公开(公告)号：USD535028S1

公开(公告)日：2007-01-09

申请号：US29218493

申请日：2004-12-02

申请人： Jiro Kobayashi ,  Hiroshi Okuno ,  Naoki Maesawa ,  Taro Mochida

设计人： Jiro Kobayashi ,  Hiroshi Okuno ,  Naoki Maesawa ,  Taro Mochida

公开(公告)号：US20060241808A1

公开(公告)日：2006-10-26

申请号：US10506167

申请日：2002-08-30

申请人： Kazuhiro Nakadai ,  Hiroshi Okuno ,  Hiroaki Kitano

发明人： Kazuhiro Nakadai ,  Hiroshi Okuno ,  Hiroaki Kitano

IPC分类号： G06F19/00

CPC分类号： G06K9/0057 ,  B25J13/003

摘要： Robotics visual and auditory system is provided which is made capable of accurately conducting the sound source localization of a target by associating a visual and an auditory information with respect to a target. It is provided with an audition module (20), a face module (30), a stereo module (37), a motor control module (40), an association module (50) for generating streams by associating events from said each module (20, 30, 37, and 40), and an attention control module (57) for conducting attention control based on the streams generated by the association module (50), and said association module (50) generates an auditory stream (55) and a visual stream (56) from a auditory event (28) from the auditory module (20), a face event (39) from the face module (30), a stereo event (39a) from the stereo module (37), and a motor event (48) from the motor control module (40), and an association stream (57) which associates said streams, as well as said audition module (20) collects sub-bands having the interaural phase difference (IPD) or the interaural intensity difference (IID) within the preset range by an active direction pass filter (23a) having a pass range which, according to auditory characteristics, becomes minimum in the frontal direction, and larger as the angle becomes wider to the left and right, based on an accurate sound source directional information from the association module (50), and conducts sound source separation by restructuring the wave shape of the sound source.

摘要翻译： 提供了机器人视觉和听觉系统，其能够通过将视觉和听觉信息相对于目标相关联来准确地进行目标的声源定位。 它设置有试听模块（20），面部模块（30），立体声模块（37），电动机控制模块（40），通过将来自所述每个模块的事件相关联来生成流的关联模块（50） 20，30，37和40），以及用于基于由关联模块（50）生成的流进行注意控制的注意力控制模块（57），并且所述关联模块（50）生成听觉流（55）和 来自听觉模块（20）的听觉事件（28）的可视流（56），来自面部模块（30）的面部事件（39），来自立体声模块（37）的立体声事件（39a） 和来自马达控制模块（40）的马达事件（48）以及关联流（57），所述关联流（57）以及所述试奏模块（20）收集具有相位差（IPD）的子带或 通过具有通过的主动方向通过滤波器（23a）在预设范围内的昼间强度差（IID） 根据听觉特性，根据来自关联模块（50）的准确声源方向信息，根据听觉特性在前方方向上变得最小，并且随着角度变宽到更大，并且通过以下方式进行声源分离 重组声源的波形。

公开(公告)号：US20050283361A1

公开(公告)日：2005-12-22

申请号：US11020030

申请日：2004-12-21

申请人： Kazuyoshi Yoshii ,  Hiroshi Okuno ,  Masataka Goto

发明人： Kazuyoshi Yoshii ,  Hiroshi Okuno ,  Masataka Goto

IPC分类号： G10L19/04 ,  G10L21/02

CPC分类号： G10L21/0364 ,  G10L19/04 ,  G10L21/0232

摘要： An apparatus and method for extracting a predetermined non-harmonic structured spectral component contained in an audio signal. Then, the extracted predetermined spectral component is increased or decreased. In this process, the spectrum of the audio signal is calculated by frequency analysis, so that a spectrum component corresponding to the predetermined non-harmonic structured spectral component is extracted and then increased or decreased. The extraction of the predetermined non-harmonic structured spectral component is performed with reference to a spectral component of a template stored in advance. In this process, the spectral component of the template is adapted in such a manner that the difference between the extracted spectral component and the spectral component of the template goes below or at a predetermined value. This allows the audio-signal contained predetermined non-harmonic structured spectral component to be independently increased or decreased without an influence on other spectral components.

摘要翻译： 一种用于提取包含在音频信号中的预定非谐波结构频谱分量的装置和方法。 然后，提取的预定光谱分量被增加或减小。 在该过程中，通过频率分析计算音频信号的频谱，从而提取与预定的非谐波结构频谱分量对应的频谱分量，然后增大或减小。 参考预先存储的模板的光谱分量来执行预定非谐波结构光谱分量的提取。 在该过程中，模板的频谱分量被调整成使得提取的频谱分量与模板的频谱分量之间的差异低于或处于预定值。 这允许包含预定非谐波结构频谱分量的音频信号独立地增加或减少，而不影响其他频谱分量。

公开(公告)号：US08073690B2

公开(公告)日：2011-12-06

申请号：US11792052

申请日：2005-12-02

申请人： Kazuhiro Nakadai ,  Hiroshi Tsujino ,  Hiroshi Okuno ,  Shunichi Yamamoto

发明人： Kazuhiro Nakadai ,  Hiroshi Tsujino ,  Hiroshi Okuno ,  Shunichi Yamamoto

IPC分类号： G10L15/20

CPC分类号： G10L15/20 ,  G10L21/028 ,  G10L2021/02166

摘要： A voice recognition system (10) for improving the toughness of voice recognition for a voice input for which a deteriorated feature amount cannot be completely identified. The system comprises at least two sound detecting means (16a, 16b) for detecting a sound signal, a sound source localizing unit (21) for determining the direction of a sound source based on the sound signal, a sound source separating unit (23) for separating a sound by the sound source from the sound signal based on the sound source direction, a mask producing unit (25) for producing a mask value according to the reliability of the separation results, a feature extracting unit (27) for extracting the feature amount of the sound signal, and a voice recognizing unit (29) for applying the mask to the feature amount to recognize a voice from the sound signal.

摘要翻译： 一种语音识别系统（10），用于提高不能完全识别恶化的特征量的语音输入的语音识别的韧性。 该系统包括用于检测声音信号的至少两个声音检测装置（16a，16b），用于基于声音信号确定声源的方向的声源定位单元（21），声源分离单元（23） 用于根据声源方向将来自声源的声音与声音信号分离，用于根据分离结果的可靠性产生掩码值的掩模产生单元（25），用于提取分离结果的特征提取单元（27） 声音信号的特征量，以及用于将该掩模应用于特征量以从声音信号识别语音的语音识别单元（29）。

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。

公开(公告)号：US20110112994A1

公开(公告)日：2011-05-12

申请号：US12671255

申请日：2008-07-31

申请人： Masataka Goto ,  Kazuyoshi Yoshii ,  Hiroshi Okuno

发明人： Masataka Goto ,  Kazuyoshi Yoshii ,  Hiroshi Okuno

IPC分类号： G06F15/18

CPC分类号： G06F17/30766 ,  G06Q30/02 ,  G10H1/0008 ,  G10H2210/031 ,  G10H2240/081 ,  G10H2240/105 ,  G10H2240/131

摘要： A musical piece recommendation system is provided that allows instantaneous registration of a new user and a new musical piece without retraining in a basic training section. A first incremental training section 21 monitors a rating history storage section 3, and each time a change is made to a rating history or a new user is added, performs updating of or addition of the topic selection probability for the user for which the change is made to the rating history or for the new user such that the likelihood determined by a basic training section 17 is kept maximized. A second incremental training section 21 monitors an acoustic feature storage section 5, and each time a new musical piece is added to perform addition to acoustic features, adds the musical piece selection probability related to the added musical piece such that the likelihood determined by the basic training section 17 is kept maximized.

摘要翻译： 提供了一种音乐作品推荐系统，其允许新用户和新音乐作品的瞬时登记，而无需在基本训练部分中重新训练。 第一增量训练部分21监视评级历史存储部分3，并且每当对评级历史进行改变或添加新用户时，执行更改为该用户的主题选择概率的更新或添加 对于评级历史或新用户，使得由基本训练部分17确定的可能性被保持最大化。 第二增量训练部分21监测声学特征存储部分5，并且每次添加新的音乐作品以对声学特征进行加法时，将与所添加的乐曲相关的乐曲选择概率相加，使得由基本 训练部分17被保持最大化。

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。

公开(公告)号：US20080319748A1

公开(公告)日：2008-12-25

申请号：US12087791

申请日：2007-01-31

申请人： Mikio Nakano ,  Hiroshi Tsujino ,  Yohane Takeuchi ,  Kazunori Komatani ,  Hiroshi Okuno

发明人： Mikio Nakano ,  Hiroshi Tsujino ,  Yohane Takeuchi ,  Kazunori Komatani ,  Hiroshi Okuno

IPC分类号： G10L15/04

CPC分类号： G10L15/22 ,  G10L15/1822

摘要： A first domain satisfying a first condition concerning a current utterance understanding result and a second domain satisfying a second condition concerning a selection history are specified. For each of the first and second domains, indices representing reliability in consideration of the utterance understanding history, selection history, and utterance generation history are evaluated. Based on the evaluation results, one of the first, second, and third domains is selected as a current domain according to a selection rule.

摘要翻译： 指定满足关于当前话语理解结果的第一条件的第一域和满足关于选择历史的第二条件的第二域。 对于第一和第二域中的每一个，评估考虑到话语理解历史，选择历史和话语生成历史的可靠性的索引。 根据评估结果，根据选择规则选择第一，第二和第三域之一作为当前域。

公开(公告)号：US07016505B1

公开(公告)日：2006-03-21

申请号：US10130295

申请日：2000-11-01

申请人： Kazuhiro Nakadai ,  Hiroshi Okuno ,  Hiroaki Kitano

发明人： Kazuhiro Nakadai ,  Hiroshi Okuno ,  Hiroaki Kitano

IPC分类号： A61F11/06 ,  G10K11/16 ,  H03B29/00

CPC分类号： B25J19/026 ,  G10L15/20 ,  G10L21/0216 ,  G10L2021/02165

摘要： The invention is directed to an auditory robot for a human or animal like robot, e.g., a human like robot (10) having a noise generating source such as a driving system in its interior. The apparatus includes a sound insulating cover (14) with which at least a head part (13) of the robot is covered; a pair of outer microphones (16; 16a and 16b) installed outside of the cover and located at a pair of positions where a pair of ears may be provided spaced apart for the robot, respectively, for collecting an external sound primarily; at least one inner microphone (17; 17a and 17b) installed inside of the cover for primarily collecting a noise from the noise generating source in the robot interior; and a processing module (18) on the basis of signals from the outer and inner microphones for removing from sound signals from the outer microphones (16a and 16b), a noise signal from the internal noise generating source. Thus, the robot auditory apparatus of the invention is made capable of effecting active perception by permitting an external sound from a target to be collected unaffected by a noise in the inside of the robot such as from the driving system.

摘要翻译： 本发明涉及用于人或动物如机器人的听觉机器人，例如具有诸如其内部的驱动系统的噪声产生源的人类似的机器人（10）。 所述装置包括隔音盖（14），所述机器人的至少头部（13）与所述绝缘罩（14）相覆盖; 一对外部麦克风（16; 16a和16b），其安装在所述盖子的外部并且分别位于一对位置处，所述一对耳朵可分别设置用于所述机器人，用于主要收集外部声音; 安装在所述盖内部的至少一个内部麦克风（17; 17a和17b），用于主要收集来自所述机器人内部的噪声发生源的噪声; 以及基于来自外麦克风和内麦克风的信号的处理模块（18），用于从外麦克风（16a和16b）的声音信号中去除来自内部噪声产生源的噪声信号。 因此，本发明的机器人听觉装置能够通过允许来自目标的外部声音被收集而不受来自诸如驱动系统的机器人内部的噪声的影响而影响主动感知。

公开(公告)号：US06669356B2

公开(公告)日：2003-12-30

申请号：US09745741

申请日：2000-12-26

申请人： Hiroshi Okuno

发明人： Hiroshi Okuno

IPC分类号： F21V300

CPC分类号： G02B6/0088 ,  G02F2201/54

摘要： An illumination device has a diffusive sheet that diffuses light. The sheet is fitted to a main body 3 of the illumination device by being sandwiched, in the direction of the thickness of the sheet, between the main body 3 and a frame 4 fitted thereto. The sheet has a cut formed in a portion thereof sandwiched between the frame 4 and the main body 3 to prevent bends that develop with a variation in temperature.

摘要翻译： 照明装置具有漫射光的漫射片。 通过在主体3和安装在其之间的框架4之间夹住薄片的厚度方向将片材安装到照明装置的主体3上。 片材具有夹在框架4和主体3之间的部分中形成的切口，以防止随着温度变化而发生的弯曲。