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11. 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。

12. 发明授权

US08889976B2 Musical score position estimating device, musical score position estimating method, and musical score position estimating robot 有权
标题翻译：音乐得分位置估计装置，乐谱位置估计方法和乐谱位置估计机器人
公开(公告)号：US08889976B2
公开(公告)日：2014-11-18
申请号：US12851994
申请日：2010-08-06
申请人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
IPC分类号： G04B13/00 , G10H1/36 , G10L25/90
CPC分类号： G10H1/361 , G10H2210/066 , G10H2210/076 , G10H2250/235 , G10L25/90
摘要： A musical score position estimating device includes an audio signal acquiring unit, a musical score information acquiring unit acquiring musical score information corresponding to an audio signal acquired by the audio signal acquiring unit, an audio signal feature extracting unit extracting a feature amount of the audio signal, a musical score feature extracting unit extracting a feature amount of the musical score information, a beat position estimating unit estimating a beat position of the audio signal, and a matching unit matching the feature amount of the audio signal with the feature amount of the musical score information using the estimated beat position to estimate a position of a portion in the musical score information corresponding to the audio signal.
摘要翻译：音乐分数位置估计装置包括：音频信号获取单元，乐谱信息获取单元，获取与由音频信号获取单元获取的音频信号相对应的乐谱信息，提取音频信号的特征量的音频信号特征提取单元提取乐谱特征量的乐谱特征提取单元，估计音频信号的拍子位置的拍子位置估计单元以及与音频信号的特征量相匹配的匹配单元与音乐的特征量使用估计的拍子位置来评估信息，以估计与音频信号相对应的乐谱信息中的一部分的位置。

13. 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。

14. 发明授权

US08391505B2 Reverberation suppressing apparatus and reverberation suppressing method 有权
标题翻译：混响抑制装置和混响抑制方法
公开(公告)号：US08391505B2
公开(公告)日：2013-03-05
申请号：US12791428
申请日：2010-06-01
申请人： Kazuhiro Nakadai , Hirofumi Nakajima , Hiroshi Okuno , Ryu Takeda
发明人： Kazuhiro Nakadai , Hirofumi Nakajima , Hiroshi Okuno , Ryu Takeda
IPC分类号： H04B3/20
CPC分类号： H04M9/082
摘要： A reverberation suppressing apparatus separating sound source signals based on input signals output from microphones collecting the plurality of sound source signals, includes a sound signal output unit generating sound signals and outputting the generated sound signals, a sound acquiring unit acquiring the input signals from microphones, a first evaluation function calculation unit calculating a separation matrix, the input signals, and the sound source signals, and calculating a first evaluation function, a reverberation component suppressing unit calculating an optimal separation matrix, and suppressing a reverberation component by separating the sound source signals other than the generated sound signals, and a separation matrix updating unit dividing a step-size function, approximating each segment to a linear function, calculating step sizes based on the approximated linear functions, and repeatedly updating the separation matrix so that the degree of separation of the sound source signals exceeds the predetermined value.
摘要翻译：基于从收集多个声源信号的麦克风输出的输入信号分离声源信号的混响抑制装置包括产生声音信号并输出所生成的声音信号的声音信号输出单元，从麦克风获取输入信号的声音获取单元，第一评估函数计算单元，计算分离矩阵，输入信号和声源信号，并计算第一评估函数，混响分量抑制单元计算最佳分离矩阵，并通过分离声源信号来抑制混响分量除了产生的声音信号之外，还有分离矩阵更新单元，将步长函数除以近似线性函数，根据近似线性函数计算步长，并重复更新分离矩阵，使得分离度的声音很酸 ce信号超过预定值。

15. 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。

16. 发明申请

US20100082340A1 SPEECH RECOGNITION SYSTEM AND METHOD FOR GENERATING A MASK OF THE SYSTEM 有权
标题翻译：语音识别系统及其系统生成方法
公开(公告)号：US20100082340A1
公开(公告)日：2010-04-01
申请号：US12543759
申请日：2009-08-19
申请人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
IPC分类号： G10L15/20 , G10L15/00
CPC分类号： G10L15/20 , G10L21/0272
摘要： The speech recognition system of the present invention includes: a sound source separating section which separates mixed speeches from multiple sound sources; a mask generating section which generates a soft mask which can take continuous values between 0 and 1 for each separated speech according to reliability of separation in separating operation of the sound source separating section; and a speech recognizing section which recognizes speeches separated by the sound source separating section using soft masks generated by the mask generating section.
摘要翻译：本发明的语音识别系统包括：声源分离部分，用于将多个声源的混合语音分离; 掩模生成部，根据所述声源分离部的分离动作的分离的可靠性，生成能够对每个分离的语音取0〜1的连续值的软掩模; 以及语音识别部，其使用由所述掩模生成部生成的软掩模来识别由所述声源分离部分隔开的语音。

17. 发明申请

US20080167869A1 Speech Recognition Apparatus 有权
标题翻译：语音识别装置
公开(公告)号：US20080167869A1
公开(公告)日：2008-07-10
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 , H04B3/00
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声音与声音信号分离，用于根据分离结果的可靠性产生掩模值的掩模产生单元（25），用于提取声音信号的特征量;以及语音识别单元（29），用于将该掩码应用于特征量，以从声音信号识别语音。

18. 发明申请

US20070172076A1 Moving object equipped with ultra-directional speaker 失效
标题翻译：移动物体配备超声波扬声器
公开(公告)号：US20070172076A1
公开(公告)日：2007-07-26
申请号：US10588816
申请日：2005-02-10
申请人： Kiyofumi Mori , Shunji Yoshida , Hiroshi Okuno , Kazuhiro Nakadai , Hiroshi Tsujino
发明人： Kiyofumi Mori , Shunji Yoshida , Hiroshi Okuno , Kazuhiro Nakadai , Hiroshi Tsujino
IPC分类号： H04B3/00
CPC分类号： H04R3/12 , G10L15/20 , H04R1/403 , H04R5/027 , H04R2217/03 , H04R2430/01 , H04S7/303
摘要： A moving object 1 equipped with ultra-directional speaker is provided with an emitter 44 for measuring a distance to a target 11 to which it is to provide a voice by using an ultrasonic transmit sensor 45 and an ultrasonic receive sensor 46 thereof, and for emitting an output signal having a predetermined sound level which is adjusted by an amplifier 34 with sound level adjusting function. The moving object 1 can thus transmit a voice having an optimal volume only to the specific target through parametric action.
摘要翻译：配备有超声波扬声器的移动物体1设置有发射器44，用于通过使用超声波发射传感器45和超声波接收传感器46来测量到要提供声音的目标11的距离，并且用于发射具有预定声级的输出信号，其由具有声级调节功能的放大器34调节。因此，移动物体1可以通过参数动作将具有最佳体积的声音传输到特定目标。

19. 发明授权

US08639511B2 Robot, method and program of correcting a robot voice in accordance with head movement 有权
标题翻译：根据头部移动校正机器人声音的机器人，方法和程序
公开(公告)号：US08639511B2
公开(公告)日：2014-01-28
申请号：US12881812
申请日：2010-09-14
申请人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
IPC分类号： G10L13/00 , G10L13/02 , G10L21/00
CPC分类号： B25J11/0005 , G10L13/027 , G10L13/033 , G10L13/04
摘要： A robot may include a driving control unit configured to control a driving of a movable unit that is connected movably to a body unit, a voice generating unit configured to generate a voice, and a voice output unit configured to output the voice, which has been generated by the voice generating unit. The voice generating unit may correct the voice, which is generated, based on a bearing of the movable unit, which is controlled by the driving control unit, to the body unit.
摘要翻译：机器人可以包括驱动控制单元，其被配置为控制可移动地连接到主体单元的可移动单元的驱动，被配置为产生语音的语音生成单元和被配置为输出声音的语音输出单元由语音产生单元生成。声音产生单元可以基于由驱动控制单元控制的可移动单元的轴承将生成的声音校正到主体单元。

20. 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。

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