JP5430242B2 - Speaker position detection system and speaker position detection method - Google Patents

Description

  The present invention relates to a technique for detecting a relative position of each speaker in an acoustic system including a plurality of speakers, and more specifically, a speaker position detection system and a speaker position for accurately detecting the relative position of each speaker in a stereophonic sound system. It relates to a detection method.

  2. Description of the Related Art Conventionally, as a sound system that generates sound, a multi-channel sound system in which a plurality of speakers are installed around a listener and a channel is assigned to each speaker and sound is played back in multiple channels is used. Furthermore, video / audio systems that combine a multi-channel audio system and a display that displays video to display video such as movies on the display and generate high-quality audio have become widespread. Such a video / audio system is called a home theater. In an acoustic system such as 5.1 channel or 7.1 channel, which is currently in widespread use, a standard that determines the arrangement of each speaker is determined. For example, the standard for 5.1 channel is ITU-R BS. 775-1. In such a standard, the positions of the speakers are determined so that the heights of the speakers excluding the ultra low frequency speakers are substantially constant.

  In an acoustic system such as 5.1 channel, the role of each speaker is great, and even if the position of any one of the speakers is slightly shifted, a sound field that is significantly different from the sound field that should be originally generated is generated. Therefore, in order to construct a multi-channel sound system, it is necessary to arrange each speaker in the correct position according to the standard. In the case of a video / audio system, each speaker needs to be correctly arranged with respect to the display. In addition, the listening position where the listener listens to the sound is ideally located at an equal distance from each speaker. The reason is that, for example, when a synthesized sound image obtained by synthesizing sounds emitted from two speakers is created, an ideal synthesized sound field is generated only at a position equidistant from the two speakers. Therefore, even if the listener has moved a little from the ideal listening position, the sound image cannot be accurately localized at the position of the listener.

  However, when a listener constructs a multi-channel sound system in a home or the like, it is actually difficult to place each speaker in the correct position according to the standard. In order to perform correct placement, it is necessary to correctly measure the listening position and the relative position of each speaker. Even if the speaker is correctly placed, if the listener changes the listening position, the correct sound image cannot be localized, and the speaker cannot be correctly placed due to the shape of the room in which the sound system is installed or other arrangement restrictions. In many cases, it cannot be placed. In order to listen to the sound correctly in such a situation, it is conceivable to correct the sound output from each speaker according to the listening position and the position of each speaker. For this purpose, the listening position and the position of each speaker are set. It is necessary to measure. Thus, in order to construct a multi-channel acoustic system, it is important to accurately detect the position of each speaker, and conventionally, a technique for detecting the position of the speaker has been proposed.

  In the technique described in Patent Document 1, a voice uttered by a listener is picked up by a microphone provided at each speaker position, and a time difference until the sound reaches each microphone is recorded. In addition, a test sound signal is output from each speaker, and the sound signal is collected by each microphone at the position of another speaker, thereby calculating the relative position between the speakers. The relative position between the listener and each speaker is calculated based on the calculated relative position between the speakers and the time difference until the sound of the listener reaches the position of each speaker.

  In the technique described in Patent Document 2, a sound signal is output from a reference speaker whose relative position to a listener is known, and the sound signal is collected by each microphone provided in the vicinity of another speaker. Similar to the technique of Document 1, the position of each speaker relative to the reference speaker is calculated. In the technique described in Patent Document 3, a sound signal is output from each speaker, the output sound signal is collected by a plurality of microphones installed in a specific place, and the sound signal input to each microphone is collected. The position of the speaker that emitted the sound signal is detected from the difference in intensity. In the technique described in Patent Document 4, a sound signal is output from each speaker, the sound signal is collected by a microphone or each speaker itself provided integrally with each speaker, and a distance between the speakers is calculated. The relative position of each speaker is estimated from the calculated distances in the same manner as in Patent Document 1.

  In the technique described in Patent Document 5, a sound signal is output from each speaker, the output sound signal is collected by a plurality of microphones whose relative positional relationships are known, and the delay of the sound signal input to each microphone is reduced. The position of the speaker that emitted the sound signal is detected from the difference. In the technique described in Patent Document 6, three or more ultrasonic microphones are arranged on the display screen or behind the display, and the position is detected by collecting the ultrasonic signals output from the speakers with the microphones. In the technique described in Patent Document 7, a sound signal that cannot be perceived by a listener is embedded in a normal output sound, and the distance between the two speakers is measured using the embedded sound signal. Similarly, the relative positional relationship is estimated.

JP 2005-198249 A International Publication No. 2005/091679 Pamphlet JP 2006-33077 A JP 2006-148880 A JP 2006-174094 A JP 2008-78938 A Special table 2008-546345 gazette

  By the way, a three-dimensional acoustic system has been proposed as a next-generation acoustic standard. In a stereophonic sound system, the heights of the speakers are not unified at the same height. For example, a group is provided for each speaker height, such as the upper, middle, and lower levels, for each height. By arranging the speakers around the listener, not only the horizontal direction around the sound image but also the vertical direction is controlled. In such a stereophonic sound system, the number of channels and the number of speakers are increased as compared with the conventional sound system, and 15 to 30 speakers are required.

  Since such a stereophonic sound system using a large number of channels is characterized by a large number of speakers, it has a certain degree of robustness against fluctuations in the positions and listening positions of these speakers. That is, even if the positions of some speakers are slightly deviated from the predetermined arrangement, the influence on the generated sound field is small. Even if the listening position is slightly deviated from the ideal position, the influence on sound image localization is small. On the other hand, in the stereophonic sound system, the height of all the speakers to be arranged is not constant, and the height to be arranged for each speaker is determined, so that it is necessary to arrange each speaker at the correct height. . For example, when there are upper, middle and lower speaker height groups, when the upper and lower speakers are installed interchangeably, the generated sound field will be completely different from the original one. In other words, the stereophonic sound system is more robust to a slight shift in the position of each speaker and the listener's position than the conventional sound system, but the element of the height of each speaker when placing the speaker. It is necessary to take this into account. Because of these characteristics, the stereophonic sound system does not require strict accuracy with respect to the relative position and listening position of each speaker, but requires a technique for detecting the position of each speaker including the height.

  Consider a case where the speaker position is detected by the technique described in Patent Document 1 in the above-described stereophonic sound system. In this technique, in order to estimate the relative position of each speaker, the distance between the speakers is obtained using a test sound signal emitted from each speaker, and the relative position of each speaker is calculated using the obtained distance. It has become. However, since the sound signal is likely to be reflected and diffracted, it is difficult to accurately obtain the distance between the speakers from the sound signal in an actual home environment. Even if the distance between each speaker is accurately calculated, it is generally difficult to mathematically determine the relative position of each speaker from the distance by solving a large number of nonlinear simultaneous equations. It is. For example, if five speakers are in a three-dimensional Euclidean space, four of them are on the same plane, and the fifth speaker is a specific distance away from that plane, Considering the symmetry point, the distance from each of the four speakers to the symmetry point is equal to the distance from each of the four speakers to the fifth speaker. That is, the relative position of each speaker cannot be uniquely determined only by the distance relationship between the speakers. In a conventional acoustic system such as 5.1 channel in which each speaker except for the ultra low frequency speaker is arranged on the same plane, the position of the speaker can be detected, but in a three-dimensional acoustic system in which each speaker has a different height. The speaker position cannot be detected by the technique described in Patent Document 1.

  In the technique described in Patent Document 2, since a sound signal from a reference speaker whose distance to the listener is known is used instead of the voice uttered by the listener in Patent Document 1, the same as in Patent Document 1 In addition, it is difficult to detect the speaker position. Furthermore, the assumption that the distance between the listener and the speaker is known is not realistic. In the technique described in Patent Literature 3, the direction of the speaker is determined based on a difference in intensity detected by each microphone with a sound signal from each speaker. Considering that the intensity of the sound signal is the sound pressure per unit time, in an environment where there is a reflected sound or other sound as in a general household, the direction of many speakers necessary for a stereophonic sound system can It is difficult to judge. In the technique described in Patent Document 4, since the relative position of each speaker is obtained from the distance between the speakers as in Patent Document 1, it cannot be applied to the stereophonic sound system, as in Patent Document 1.

  In the technique described in Patent Document 5, as in Patent Document 3, the relative position of the speaker to the microphone is detected based on the arrival time differences of the sound signals detected by the plurality of microphones. Similar to Patent Document 3, it is difficult to determine the relative positions of a large number of speakers based only on arrival time differences in an environment where reflected sound or other sounds exist. Since the technique described in Patent Document 6 is almost the same as that of the patent document except that an ultrasonic wave is used as the sound for the sound signal, it is difficult to apply to the stereophonic sound system as in the case of the patent document. . Since the technique described in Patent Document 7 is the same as Patent Documents 1, 2, and 4 except that a sound signal that is not perceptible to the listener is used, similarly, it is difficult to apply the technique to a stereophonic sound system.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a speaker position capable of accurately detecting the positions of a large number of speakers by using light emission instead of a sound signal. A detection system and a speaker position detection method are provided.

The speaker position detection system according to the present invention includes a plurality of devices including a plurality of speakers, and the speaker position detection system detects a relative position between a reference device serving as a reference of the position of each device and another speaker. The reference device and each speaker are provided with light emitting units in at least three locations, receive light including light emitted from the light emitting unit, and generate an image in which the received light is distributed, the reference device and each of the speakers Means for storing the positional relationship between the light emitting units on the speaker, light emitting points corresponding to at least three light emitting units provided in the reference device in the image generated by the light receiving device , and each speaker specifying means for specifying a light emission point corresponding to the light emitting portion of the at least three, the position in the image of the specified emission point for the reference device, and a light emitting portion on the reference device Based on the positional relationship, the relative position of the reference device calculates the position in the image of the light emitting points identified for each speaker, and based on the positional relationship between the light emitting portion on each of the speakers relative to the light receiving device and calculating means for calculating the relative position of the speakers with respect to the light receiving device, based on the relative position of the reference device and the speaker for the receiving apparatus calculated, calculates the relative position of the reference device and the speakers The reference device and any one of the plurality of speakers are provided with light emitting units at four or more locations, and the specifying device is provided in the device from an image generated by the light receiving device. Means for specifying light emitting points corresponding to four or more light emitting parts, and the calculating means is configured to specify light emitting points corresponding to four or more light emitting parts by the specifying means. The selected light emission for each of the means for selecting the light emitting points corresponding to the three light emitting units and the combination for selecting the light emitting points corresponding to the three light emitting units from the light emitting points corresponding to the four or more light emitting units. Based on the position of the point in the image and the positional relationship between the light emitting units on the device, the means for calculating the relative position of the device with respect to the light receiving device, and the relative of the device calculated for each of the combinations position and wherein Rukoto to have a means for averaging.

  In the speaker position detection system according to the present invention, the light receiving device has a plurality of light receiving portions directed in a plurality of directions so as to receive light from a plurality of directions, and generates an image for each light receiving portion. It is configured.

  The speaker position detection system according to the present invention further includes means for blinking the reference device and the light emitting unit provided in each speaker by a different method for each device.

  In the speaker position detection system according to the present invention, any one of the plurality of light emitting units provided in the reference device and each speaker is configured to have a larger emission intensity than the other light emitting units. It is characterized by.

  In the speaker position detection system according to the present invention, the reference device is a video display device.

A speaker position detection method according to the present invention is a method for detecting a relative position between a reference device serving as a reference of the position of each device and another speaker in an acoustic system including a plurality of devices including a plurality of speakers. The reference device and each speaker are provided with light emitting portions in at least three locations, and any one of the reference device and the plurality of speakers is provided with light emitting portions at four or more locations. A light receiving device that receives the light including the light emission of the generated light, generates an image in which the received light is distributed, and identifies light emitting points corresponding to at least three light emitting portions provided in the reference device in the generated image, An image generated by the light receiving device is calculated by calculating a relative position of the reference device with respect to the light receiving device based on the position of the identified light emitting point in the image and the positional relationship between the light emitting units on the reference device. The light emitting points corresponding to at least three light emitting units provided in each speaker are identified, and based on the position of the identified light emitting points in the image and the positional relationship between the light emitting units on each speaker, When the relative positions of the respective speakers with respect to the light receiving device are calculated and the light emitting points corresponding to the four or more light emitting units provided in the device are specified, the light emitting points corresponding to the four or more light emitting units are determined as 3 The light emitting points corresponding to the three light emitting portions are selected, and for each combination of the light emitting points corresponding to the three light emitting portions, the position of the selected light emitting point in the image and the light emitting portion on the device based on the positional relationship between the relative positions of the device relative to the light receiving device calculates, by averaging the relative position of the devices calculated for each of said combinations, the reference device relative to calculated the photodetector and Based on the relative position of the speaker, and calculates the relative position of the reference device and the speakers.

  In the present invention, at least three light emitting units are provided in each of the reference device and the plurality of speakers, infrared rays from each light emitting unit are received by the light receiving device, and an image in which the light emitting points of the received light are distributed The relative position between the reference device and each speaker is calculated from the determined positional relationship between the light emitting units. Since the relative position is obtained based on the light from the light emitting units provided in at least three places, it is possible to obtain an accurate relative position in the three-dimensional space.

  In the present invention, since the light receiving device includes a plurality of light receiving units so as to receive light from a plurality of directions, it is possible to obtain a relative position of an arbitrarily arranged speaker such as a speaker in a stereophonic sound system. It becomes.

  In the present invention, it is possible to easily distinguish the device provided with the light emitting unit by blinking the light emitting unit provided in each device in a different manner for each device.

  Further, in the present invention, among the plurality of light emitting units provided in each device, the light emitting units are easily distinguished from each other by making the light emission intensity at a predetermined light emitting unit larger than other light emitting units. The position can be obtained accurately.

  In the present invention, the relative position of each speaker relative to the video display device in the video / audio system can be accurately obtained by using the reference device as the video display device.

  Further, in the present invention, when the position of the speaker is detected by providing four or more light emitting units in each device, the relative position of the speaker is calculated for each combination of selecting the three light emitting units, and for each combination By averaging the calculated relative positions, the relative position detection accuracy is improved.

  In the present invention, in an acoustic system including a plurality of speakers, it is possible to obtain an accurate relative position of each speaker in a three-dimensional space with respect to a reference device, so that three-dimensional sound with different heights of each speaker. Even in the system, the relative position of each speaker can be accurately obtained, the speaker arrangement for obtaining excellent sound, and the appropriate sound correction according to the arrangement of each speaker can be performed. Has an effect.

It is a typical perspective view which shows the structural example of the speaker position detection system of this invention. It is a front view of a video display device. It is a front view of a speaker. It is a schematic diagram which shows the external appearance of a remote control. It is a block diagram which shows the internal structure of a remote control. It is a block diagram which shows the internal structural example of AV player, an image display apparatus, and a speaker. It is a flowchart which shows the procedure of the process which the speaker position detection system of this invention detects a speaker position. It is a flowchart which shows the process sequence of the subroutine of the light emission point specific process of step S3. It is a schematic diagram which shows the relationship between Q, q, and P. It is a flowchart which shows the process sequence of the subroutine of step S4 which calculates the relative position of a video display apparatus from four or more light emission points.

Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof.
FIG. 1 is a schematic perspective view showing a configuration example of a speaker position detection system of the present invention. The speaker position detection system of the present invention is a video / audio system for a user to view video and audio. The video / audio system includes an AV (Audio Visual) player 3 for reproducing video and audio on the basis of data recorded on a recording medium such as a DVD (Digital Versatile Disk) or a broadcast signal, and a video display device 2. And a plurality of speakers 4, 4,..., And a remote controller (remote controller) 1 for the user to control the AV player 3. The video display device 2 is configured using a liquid crystal display, a plasma display, a projector, or the like. The video display device 2 and the speakers 4, 4,... Are respectively connected to the AV player 3 via a communication cable (not shown). The AV player 3 transmits a signal to each of the video display device 2 and the speakers 4, 4,..., The video display device 2 displays a video based on the signal, and the speakers 4, 4,. Output the sound. The remote controller 1 is configured to perform bidirectional communication with the AV player 3 using wireless communication such as Bluetooth. The remote controller 1 receives an operation from the user and transmits various instructions such as an operation start instruction to the AV player 3, and the AV player 3 executes various processes according to the instructions received from the remote controller 1. The video / audio system having the above configuration executes the operation as the speaker position detection system of the present invention by receiving a predetermined instruction with the remote controller 1.

  FIG. 2 is a front view of the video display device 2. In the video / audio system, the speakers 4, 4,... Are arranged with reference to the position of the video display device 2 in order to provide audio to the user who watches the video displayed on the video display device 2. Therefore, the video display device 2 corresponds to the reference device in the present invention. In the video display device 2, light emitting units 21, 22, 23, and 24 are provided at the four corners around the display screen provided on the front. Each light emitting unit is configured using an infrared light emitting element and emits infrared light. It is desirable that the light emitting units 21, 22, 23, and 24 are arranged at positions symmetrical with respect to the center of the display screen of the video display device 2. In addition, the light emitting unit 21 is configured to have a higher light emission intensity than other light emitting units provided in the video display device 2. For example, the light emitting unit 21 is configured using an infrared light emitting element having a higher emission intensity than the infrared light emitting elements used in other light emitting units, or using a larger number of infrared light emitting elements than other light emitting units. It is configured. FIG. 2 shows an example in which light emitting units are provided at four locations of the video display device 2, but the present invention can be realized if the light emitting units are provided at least at three locations. May have a configuration in which light emitting portions are provided at three locations, or may have a configuration in which light emitting portions are provided at five or more locations.

  FIG. 3 is a front view of the speaker 4. The speaker 4 is provided with light emitting portions 41, 42, 43, 44 at the four corners around the diaphragm provided on the front surface. Each light emitting unit is configured using an infrared light emitting element and emits infrared light. It is desirable that the light emitting units 41, 42, 43, 44 are arranged at positions symmetrical with respect to the central axis of the diaphragm of the speaker 4. In addition, the light emitting unit 41 is configured to have a higher emission intensity than other light emitting units provided in the speaker 4. The speaker 4 may have a configuration including three light emitting units, or may have a configuration including five or more light emitting units. A plurality of light emitting units are similarly provided for each of the speakers 4, 4.

  FIG. 4 is a schematic diagram showing an external appearance of the remote controller 1. The remote controller 1 corresponds to the light receiving device in the present invention. The remote controller 1 is formed in a rectangular parallelepiped shape, and a light receiving portion 11 that receives infrared rays emitted from the light emitting portions of the video display device 2 and the speakers 4, 4,. That is, the remote controller 1 includes a plurality of light receiving portions 11, 11,... That have light receiving directions in a plurality of directions, and can receive infrared light from the plurality of directions, respectively. The light receiving unit 11 is configured using an infrared light receiving element. The remote controller 1 may have a shape other than a rectangular parallelepiped shape as long as it can receive infrared light from a plurality of directions.

  FIG. 5 is a block diagram showing the internal configuration of the remote controller 1. The remote controller 1 includes an operation unit 16 such as various keys or a touch panel for receiving an operation from a user, and a transmission / reception unit 15 that transmits and receives various signals to and from the AV player 3 using wireless communication. The operation unit 16 is connected to the transmission / reception unit 15 and the transmission / reception unit 15. Each of the light receiving units 11, 11,... Is connected to a light receiving control unit 12, 12,. The light reception control units 12, 12,... Are connected to the transmission / reception unit 15 and control the operations of the light reception units 11, 11,. The light reception control unit 12 is configured to generate an image signal representing an infrared image in which infrared emission points received by the light reception unit 11 are distributed at a predetermined frame rate such as 30 frames per second. The infrared image is a mapping obtained by two-dimensionally projecting the spatial distribution of infrared emission points. The mapping model is a fluoroscopic camera model, and its focal length is predetermined.

  An input image pre-processing unit 13 is connected to the light reception control unit 12. The light receiving units 11, 11,... Receive infrared rays, the light reception control units 12, 12,... Generate image signals and input them to the input image preprocessing unit 13, and the input image preprocessing unit 13 receives the input. Image processing is performed on the received image signal. The input image preprocessing unit 13 is connected to a position detection processing unit 14 that detects the positions of the video display device 2 and the speakers 4, 4,..., And the input image preprocessing unit 13 performs image processing. Are input to the position detection processing unit 14. A storage unit 17 composed of a non-volatile memory is connected to the position detection processing unit 14, and the storage unit 17 includes a distance between light emitting units included in the video display device 2 and the speakers 4, 4,. The focal length of the camera model is stored in advance. The position detection processing unit 14 detects the relative positions of the video display device 2 and the speakers 4, 4,... Based on the image signal input from the input image preprocessing unit 13 and the data stored in the storage unit 17. Process.

  FIG. 6 is a block diagram illustrating an internal configuration example of the AV player 3, the video display device 2, and the speaker 4. The AV player 3 includes a control unit 31 including a calculation unit that performs a calculation, a RAM that stores information associated with the calculation, a ROM that stores a program necessary for the calculation, and the control unit 31 includes the speaker position detection method of the present invention. Control the processing. Connected to the control unit 31 are a storage unit 34 for storing data necessary for processing of the speaker position detection method, and a transmission / reception unit 32 for transmitting and receiving various signals to and from the remote control 3 using wireless communication. . The control unit 31 is connected to an interface unit 33 for transmitting a control signal to the video display device 2 and the speakers 4, 4,. The video display device 2 includes light emission control units 251, 252, 253, and 254 to which the light emitting units 21, 22, 23, and 24 are connected, and an interface unit 26. The interface unit 26 is connected to the interface unit 33 of the AV player 3 via a communication cable. Similarly, the speaker 4 includes light emission control units 451, 452, 453, 454 to which light emitting units 41, 42, 43, 44 are connected, and an interface unit 46, and the interface unit 46 is an interface of the AV player 3. It is connected to the unit 33 via a communication cable. The speakers 4, 4,... Have the same configuration.

  Each interface unit is a communication interface corresponding to a communication protocol such as USB (Universal Serial Bus) or UPnP (Universal Plug and Play), and the interface units are connected by a communication cable corresponding to the communication protocol. The control unit 31 transmits a control signal from the interface unit 33 to the video display device 2 and the speakers 4, 4,..., The interface units 26 and 46 receive the control signal, and each light emission control unit receives each control signal according to the control signal. Control the light emitting section. FIG. 6 shows an internal configuration necessary for the speaker position detection system of the present invention. The AV player 3, the video display device 2, and the speaker 4 have a video / audio system other than the configuration shown in FIG. It has the necessary components. The speaker position detection system may be configured to transmit and receive a control signal for detecting the speaker position and a video signal and an audio signal for outputting video and audio via the same communication cable. . The speaker position detection system may be configured to transmit and receive various signals by wireless communication.

  Each light emission control unit included in the video display device 2 and the speakers 4, 4,... Is assigned a unique ID, and the storage unit 34 stores a list of unique IDs. For example, the control unit 31 automatically detects each light emission control unit via the interface unit 33, assigns a unique ID to each detected light emission control unit, and stores a list of the assigned unique IDs in the storage unit 34. I do.

  Next, a speaker position detection method executed by the speaker position detection system having the above configuration will be described. FIG. 7 is a flowchart showing a procedure of processing for detecting the speaker position by the speaker position detection system of the present invention. When the menu is displayed on the display screen of the video display device 2 and the user performs a predetermined operation on the operation unit 16 of the remote controller 1, the remote controller 1 receives an instruction to start speaker position detection from the user (S1). ). The transmission / reception unit 15 transmits a signal instructing the start of speaker position detection to the AV player 3, and the AV player 3 receives the signal transmitted from the remote controller 1 by the transmission / reception unit 32. The control unit 31 performs a process of causing the light emitting unit to emit light to the video display device 2 and one speaker 4 among the speakers 4, 4,... (S2).

  In step S <b> 2, the control unit 31 reads out the unique IDs of the light emission control unit included in the video display device 2 and the light emission control unit included in the one speaker 4 from the list of unique IDs stored in the storage unit 34. A control signal instructing light emission is transmitted from the interface unit 33 to the light emission control unit indicated by the read unique ID. In the video display device 2 and the speaker 4, the interface unit receives the control signal, and each light emission control unit causes the light emitting unit to emit light according to the control signal. Accordingly, the light emitting units 21, 22, 23, and 24 of the video display device 2 and the light emitting units 41, 42, 43, and 44 of one speaker 4 emit light almost simultaneously.

  When the light emitting unit emits light, the image display device 2 and the speaker 4 are made to emit light differently so that infrared rays from the image display device 2 and infrared rays from the speaker 4 can be distinguished. For example, the light emitting unit of the video display device 2 emits blinking light, and the light emitting unit of the speaker 4 continuously emits light. The flashing light emission and the continuous light emission may be reversed. Further, each light emitting unit may be caused to blink and the blinking interval may be different between the video display device 2 and the speaker 4. Or you may control the blink interval of a light emission part so that the light emission signal which shows that it is the video display apparatus 2 or the speaker 4 may be emitted. The light emission of each light emitting unit may be controlled by the control unit 31 with a control signal, or each light emission control unit may be determined in advance. The blinking interval of each light emitting unit is set so that the maximum value of the blinking frequency is ½ or less of the frame rate in the light receiving unit 11 and the light receiving control unit 12 of the remote controller 1.

  Any one of the light receiving units 11, 11,... Of the remote controller 1 by the light emitting units 21, 22, 23, 24 of the video display device 2 and the light emitting units 41, 42, 43, 44 of one speaker 4 emitting light. Infrared rays are incident on. The light receiving units 11, 11,... Receive infrared rays, and the light reception control units 12, 12,... Generate image signals and sequentially input them to the input image preprocessing unit 13. The input image pre-processing unit 13 inputs, to the position detection processing unit 14, an image signal from which signals other than signals caused by infrared rays are removed as much as possible by removing noise from the image signal using a low-pass filter or the like. . The position detection processing unit 14 stores the input image signal, and performs a light emission point specifying process for specifying a light emission point corresponding to the light emitting unit on the video display device 2 and the speaker 4 from the infrared image represented by the image signal (S3). ).

FIG. 8 is a flowchart showing a processing procedure of a subroutine of the light emission point specifying process in step S3. The position detection processing unit 14 extracts a high-luminance light emitting point that emits light at a predetermined luminance or higher from a plurality of infrared images represented by a plurality of image signals generated by the light reception control units 12, 12,... (S31). Each infrared image is a temporally continuous image generated at a predetermined frame rate. In step S31, the position detection processing unit 14 sets the luminance at the coordinates (x, y) on the infrared image at time t as B _t (x, y), and satisfies the condition of the following expression (1) at a specific time t0. A light emitting point on coordinates (x, y) that satisfies the above is extracted from the infrared image.

In the formula (1), L is an analysis time length, n is an analysis range centering on a light emitting point on an infrared image, and c ₁ is a threshold value. Of these, n is a natural number. Specific values of L, n, and c ₁ are determined in advance according to characteristics such as sensitivity and resolution of the light receiving units 11, 11,..., And are stored in the storage unit 17. In step S31, the position detection processing unit 14 may extract all the light emission points satisfying the expression (1), and a predetermined number of light emission in descending order of the value of Q _t0 (x, y) calculated by the expression (1). Points may be extracted.

Next, the position detection processing unit 14 performs a process of calculating a bit value indicating the presence or absence of light emission at each time from time t0-L to t0 for each extracted light emission point (S32). In step S32, the position detection processing unit 14 is defined by the following expression (2) for each extracted light emitting point, where the coordinates of the extracted light emitting point are (x _u , _yu ) (u is a natural number). The bit value m ^u _t is calculated for each frame of the infrared image generated within the time from time t0-L to t0.

In the equation (2), c ₂ is a predetermined threshold value and is stored in the storage unit 17. The time t in the equation (2) is the time when each frame is generated. As a result, if the time between frames is dt, an infrared flashing bit string ( ^mu _t0-L , ^mu _{t0-L + dt} ,..., ^Mu _t0 ) is generated for each light emitting point. When the flashing bit string is all 1, it indicates that the light emitting point is continuously emitting light, and when 1 and 0 are mixed in the flashing bit string, it indicates that the light emitting point is flashing. By comparing the flashing bit string of each light emitting point with the light emitting part of the video display device 2 and the speaker 4, whether each light emitting point corresponds to the light emitting part of the video display device 2 or the light emission of the speaker 4. It is possible to determine whether it corresponds to a light emitting part or not to correspond to any light emitting part. The storage unit 17 stores how the light emitting units of the video display device 2 and the speaker 4 emit light.

  Next, the position detection processing unit 14 compares the blinking bit string of each light emitting point with the light emission method of the light emitting unit of the video display device 2, thereby generating a plurality of light reception control units 12, 12,. It is determined whether any one of the plurality of infrared images represented by the image signal includes 3 or 4 light emitting points corresponding to the light emitting unit on the video display device 2 (S33). In the case where the video display device 2 is provided with three light emitting units, it is determined whether or not three light emitting points are included, and in the case where five or more a light emitting units are provided. , It is determined whether 3 to a light emitting points are included. If any infrared image includes three or four light emitting points corresponding to the light emitting unit on the video display device 2 (S33: YES), the position detection processing unit 14 is displayed on the video display device 2. The light emission point corresponding to each light emission part is specified (S34). In step S34, the light emitting point having the maximum luminance among the light emitting points is identified as the light emitting point corresponding to the light emitting unit 21 having a higher light emission intensity than the other light emitting units. Further, the position detection processing unit 14 determines the positional relationship of the other light emitting points with respect to the light emitting point corresponding to the light emitting unit 21 in the infrared image and the positional relationship of the other light emitting units with respect to the light emitting unit 21 on the video display device 2. By comparing, the light emission part corresponding to each of the light emission parts 22, 23, and 24 is specified. At this time, it is not necessary to specify light emitting units corresponding to all of the light emitting units 22, 23, 24, and light emitting units corresponding to at least two of the light emitting units 22, 23, 24 are specified. That's fine. If light emitting parts corresponding to at least two light emitting parts among the light emitting parts 22, 23, and 24 are specified, light emitting parts corresponding to at least three light emitting parts on the video display device 2 can be obtained. It is possible to carry out the invention.

  Next, the position detection processing unit 14 compares the blinking bit string of each light emitting point with the method of causing the light emitting unit of the speaker 4 to emit light, thereby generating a plurality of image signals generated by the light receiving control units 12, 12,. It is determined whether or not any one of the plurality of infrared images represented by includes three or four light emitting points corresponding to the light emitting unit on the speaker 4 (S35). If any infrared image includes three or four light emitting points corresponding to the light emitting part on the speaker 4 (S35: YES), the position detection processing part 14 is connected to each light emitting part on the speaker 4. The corresponding light emission point is specified (S36). In step S36, the position detection processing unit 14 specifies a light emitting point using the same method as in step S34. After step S36 ends, the position detection processing unit 14 ends the subroutine of step S3 and returns the process to the main.

  In step S33, in any infrared image, the number of light emitting points corresponding to the light emitting unit on the video display device 2 is 2 or less or 5 or more (S33: NO), or in any infrared image in step S35. In the case where the number of light emitting points corresponding to the light emitting unit on the speaker 4 is two or less or five or more (S35: NO), the position detection processing unit 14 has elapsed a predetermined time from the start of the process of step S3. It is determined whether or not (S37). If the predetermined time has not yet elapsed (S37: NO), the position detection processing unit 14 returns the process to step S31, and repeats the process of step S3 from the reception of infrared rays. If the predetermined time has elapsed since the start of the process of step S3 (S37: YES), the position detection processing unit 14 ends the speaker position detection process. At this time, the transmission / reception unit 15 transmits an error signal to the AV player 3, and the AV player 3 performs processing for causing the video display device 2 to display an error display indicating that the speaker position cannot be detected.

  Whether the infrared rays from the video display device 2 and the infrared rays from the speaker 4 are incident on the same light receiving unit 11 or different light receiving units 11 by the processing in step S3, the light emitting units are similarly handled. It is possible to specify the light emitting point to be performed. Note that when the video display device 2 or the speaker 4 has three light emitting units or five or more light emitting units, processing according to the number of light emitting units is performed in steps S33 and S35.

After step S3 is completed, the position detection processing unit 14 performs a process of calculating the relative position of the video display device 2 with respect to the remote controller 1 (S4). In step S3, three light emitting points corresponding to the light emitting units on the video display device 3 are identified, and the positions of the identified light emitting points on the infrared image are Q ₁ , Q ₂ , and Q ₃ . Further, vectors q ₁ , q ₂ , and q ₃ on the three-dimensional space are set as unit vectors of Q ₁ , Q ₂ , and Q ₃ , respectively. Further, the points on the three-dimensional space corresponding to Q ₁ , Q ₂ , and Q ₃ are P ₁ , P ₂ , and P ₃ . FIG. 9 is a schematic diagram showing the relationship between Q, q, and P. G in the figure is a mapping plane of the perspective camera model corresponding to the infrared image. P ₁ , P ₂ , and P ₃ are the positions of the light emitting units on the video display device 2, and the relative positions of the light emitting units on the video display device 2 with respect to the remote controller 1 are obtained by obtaining P ₁ , P ₂ , and P _3. Further, the relative position of the video display device 2 with respect to the remote controller 1 can be obtained. Since which light emitting part Q ₁ , Q ₂ , Q ₃ corresponds to is identified in step S ₃ , it is clear which light emitting part positions P ₁ , P ₂ , P ₃ indicate. ing. In the example of FIG. 9, P ₁ , P ₂ , and P ₃ are the positions of the light emitting units 21, 22, and 24, respectively. If α _i (i = 1, 2, 3) is a scalar quantity, P _i can be expressed by the following equation (3): P _i = α _i q _i (3)

As described above, since the distance between the light emitting units on the video display device 2 is known and stored in the storage unit 17, the distances between P ₁ , P ₂ and P ₃ are also clear. When the distance between P _m and P _n and d _mn, d _mn is defined by the following formula (4).

  By substituting the expression (3) into the expression (4), the following expression (5) can be obtained.

The operator · represents an inner product, and q _i · q _i = 1. q _i can be obtained from the coordinates of Q _i and a known focal length. For example, the xy plane in the three-dimensional space is a plane parallel to the mapping plane, the direction orthogonal to the mapping plane is the z-axis direction, and the coordinates on the infrared image of Q _i are (x _i , y _i ), If the focal length is D, the coordinates of Q _i in the three-dimensional space are (x _i , y _i , D), and q _i is obtained from these coordinates. Q _m · q _n can be calculated from the obtained q _i . In order to obtain P ₁ , P ₂ , and P ₃ , α ₁ , α ₂ , and α ₃ may be obtained. The functions f, g, and h are defined as the following expressions (6), (7), and (8).

_{Here, (Δ 1, Δ 2,} Δ 3) as a perturbation of, ideally _{f (α 1 + Δ 1,} α 2 + Δ 2, α 3 + Δ 3) that satisfies _{= 0 (Δ 1, Δ 2} , Let Δ ₃ ) be calculated. The function f can be Taylor-expanded as in the following equation (9).

If the second and higher order terms are ignored in the equation (9), an equation relating to (Δ ₁ , Δ ₂ , Δ ₃ ) can be obtained. By obtaining equations for the functions g and h in the same manner, simultaneous equations shown in the following equation (10) can be obtained.

The square matrix of the second term on the right side in equation (10) is a Jacobian matrix. When this Jacobian matrix is J (α ₁ , α ₂ , α ₃ ), the equation (10) can be transformed into the following equation (11).

11 is obtained by the equation _{(Δ 1, Δ 2, Δ} 3) to _{(α 1, α 2, α} 3) repeatedly adding the provisional value of converged _{(α 1, α 2, α} 3) Think of getting. If k is the number of repetitions of calculation and the k-th (α ₁ , α ₂ , α ₃ ) is (α ₁ ^k , α ₂ ^k , α ₃ ^k ), a recurrence formula such as the following equation (12) Holds.

In step S4, the position detection processing unit 14 calculates q _i from the coordinates of Q _i , and calculates (α ₁ ^{k + 1} , α ₂ ^{k + 1} , α ₃ ) according to the recurrence formula of the expression (12). ^{k + 1} ) until it converges, and the converged (α ₁ ^{k + 1} , α ₂ ^{k + 1} , α ₃ ^{k + 1} ) is taken as the final (α ₁ , α ₂ , α ₃ ) By substituting (α ₁ , α ₂ , α ₃ ) into the equation (3), P ₁ , P ₂ , and P ₃ are calculated. By obtaining P ₁ , P ₂ , and P ₃ , the relative position of the video display device 2 with respect to the remote controller 1 can be obtained.

  When four or more light emitting points corresponding to the light emitting units on the video display device 3 are specified in step S3, the position detection processing unit 14 determines the relative position of the video display device 2 from the four or more light emitting points in step S4. Perform processing to calculate the position. FIG. 10 is a flowchart showing the processing procedure of the subroutine of step S4 for calculating the relative position of the video display device 2 from four or more light emitting points. The position detection processing unit 14 selects three light emitting points from the identified light emitting points (S41), and calculates the relative positions of the selected three light emitting points by the method described above (S42). Next, the position detection processing unit 14 determines whether there is a combination that has not yet calculated a relative position among combinations that can select three light emitting points from four or more light emitting points (S43). The combinations that can select three light emitting points are all combinations that select three light emitting points from four or more light emitting points, a combination that always includes a specific light emitting point, or the number of combinations. What is necessary is just to set arbitrarily, such as providing an upper limit. If there is a combination for which the relative position has not yet been calculated (S43: YES), the position detection processing unit 14 returns the process to step S41, and selects three light emitting points with a combination for which the relative position has not yet been calculated. To do. When there is no combination for which the relative position has not yet been calculated (S43: NO), the position detection processing unit 14 averages the relative positions calculated twice or more for each light emitting point (S44). In this way, the relative position detection accuracy of the video display device 2 can be increased. After step S44 ends, the position detection processing unit 14 ends the subroutine of step S4 and returns the process to the main.

After step S4 is completed, the position detection processing unit 14 uses the coordinates of the light emitting point corresponding to the light emitting unit on the speaker 4 specified in step S3, in the same manner as in step S4, to detect the position of the speaker 4 relative to the remote controller 1. The relative position is calculated (S5). When the infrared rays from the image display device 2 and the infrared rays from the speaker 4 are incident on different light receiving portions 11 among the light receiving portions 11, 11,... Of the remote controller 1, the relative positions of the image cover device 2 calculated in step S4. Since the relative position of the speaker 4 calculated in step S5 is calculated from infrared rays incident on different light receiving portions 11, the coordinate systems are different from each other. After step S5 is completed, the position detection processing unit 14 performs coordinate conversion so that the coordinate diameters of the relative position of the video cover device 2 and the relative position of the speaker 4 are the same (S6). Here, it is assumed that the coordinates of the relative position of the speaker 4 are converted into coordinates on the same coordinate system as the relative position of the video cover device 2. Coordinates P _i ^sp of the light emitting portion of the speaker 4 before coordinate transformation (i = 1,2, ...) and to, when the light emitting portion of the coordinates on the speaker 4 after coordinate transformation and P _i ^sp ', P _i ^sp 'Can be calculated by the following equation (13).
P _i ^sp ′ = RP _i ^sp + T (i = 1, 2,...) (13)

  In the equation (13), R is a three-dimensional rotation matrix and is represented by the following equation (14). T is a parallel progression and is represented by the following equation (15).

θ _x , θ _y , and θ _z are rotation angles around the x-axis, y-axis, and z-axis in the three-dimensional space, respectively, and T _x , T _y , and T _z are the x-axis directions in the three-dimensional space, y It is the magnitude of translation in the axial direction and the z-axis direction. Each parameter is a parameter for moving the light receiving unit 11 on which the infrared rays from the speaker 4 are incident to the position of the light receiving unit 11 on which the infrared rays from the video display device 2 are incident. It is determined in advance. For each combination of the light receiving unit 11 to which the infrared light from the video display device 2 is incident and the light receiving unit 11 to which the infrared light from the speaker 4 is incident is one of the light receiving units 11, 11,. Stores a rotation matrix R and a translation sequence T. In step S <b> 6, the position detection processing unit 14 identifies the light receiving unit 11 to which the infrared light from the video display device 2 is incident and the light receiving unit 11 to which the infrared light from the speaker 4 is incident, and the rotation matrix R related to the identified light receiving unit. The parallel progression T is read from the storage unit 17, and the coordinates of the light emitting unit on the speaker 4 after coordinate conversion are calculated according to the equation (13).

  By the process of step S6, the relative positions of the video display device 2 and the speaker 4 with respect to the remote controller 1 are obtained on the same coordinate system. When the infrared light from the video display device 2 and the infrared light from the speaker 4 are incident on the same light receiving unit 11, the position detection processing unit 14 may omit the process of step S6.

Next, the position detection processing unit 14 performs a process of calculating the relative position between the video display device 2 and the speaker 4 from the relative positions of the video display device 2 and the speaker 4 with respect to the remote controller 1 obtained in step S6 (S7). ). In step S7, the relative position of the speaker 4 with respect to the video display device 2 is calculated. More specifically, the position of the speaker 4 on the coordinate system with one point on the video display device 2 as the origin is calculated. In step S4, the coordinates of the light emitting units 21, 22, and 24 on the video display device 2 are obtained. The coordinates of the light emitting unit 21 are P ₁ ^TV , the coordinates of the light emitting unit 22 are P ₂ ^TV , and the coordinates of the light emitting unit 24. Is P ₄ ^TV . Further, the light emitting unit 21 is the origin, the straight line from the light emitting unit 21 to the light emitting unit 22 is the x axis, the straight line from the light emitting unit 21 to the light emitting unit 24 is the y axis, and the left-handed axis orthogonal to the x axis and the y axis is z. Considering a coordinate system as an axis, the coordinate P _i ^sp ′ of the light emitting unit on the speaker 4 is coordinate-transformed into this coordinate system. The rotation matrix necessary for this coordinate transformation is R ′, and the parallel progression is T ′. First, since it is clear that the translation sequence T ′ is a vector in the reverse direction of the vector P ₁ ^TV , the translation sequence T ′ is expressed by the following equation (16).
T ′ = − P ₁ ^TV (16)

Further, the unit vector from the light emitting unit 21 to the light emitting unit 22 becomes an x-axis unit vector, and the unit vector from the light emitting unit 21 to the light emitting unit 24 becomes a y-axis unit vector, and P ₁ ^TV , P ₂ ^TV , P ₄ ^TV The following equations (17), (18), and (19) hold from the relationship that the normal vector of the plane to be included becomes the unit vector of the z axis.

The rotation matrix R ′ is obtained by solving the equations (17) to (19). If the coordinate of the speaker 4 with respect to the remote control 1 is P ^sp and the coordinate of the speaker 4 with respect to the video display device 2 is S, the coordinate S of the speaker 4 can be calculated by the following equation (20).
S = R′P ^sp + T ′ (20)

Any of P _i ^sp ′ may be used as the coordinates P ^sp of the speaker 4 with respect to the remote controller 1. Further, the coordinates of the representative point of the speaker 4 that can be obtained from P _i ^sp ′ may be used. For example, the average value of the 'coordinate P ₃ ^sp between the light emitting portion 43' coordinates P ₁ ^sp emitting portion 41 becomes the coordinates of the center axis of the diaphragm of the speaker 4, it may be used the coordinates as the coordinates P ^sp . Usually, the diaphragm of the speaker is circular, and its output characteristics do not change no matter how the speaker is rotated about the central axis of the circular diaphragm. Therefore, the relative position of the speaker 4 obtained by using the coordinate of the central axis of the diaphragm as the coordinate of the speaker 4 is useful for adjusting the acoustic characteristics in the video / audio system.

  In step S7, the position detection processing unit 14 calculates the parallel progression T ′ and the rotation matrix R ′ using the equations (16) to (19) based on the coordinates of the light emitting unit on the video display device 2, and (20 ) Is used to calculate the coordinates S of the speaker 4 with respect to the video display device 2. The calculated coordinate S indicates a relative position between the video display device 2 and the speaker 4. When the coordinates of the light emitting units 21, 22, and 23 are obtained, and when the straight line connecting the coordinates is not orthogonal, the position detection processing unit 14 determines the direction vector of the straight line connecting the coordinates. A process of calculating an x-axis unit vector and a y-axis unit vector orthogonal to each other by calculation, and a process of calculating the coordinate S of the speaker 4 with respect to the video display device 2 as described above using the calculated unit vector. Do.

  After step S7 is completed, the position detection processing unit 14 stores the calculated coordinates S of the speakers 4 and whether or not the relative positions of all the speakers 4, 4,... Included in the speaker position detection system have been calculated. Is determined (S8). If there is a speaker 4 that has not yet calculated the relative position (S8: NO), the speaker position detection system returns the process to step S2, and the one speaker 4 that has not yet calculated the relative position with the video display device 2. The process which makes the light emission part emit light is performed. Specifically, the position detection processing unit 14 transmits a signal for continuing the process of detecting the speaker position from the transmission / reception unit 15 to the AV player 3, and the AV player 3 receives the signal by the transmission / reception unit 32 and performs control. The unit 31 performs processing for causing the next speaker 4 to emit light. If the relative positions of all the speakers 4, 4,... Are calculated in step S8 (S8: YES), the speaker position detection system ends the process of detecting the speaker positions.

  After the processing for detecting the speaker position is completed, the remote controller 1 transmits the calculated relative positions of the speakers 4, 4,... To the AV player 3. The AV player 3 corrects the sound to be output to each speaker 4 based on the relative position of each speaker 4 or displays the current relative position of each speaker 4 on the video display device 2 to allow the user to display each speaker 4. A process according to the position of each speaker 4 is executed, such as a process for instructing the adjustment of the position of the speaker 4.

  As described above in detail, in the present invention, at least three light emitting portions are provided in each of the video display device 2 and the speakers 4, 4..., And infrared rays from each light emitting portion are received by the remote controller 1. The relative position between the video display device 2 and each speaker 4 is calculated from the infrared image in which the infrared emission points are distributed and the positional relationship between the light emitting units. Since the relative position is obtained based on the infrared rays from the light emitting units provided in at least three places, it is possible to obtain an accurate relative position in the three-dimensional space. Therefore, even in a stereophonic sound system in which the heights of the speakers are different, it is possible to accurately obtain the relative positions of the speakers, the speaker arrangement for obtaining excellent sound, and an appropriate sound according to the arrangement of the speakers. Correction is possible.

  In the present invention, by changing the blinking interval of the light emitting unit between the video display device 2 and the speakers 4, 4,..., It is possible to easily distinguish the device provided with the light emitting unit. As a result, the relative position of each speaker 4 can be accurately determined in a shorter time than in the prior art using sound signals that are difficult to distinguish from each other. Further, in the present invention, the light emitting part is easily distinguished by increasing the light emission intensity in one light emitting part among the plurality of light emitting parts provided in each device, and the relative position of the speaker. Can be obtained accurately.

  In the present embodiment, the information processing for detecting the speaker position is mainly performed by the position detection processing unit 14 of the remote controller 1. However, the present invention is not limited to this, and an image signal representing an infrared image is shown. May be transmitted from the remote controller 1 to the AV player 3 and information processing for detecting the speaker position by the AV player 3 may be executed. Instead of calculating the relative positions of the speakers 4 sequentially, the relative positions of the speakers 4 may be calculated by causing the light emitting portions of the speakers 4, 4,. An algorithm other than the algorithm described in this embodiment may be used as an algorithm for calculating the relative position from the infrared image and the positional relationship between the light emitting units.

  In the present embodiment, the light receiving device in the present invention is the remote controller 1, but the present invention is not limited to this, and the light receiving device may have other forms. For example, in addition to the remote controller 1, a form provided with a dedicated light receiving device that communicates with the AV player 3 may be used. Alternatively, the light receiving device may be provided by providing a light receiving unit in the AV player 3 or the specific speaker 4. Further, instead of the video display device 2, a screen may be provided, a projector for projecting video on the screen may be provided, and a light receiving unit may be provided in the projector to form a light receiving device. Moreover, the form using a some light-receiving device may be sufficient.

  In the present embodiment, the reference device in the present invention is the video display device 2. However, the present invention is not limited to this, and the present invention is an embodiment in which the AV player 3 or a specific speaker 4 is used as the reference device. May be. In the present embodiment, the light emitting unit is configured to emit infrared light. However, the present invention is not limited to this, and the light emitting unit may emit visible light and the light receiving unit may receive visible light. Good. The AV player 3 may be configured to be integrated with the video display device 2 or any one of the speakers 4.

1 Remote control (light receiving device)
DESCRIPTION OF SYMBOLS 11 Light-receiving part 14 Position detection process part 2 Video display apparatus (reference equipment)
21, 22, 23, 24 Light emitting unit 3 AV player 31 Control unit 4 Speaker 41, 42, 43, 44 Light emitting unit

Claims (6)

In a speaker position detection system configured by a plurality of devices including a plurality of speakers and detecting a relative position between a reference device serving as a reference of the position of each device and other speakers,
The reference device and each speaker are provided with light emitting portions in at least three places,
A light receiving device that receives light including light emitted from the light emitting unit and generates an image in which the received light is distributed;
Means for storing the positional relationship between the light emitting units on the reference device and each speaker;
Identification means for identifying light emitting points corresponding to at least three light emitting units provided in the reference device and light emitting points corresponding to at least three light emitting units provided in each speaker in an image generated by the light receiving device. When,
Based on the position of the light emitting point specified for the reference device in the image and the positional relationship between the light emitting units on the reference device, the relative position of the reference device with respect to the light receiving device is calculated and specified for each speaker. Calculating means for calculating the relative position of each speaker with respect to the light receiving device based on the position of the light emitting point in the image and the positional relationship between the light emitting units on each speaker ;
Based on the relative position of the reference device and the speaker for the receiving apparatus calculated, and means for calculating the relative position of the reference device and the speakers,
Any one of the reference device and the plurality of speakers is provided with light emitting portions at four or more locations.
The specifying means is:
Means for identifying light emitting points corresponding to four or more light emitting units provided in the device from an image generated by the light receiving device;
The calculating means includes
Means for selecting light emitting points corresponding to three light emitting parts from light emitting points corresponding to four or more light emitting parts when light emitting points corresponding to four or more light emitting parts are specified by the specifying means; ,
For each of the combinations for selecting the light emitting points corresponding to the three light emitting units, the position of the selected light emitting point in the image and the positional relationship between the light emitting units on the device is set to the light receiving device. Means for calculating the relative position of the device;
Means for averaging the relative positions of the devices calculated for each of the combinations;
Speaker position detection system characterized Rukoto to have a.   The light receiving device includes a plurality of light receiving units directed in a plurality of directions so as to receive light from a plurality of directions, and is configured to generate an image for each light receiving unit. Item 2. The speaker position detection system according to Item 1.   The speaker position detection system according to claim 1, further comprising means for causing the light emitting unit provided in the reference device and each speaker to blink in a different manner for each device. 4. The light emitting unit according to any one of claims 1 to 3 , wherein one of the plurality of light emitting units provided in the reference device and each speaker has a light emission intensity greater than that of the other light emitting units. The speaker position detection system described.   The speaker position detection system according to any one of claims 1 to 4, wherein the reference device is a video display device. In a method of detecting a relative position between a reference device serving as a reference of the position of each device and another speaker in an acoustic system including a plurality of devices including a plurality of speakers,
The reference device and each speaker are provided with light emitting portions at at least three locations, and any one of the reference device and the plurality of speakers is provided with light emitting portions at four or more locations,
In a light receiving device that receives light including light emitted from the light emitting unit, an image in which the received light is distributed is generated,
In the generated image, identify light emitting points corresponding to at least three light emitting units provided in the reference device,
Based on the position of the identified light emitting point in the image and the positional relationship between the light emitting units on the reference device, the relative position of the reference device with respect to the light receiving device is calculated,
In the image generated by the light receiving device, identify light emitting points corresponding to at least three light emitting units provided on each speaker,
Based on the position of the identified light emitting point in the image and the positional relationship between the light emitting units on each speaker, the relative position of each speaker with respect to the light receiving device is calculated,
When the light emitting points corresponding to the four or more light emitting units provided in the device are specified, the light emitting points corresponding to the three light emitting units are selected from the light emitting points corresponding to the four or more light emitting units,
For each of the combinations for selecting the light emitting points corresponding to the three light emitting units, the position of the selected light emitting point in the image and the positional relationship between the light emitting units on the device is set to the light receiving device. Calculate the relative position of the instrument,
Average the relative positions of the devices calculated for each of the combinations,
A speaker position detection method, comprising: calculating a relative position between the reference device and each speaker based on the calculated relative position of the reference device and each speaker with respect to the light receiving device.

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