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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

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。

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。

5. 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。

6. 发明授权

US09002024B2 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：US09002024B2
公开(公告)日：2015-04-07
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： H04B3/20 , H04R3/04 , H04S7/00
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。

7. 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。

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