| 摘要 |
PROBLEM TO BE SOLVED: To suppress that voice which should be normally received only by a microphone for voice recognition is mixed in a noise signal for noise removal. SOLUTION: A noise microphone 12 set on a surface of a robot chassis 10 which includes a noise source 11 is covered by an enclosure 13, thereby sound is insulated so that voice produced by an operator is not mixed. A voice microphone 14 is set outside the robot chassis 10. Transmission of a frequency characteristic correction filter 25 for converting a vibrating sound received by the noise microphone 12 into noise is set at a noise estimating section 26. The noise estimating section 26 estimates noise by applying the frequency characteristic correction filter 25 to a vibrating sound observing signal from the noise microphone 12. A noise removing section 27 implements processing by a two-channel spectrum subtraction method based on the observing signal from the voice microphone 14 and the estimated noise. COPYRIGHT: (C)2010,JPO&INPIT
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