Service robot speech enhancement method using acoustic micro-sensor array

Good interactive voice response and perception function is the important technology of intelligent service robot. Service robot works under noisy and multiple-path reflection environment generally. Speech enhancement technology is applied to increase the robustness and intelligence of input signal. Conventional single channel speech enhancement algorithms always improve the Signal-Noise-Ratio of target signal at the price of inevitable speech distortion. In this paper, we introduced an acoustic micro-sensor (microphone) array system as a frontend device to enhance desired signal polluted by diffuse noise. A Modified General Sidelobe Canceller (GSC) algorithm is proposed to achieve full-band stable gain and directional beam response from given angle range. An adaptive post-filter approach will further improve the performance of whole system. Experiments based on real data show that this method is efficient to improve the robustness and intelligence of service robot´s interactive voice function.