘要翻译：一种能够减少声音混响或反射影响以提高声源分离精度的系统。根据第一模型和第二模型将原始信号X（ω，f）与观测信号Y（ω，f）分离，以提取未知信号E（ω，f）。根据第一模型，当前帧f的原始信号X（ω，f）被表示为已知信号S（ω，f-m + 1）（m = 1至M）的组合信号，该信号跨越一定当前帧和前一帧的M个。这可以在不改变窗口长度的情况下提取未知信号E（ω，f），同时减少已知信号S（ω，f）的混响或反射对观测信号Y（ω，f）的影响。

6. 发明授权

US08155331B2 Sound source tracking system, method and robot 有权
标题翻译：声源跟踪系统，方法和机器人
公开(公告)号：US08155331B2
公开(公告)日：2012-04-10
申请号：US12293358
申请日：2007-05-09
申请人： Kazuhiro Nakadai , Hiroshi Tsujino , Yuji Hasegawa , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Hiroshi Tsujino , Yuji Hasegawa , Hiroshi Okuno
IPC分类号： H04R29/00
CPC分类号： G01S3/8006 , B25J5/00 , B25J13/003 , G01S5/20 , G10L2021/02166 , H04R1/406 , H04R3/005 , H04R2201/401 , H04R2201/403 , H04R2420/07 , H04R2430/20
摘要： A result of a sound source direction measurement based on an output of an REMA (first microphone array) (11) and a result of a sound source position measurement based on an output of an IRMA (second microphone array) (12) are integrated through a particle filter or in space. Thus, the different microphones, i.e., the REMA (11) and the IRMA (12) can cancel mutual defects or ambiguities with each other. Therefore, from views of improvement in accuracy and robustness a performance of sound source localization can be improved.
摘要翻译：基于REMA（第一麦克风阵列）（11）的输出的声源方向测量和基于IRMA（第二麦克风阵列）（12）的输出的声源位置测量的结果的结果被集成在一起颗粒过滤器或空间。因此，不同的麦克风，即REMA（11）和IRMA（12）可以消除彼此的相互缺陷或歧义。因此，从提高精度和鲁棒性的观点来看，可以提高声源定位的性能。

7. 发明申请

US20100034397A1 SOUND SOURCE TRACKING SYSTEM, METHOD AND ROBOT 有权
标题翻译：声源跟踪系统，方法和机器人
公开(公告)号：US20100034397A1
公开(公告)日：2010-02-11
申请号：US12293358
申请日：2007-05-09
申请人： Kazuhiro Nakadai , Hiroshi Tsujino , Yuji Hasegawa , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Hiroshi Tsujino , Yuji Hasegawa , Hiroshi Okuno
IPC分类号： H04R29/00
CPC分类号： G01S3/8006 , B25J5/00 , B25J13/003 , G01S5/20 , G10L2021/02166 , H04R1/406 , H04R3/005 , H04R2201/401 , H04R2201/403 , H04R2420/07 , H04R2430/20
摘要： A result of a sound source direction measurement based on an output of an REMA (first microphone array) (11) and a result of a sound source position measurement based on an output of an IRMA (second microphone array) (12) are integrated through a particle filter or in space. Thus, the different microphones, i.e., the REMA (11) and the IRMA (12) can cancel mutual defects or ambiguities with each other. Therefore, from views of improvement in accuracy and robustness a performance of sound source localization can be improved.
摘要翻译：基于REMA（第一麦克风阵列）（11）的输出的声源方向测量和基于IRMA（第二麦克风阵列）（12）的输出的声源位置测量的结果的结果被集成在一起颗粒过滤器或空间。因此，不同的麦克风，即REMA（11）和IRMA（12）可以消除彼此的相互缺陷或歧义。因此，从提高精度和鲁棒性的观点来看，可以提高声源定位的性能。

8. 发明申请

US20090018828A1 Automatic Speech Recognition System 审中-公开
标题翻译：自动语音识别系统
公开(公告)号：US20090018828A1
公开(公告)日：2009-01-15
申请号：US10579235
申请日：2004-11-12
申请人： Kazuhiro Nakadai , Hiroshi Tsujino , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Hiroshi Tsujino , Hiroshi Okuno
IPC分类号： G10L19/14
CPC分类号： G10L15/20 , G10L21/028 , G10L2021/02166
摘要： An automatic speech recognition system includes: a sound source localization module for localizing a sound direction of a speaker based on the acoustic signals detected by the plurality of microphones; a sound source separation module for separating a speech signal of the speaker from the acoustic signals according to the sound direction; an acoustic model memory which stores direction-dependent acoustic models that are adjusted to a plurality of directions at intervals; an acoustic model composition module which composes an acoustic model adjusted to the sound direction, which is localized by the sound source localization module, based on the direction-dependent acoustic models, the acoustic model composition module storing the acoustic model in the acoustic model memory; and a speech recognition module which recognizes the features extracted by a feature extractor as character information using the acoustic model composed by the acoustic model composition module.
摘要翻译：一种自动语音识别系统，包括：声源定位模块，用于基于由所述多个麦克风检测到的声信号来定位扬声器的声音方向; 声源分离模块，用于根据声音方向将扬声器的语音信号与声学信号分离; 声学模型存储器，其存储以间隔被调整到多个方向的方向相关的声学模型; 声学模型合成模块，其基于所述方向相关的声学模型，将声学模型组合模块存储在所述声学模型存储器中;声学模型组合模块，其将声学模型组合模块存储在所述声学模型存储器中; 以及语音识别模块，其使用由声学模型组合模块组成的声学模型识别由特征提取器提取的特征作为字符信息。

9. 发明申请

US20070183618A1 Moving object equipped with ultra-directional speaker 审中-公开
标题翻译：移动物体配备超声波扬声器
公开(公告)号：US20070183618A1
公开(公告)日：2007-08-09
申请号：US10588801
申请日：2005-02-10
申请人： Masamitsu Ishii , Shinichi Sakai , Hiroshi Okuno , Kazuhiro Nakadai , Hiroshi Tsujino
发明人： Masamitsu Ishii , Shinichi Sakai , Hiroshi Okuno , Kazuhiro Nakadai , Hiroshi Tsujino
IPC分类号： H04R1/02 , H04R3/00
CPC分类号： H04R3/12 , H04R1/323 , H04R27/00 , H04R2201/401 , H04R2217/03 , H04R2430/20
摘要： An ultra-directional speaker having a modulator 33 for modulating an ultrasonic carrier signal with an input electric signal from an audible sound signal source, and an emitter 44 for emitting an output of the modulator 33 is mounted in a moving object 1 having a target tracking system for sensing a target in a surrounding space in real time using the above-mentioned emitter 44. The moving object equipped with ultra-directional speaker can therefore transmit a voice only to a specific target through parametric action caused by the nonlinearity of finite amplitude of ultrasonic wave.
摘要翻译：具有调制器33的超方向扬声器安装在具有目标跟踪的移动物体1中，调制器33用于从可听见的声音信号源输入电信号调制超声波载波信号，发射器44用于发射调制器33的输出。系统，用于使用上述发射器44实时地感测周围空间中的目标。因此，配备有超声波扬声器的移动物体可以通过由超声波的有限幅度的非线性引起的参数化动作将声音传输到特定目标。

10. 发明授权

US08416957B2 Audio source detection system 失效
标题翻译：音源检测系统
公开(公告)号：US08416957B2
公开(公告)日：2013-04-09
申请号：US12631434
申请日：2009-12-04
申请人： Hiroshi Tsujino , Kazuhiro Nakadai , Hiroshi Okuno , Takeshi Mizumoto , Ikkyu Aihara
发明人： Hiroshi Tsujino , Kazuhiro Nakadai , Hiroshi Okuno , Takeshi Mizumoto , Ikkyu Aihara
IPC分类号： H04R29/00
CPC分类号： G01S5/16
摘要： In a sound source localization system using a light emitting device for visualizing sound information, including: a light emitting device (40) including a microphone for receiving sound from a sound source (1, 2) and a light emitting means for emitting light based on the sound from the microphone; a generating section for generating light emitting information for the light emitting device (40); and a sound source localization section (60) for determining a position of the sound source based on the light emitting information from the generating section.
摘要翻译：在使用发光装置进行可视化声音信息的声源定位系统中，包括：包括用于从声源（1,2）接收声音的麦克风的发光装置（40）和基于来自麦克风的声音; 用于产生发光装置（40）的发光信息的发生部分; 以及声源定位部分（60），用于基于来自发生部分的发光信息确定声源的位置。

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