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1. 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。

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. 发明授权

US08440901B2 Musical score position estimating apparatus, musical score position estimating method, and musical score position estimating program 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程序
公开(公告)号：US08440901B2
公开(公告)日：2013-05-14
申请号：US13038124
申请日：2011-03-01
申请人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
IPC分类号： G10H1/00
CPC分类号： G09B15/02
摘要： A musical score position estimating apparatus includes a sound feature quantity generating unit configured to generate a feature quantity of an input sound signal, and, a score position estimating unit configured to calculate a weight coefficient based on the feature quantity of the sound signal and a feature quantity of musical score information and estimates a musical score position using a virtual musical score position and a virtual tempo corresponding to the weight coefficient.
摘要翻译：乐谱位置估计装置包括：声音特征量生成单元，被配置为生成输入声音信号的特征量;乐谱位置估计单元，被配置为基于声音信号的特征量和特征量来计算权重系数使用虚拟乐谱位置和对应于权重系数的虚拟节奏来估计乐谱位置的数量。

4. 发明授权

US08370277B2 Musical piece recommendation system and method 有权
标题翻译：音乐推荐系统及方法
公开(公告)号：US08370277B2
公开(公告)日：2013-02-05
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 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 monitors a rating history storage section, 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 is kept maximized. A second incremental training section monitors an acoustic feature storage section, 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 is kept maximized.
摘要翻译：一种音乐作品推荐系统，允许新用户和新音乐作品的瞬时注册，而不需要在基本训练部分重新训练。第一增量训练部分监视评级历史存储部分，并且每当对评级历史进行改变或添加新用户时，对进行了改变的用户进行主题选择概率的更新或添加评级历史或新用户使得由基本训练部确定的可能性被保持最大化。第二增量训练部分监视声学特征存储部分，并且每当添加新的音乐作品以对声学特征进行加法时，增加与所添加的乐曲相关的乐曲选择概率，使得由基本训练部分确定的可能性被保持最大化。

5. 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。

6. 发明申请

US20120046771A1 MUSIC AUDIO SIGNAL GENERATING SYSTEM 有权
标题翻译：音乐音频信号发生系统
公开(公告)号：US20120046771A1
公开(公告)日：2012-02-23
申请号：US13201757
申请日：2010-02-16
申请人： Takehiro Abe , Naoki Yasuraoka , Katsutoshi Itoyama , Hiroshi Okuno
发明人： Takehiro Abe , Naoki Yasuraoka , Katsutoshi Itoyama , Hiroshi Okuno
IPC分类号： G06F17/00
CPC分类号： G10H1/16 , G10H2210/066 , G10H2250/615 , G10L25/90 , G10L2021/0135
摘要： A system for timbral change, capable of changing timbres included in an existing music audio signal to arbitrary timbres. Replaced harmonic peak parameters are created by replacing a plurality of harmonic peaks included in harmonic peak parameters, which are stored in a separated audio signal analyzing and storing section 3 and indicate relative amplitudes of n-th order harmonic components of each tone generated by a musical instrument of a first kind, with harmonic peaks included in harmonic peak parameters, which are stored in a replacement parameter storing section 6 and indicate relative amplitudes of n-th order harmonic components of each tone generated by a musical instrument of a second kind and corresponding to each tone generated by the musical instrument of the first kind. A synthesized separated audio signal generating section 7 generates a synthesized separated audio signal for each tone using parameters other than the harmonic peak parameters and the replaced harmonic peak parameters.
摘要翻译：一种用于音乐变化的系统，能够将现有音乐音频信号中包含的音色改变为任意音色。通过替换存储在分离的音频信号分析和存储部分3中的谐波峰值参数中包括的多个谐波峰值并且指示由音乐产生的每个音调的n次谐波分量的相对幅度来创建替换的谐波峰值参数包含在谐波峰值参数中的谐波峰值的仪器，其存储在替换参数存储部分6中，并且指示由第二类乐器产生的每个音调的n次谐波分量的相对振幅，并且对应于对于由第一种乐器产生的每个音调。合成分离音频信号生成部分7使用除了谐波峰值参数和替换的谐波峰值参数之外的参数，为每个音调产生合成的分离音频信号。

7. 发明申请

US20110268283A1 REVERBERATION SUPPRESSING APPARATUS AND REVERBERATION SUPPRESSING METHOD 有权
标题翻译：反转抑制装置和反射抑制方法
公开(公告)号：US20110268283A1
公开(公告)日：2011-11-03
申请号：US13036937
申请日：2011-02-28
申请人： Kazuhiro NAKADAI , Ryu TAKEDA , Hiroshi OKUNO
发明人： Kazuhiro NAKADAI , Ryu TAKEDA , Hiroshi OKUNO
IPC分类号： H04R29/00
CPC分类号： H04R3/04 , H04S7/305
摘要： A reverberation suppressing apparatus, includes: a sound acquiring unit which acquires a sound signal; a reverberation data computing unit which computes reverberation data from the acquired sound signal; a reverberation characteristics estimating unit which estimates reverberation characteristics based on the computed reverberation data; a filter length estimating unit which estimates a filter length of a filter which is used to suppress a reverberation based on the estimated reverberation characteristics; and a reverberation suppressing unit which suppresses the reverberation based on the estimated filter length.
摘要翻译：一种混响抑制装置，包括：声音获取单元，其获取声音信号; 混响数据计算单元，其从所获取的声音信号计算混响数据; 混响特性估计单元，其基于所计算的混响数据来估计混响特性; 滤波器长度估计单元，其基于估计的混响特性来估计用于抑制混响的滤波器的滤波器长度; 以及基于估计的滤波器长度来抑制混响的混响抑制单元。

8. 发明申请

US20100131086A1 SOUND SOURCE SEPARATION SYSTEM, SOUND SOURCE SEPARATION METHOD, AND COMPUTER PROGRAM FOR SOUND SOURCE SEPARATION 有权
标题翻译：声源分离系统，声源分离方法和用于声源分离的计算机程序
公开(公告)号：US20100131086A1
公开(公告)日：2010-05-27
申请号：US12595542
申请日：2008-04-14
申请人： Katsutoshi Itoyama , Hiroshi Okuno , Masataka Goto
发明人： Katsutoshi Itoyama , Hiroshi Okuno , Masataka Goto
IPC分类号： G06F17/10 , G09B15/02 , G06F17/00 , G06G7/62
CPC分类号： G10H3/125 , G10H1/0008 , G10H2210/056 , G10H2210/066 , G10H2210/086 , G10H2210/301 , G10H2240/056 , G10H2250/031
摘要： An audio signal produced by playing a plurality of musical instruments is separated into sound sources according to respective instrument sounds. Each time a separation process is performed, the updated model parameter estimation/storage section 114 estimates parameters respectively contained in updated model parameters such that updated power spectrograms gradually change from a state close to initial power spectrograms to a state close to a plurality of power spectrograms most recently stored in a power spectrogram separation/storage section. Respective sections including the power spectrogram separation/storage section 112 and an updated distribution function computation/storage section 118 repeatedly perform process operations until the updated power spectrograms change from the state close to the initial power spectrograms to the state close to the plurality of power spectrograms most recently stored in the power spectrogram separation/storage section 112. The final updated power spectrograms are close to the power spectrograms of single tones of one musical instrument contained in the input audio signal formed to contain harmonic and inharmonic models.
摘要翻译：通过播放多个乐器产生的音频信号根据相应的乐器声音被分离成声源。每当执行分离处理时，更新的模型参数估计/存储部114估计更新的模型参数中包含的参数，使得更新的功率谱图从接近初始功率谱图的状态逐渐变化到接近多个功率谱图的状态最近存储在功率谱图分离/存储部分中。包括功率谱图分离/存储部分112和更新的分布函数计算/存储部分118的各个部分重复执行处理操作，直到更新的功率谱图从接近初始功率谱图的状态改变到接近多个功率谱图的状态最近存储在功率谱图分离/存储部分112中。最终更新的功率谱图接近包含在形成为包含谐波和非谐波模型的输入音频信号中的一个乐器的单个音调的功率谱图。

9. 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。

10. 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。

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